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added group contours method and target intersection

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ori agranat
2019-09-16 21:45:04 +03:00
parent adc5aa2399
commit e7e0632b2b
3 changed files with 101 additions and 36 deletions
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80
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -76,38 +76,98 @@ public class VisionProcess {
return FilteredContours;
}
private List<MatOfPoint> FinalCountours = new ArrayList<>();
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
private List<RotatedRect> FinalCountours = new ArrayList<>();
public List<RotatedRect> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
for (var i = 0; i < InputContours.size(); i++){
var FinalContour = InputContours.get(i);
List<Point> FinalContourList = new ArrayList<>(InputContours.get(i).toList());
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secondContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour, secondContour, IntersectionPoint)){
System.out.println("");
FinalContourList.addAll(secondContour.toList());
}
firstContour.release();
secondContour.release();
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromList(FinalContourList);
if (contour.cols() !=0 && contour.rows() != 0){
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}
} catch (IndexOutOfBoundsException e){
FinalContour = new MatOfPoint();
FinalContourList.clear();
break;
}
}
}
} else {
for (var i = 0; i < InputContours.size(); i++){
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromArray(InputContours.get(i).toArray());
if (contour.cols() !=0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}
}
}
return InputContours;
return FinalCountours;
}
private Mat intersectMatA = new Mat();
private Mat intersectMatB = new Mat();
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
return true;
if (IntersectionPoint.equals("None")){
return true;
}
try {
Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
double vxA = intersectMatA.get(0,0)[0];
double vyA = intersectMatA.get(1,0)[0];
double x0A = intersectMatA.get(2,0)[0];
double y0A = intersectMatA.get(3,0)[0];
double mA = vyA / vxA;
double vxB = intersectMatB.get(0,0)[0];
double vyB = intersectMatB.get(1,0)[0];
double x0B = intersectMatB.get(2,0)[0];
double y0B = intersectMatB.get(3,0)[0];
double mB = vyB / vxB;
double intersectionX = (mA * x0A) - y0A - (mB * x0B) + y0B / (mA - mB);
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
switch (IntersectionPoint){
case "Up" :{
if (intersectionY < CamVals.CenterY){
return true;
}
break;
}
case "Down": {
if (intersectionY > CamVals.CenterY){
return true;
}
break;
}
case "Left": {
if (intersectionX < CamVals.CenterX){
return true;
}
break;
}
case "Right": {
if (intersectionX > CamVals.CenterX){
return true;
}
break;
}
}
return false;
}
catch (Exception e){
return false;
}
}
}