manual merge of speckle rejection into new ui and updated ui to include speckle slider

Main/src/main/java/com/chameleonvision/vision/Pipeline.java

@@ -15,6 +15,7 @@ public class Pipeline {
 	public List<Number> area = Arrays.asList(0.0, 100.0);
 	public List<Number> ratio = Arrays.asList(0.0, 20.0);
 	public List<Number> extent = Arrays.asList(0, 100);
+	public Number speckle = 5;
 	public boolean isBinary = false;
 	public SortMode sortMode = SortMode.Largest;
 	public TargetGroup targetGroup = TargetGroup.Single;

Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java

@@ -24,6 +24,7 @@ public class CVProcess {
     private Mat binaryMat = new Mat();
     private List<MatOfPoint> filteredContours = new ArrayList<>();
     private Comparator<RotatedRect> sortByCentermostComparator = Comparator.comparingDouble(this::calcDistance);
+    private List<MatOfPoint> speckleRejectedContours = new ArrayList<>();
     private Comparator<MatOfPoint> sortByMomentsX = Comparator.comparingDouble(this::calcMomentsX);
     private List<RotatedRect> finalCountours = new ArrayList<>();
     private MatOfPoint2f intersectMatA = new MatOfPoint2f();
@@ -85,6 +86,20 @@ public class CVProcess {
         }
         return filteredContours;
     }
+    List<MatOfPoint> rejectSpeckles(List<MatOfPoint> inputContours, Double minimumPercentOfAverage) {
+        double averageArea = 0.0;
+        for(MatOfPoint c : inputContours) {
+            averageArea += Imgproc.contourArea(c);
+        }
+        averageArea /= inputContours.size();
+        var minimumAllowableArea = minimumPercentOfAverage / 100.0 * averageArea;
+        speckleRejectedContours.clear();
+        for(MatOfPoint c : inputContours) {
+            if(Imgproc.contourArea(c) >= minimumAllowableArea) speckleRejectedContours.add(c);
+        }
+        return speckleRejectedContours;
+    }
+
 
     private double calcDistance(RotatedRect rect) {
         return FastMath.sqrt(FastMath.pow(cameraValues.CenterX - rect.center.x, 2) + FastMath.pow(cameraValues.CenterY - rect.center.y, 2));
@@ -119,7 +134,7 @@ public class CVProcess {
     List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
         finalCountours.clear();
         if (targetGroup.equals(TargetGroup.Dual)) {
-            inputContours.sort(sortByMomentsX);
+//            inputContours.sort(sortByMomentsX);
             for (var i = 0; i < inputContours.size(); i++) {
                 List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
                 try {

Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java

@@ -33,6 +33,7 @@ public class VisionProcess implements Runnable {
     // pipeline process items
     private List<MatOfPoint> foundContours = new ArrayList<>();
     private List<MatOfPoint> filteredContours = new ArrayList<>();
+    private List<MatOfPoint> deSpeckledContours = new ArrayList<>();
     private List<RotatedRect> groupedContours = new ArrayList<>();
     private Mat cameraInputMat = new Mat();
     private Mat hsvThreshMat = new Mat();
@@ -148,7 +149,7 @@ public class VisionProcess implements Runnable {
 
         cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
 
-        if (currentPipeline.isBinary == true) {
+        if (currentPipeline.isBinary) {
             Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
         } else {
             inputImage.copyTo(outputImage);
@@ -157,23 +158,26 @@ public class VisionProcess implements Runnable {
         if (foundContours.size() > 0) {
             filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
             if (filteredContours.size() > 0) {
-                groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
-                if (groupedContours.size() > 0) {
-                    var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
-//					System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
-                    pipelineResult.RawPoint = finalRect;
-                    pipelineResult.IsValid = true;
-                    if (!currentPipeline.isCalibrated) {
-                        pipelineResult.CalibratedX = camera.getCamVals().CenterX;
-                        pipelineResult.CalibratedY = camera.getCamVals().CenterY;
-                    } else {
-                        pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
-                        pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
+                deSpeckledContours = cvProcess.rejectSpeckles(filteredContours, currentPipeline.speckle.doubleValue());
+                if (deSpeckledContours.size() > 0){
+                    groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
+                    if (groupedContours.size() > 0) {
+                        var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
+    //					System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
+                        pipelineResult.RawPoint = finalRect;
+                        pipelineResult.IsValid = true;
+                        if (!currentPipeline.isCalibrated) {
+                            pipelineResult.CalibratedX = camera.getCamVals().CenterX;
+                            pipelineResult.CalibratedY = camera.getCamVals().CenterY;
+                        } else {
+                            pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
+                            pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
+                        }
+                        pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
+                        pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
+                        pipelineResult.Area = finalRect.size.area();
+                        drawContour(outputImage, finalRect);
                     }
-                    pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
-                    pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
-                    pipelineResult.Area = finalRect.size.area();
-                    drawContour(outputImage, finalRect);
                 }
             }
         }

Main/src/main/resources/web/index.html

@@ -1 +1 @@
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+<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link rel=stylesheet href=/Roboto.css><link href=/css/chunk-234aed0c.62cd23bf.css rel=prefetch><link href=/css/chunk-28383ebf.5bdfa61d.css rel=prefetch><link href=/css/chunk-402ab08c.d47fe89d.css rel=prefetch><link href=/css/chunk-716fb61c.ab43288b.css rel=prefetch><link href=/css/chunk-79b72a3d.52ef46aa.css rel=prefetch><link href=/css/chunk-7a810817.e757f52a.css rel=prefetch><link href=/css/chunk-7cf477eb.a93b3047.css rel=prefetch><link href=/css/chunk-c11abc1e.550a8275.css rel=prefetch><link href=/css/chunk-c44c6306.3e507f7b.css rel=prefetch><link href=/js/chunk-234aed0c.fbf7ad5e.js rel=prefetch><link href=/js/chunk-28383ebf.c8baa1ad.js rel=prefetch><link href=/js/chunk-3ae1c3ad.6979650a.js rel=prefetch><link href=/js/chunk-402ab08c.dd7b432d.js rel=prefetch><link href=/js/chunk-716fb61c.84a36d26.js rel=prefetch><link href=/js/chunk-79b72a3d.aeb36768.js rel=prefetch><link href=/js/chunk-7a810817.bca05c28.js rel=prefetch><link href=/js/chunk-7cf477eb.de18472d.js rel=prefetch><link href=/js/chunk-98e0c8cc.240c79a9.js rel=prefetch><link href=/js/chunk-c11abc1e.fa113e7a.js rel=prefetch><link href=/js/chunk-c44c6306.d9c69fb0.js rel=prefetch><link href=/css/app.eb572613.css rel=preload as=style><link href=/css/chunk-vendors.97f47167.css rel=preload as=style><link href=/js/app.4f397bab.js rel=preload as=script><link href=/js/chunk-vendors.6cb32058.js rel=preload as=script><link href=/css/chunk-vendors.97f47167.css rel=stylesheet><link href=/css/app.eb572613.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.6cb32058.js></script><script src=/js/app.4f397bab.js></script></body></html>

Main/src/main/resources/web/js/chunk-2d0d3320.bae28379.js

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Main/src/main/resources/web/js/chunk-38331e86.2606c966.js

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Main/src/main/resources/web/js/chunk-98e0c8cc.240c79a9.js

@@ -1,2 +1,2 @@
-(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-1a7066d8"],{"0b81":function(e,t,a){"use strict";a.r(t);var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("CVselect",{attrs:{name:"Camera",list:e.cameraList},model:{value:e.currentCameraIndex,callback:function(t){e.currentCameraIndex=t},expression:"currentCameraIndex"}}),a("CVselect",{attrs:{name:"Resolution",list:e.resolutionList},model:{value:e.cameraSettings.resolution,callback:function(t){e.$set(e.cameraSettings,"resolution",t)},expression:"cameraSettings.resolution"}}),a("CVselect",{attrs:{name:"Stream Resolution",list:["1:1","1:2","1:4","1:6"]},model:{value:e.cameraSettings.streamDivisor,callback:function(t){e.$set(e.cameraSettings,"streamDivisor",t)},expression:"cameraSettings.streamDivisor"}}),a("CVnumberinput",{attrs:{name:"Diagonal FOV"},model:{value:e.cameraSettings.fov,callback:function(t){e.$set(e.cameraSettings,"fov",t)},expression:"cameraSettings.fov"}}),a("v-btn",{staticStyle:{"margin-top":"10px"},attrs:{small:"",color:"#4baf62"},on:{click:e.sendCameraSettings}},[e._v("Save Camera Settings")])],1)},n=[],r=a("8384"),i=a("9696"),l={name:"CameraSettings",components:{CVselect:r["a"],CVnumberinput:i["a"]},data(){return{}},methods:{sendCameraSettings(){this.handleInput("cameraSettings",this.cameraSettings)}},computed:{currentCameraIndex:{get(){return this.$store.state.currentCameraIndex},set(e){this.$store.commit("currentCameraIndex",e)}},cameraList:{get(){return this.$store.state.cameraList},set(e){this.$store.commit("cameraList",e)}},resolutionList:{get(){return this.$store.state.resolutionList}},cameraSettings:{get(){return this.$store.state.cameraSettings},set(e){this.$store.commit("cameraSettings",e)}}}},c=l,o=a("2877"),m=a("6544"),u=a.n(m),d=a("8336"),p=Object(o["a"])(c,s,n,!1,null,"6fff04fd",null);t["default"]=p.exports;u()(p,{VBtn:d["a"]})},9696:function(e,t,a){"use strict";var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("v-row",{attrs:{dense:"",align:"center"}},[a("v-col",{attrs:{cols:2}},[a("span",[e._v(e._s(e.name))])]),a("v-col",[a("v-text-field",{staticClass:"mt-0 pt-0",staticStyle:{width:"70px"},attrs:{dark:"","hide-details":"","single-line":"",type:"number"},model:{value:e.localValue,callback:function(t){e.localValue=t},expression:"localValue"}})],1)],1)],1)},n=[],r={name:"NumberInput",props:["name","value"],data(){return{}},computed:{localValue:{get(){return this.value},set(e){this.$emit("input",parseInt(e))}}}},i=r,l=a("2877"),c=a("6544"),o=a.n(c),m=a("62ad"),u=a("0fd9"),d=a("8654"),p=Object(l["a"])(i,s,n,!1,null,"10e05c36",null);t["a"]=p.exports;o()(p,{VCol:m["a"],VRow:u["a"],VTextField:d["a"]})}}]);
-//# sourceMappingURL=chunk-1a7066d8.baa45f6a.js.map
+(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-98e0c8cc"],{"0b81":function(e,t,a){"use strict";a.r(t);var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("CVselect",{attrs:{name:"Camera",list:e.cameraList},model:{value:e.currentCameraIndex,callback:function(t){e.currentCameraIndex=t},expression:"currentCameraIndex"}}),a("CVselect",{attrs:{name:"Resolution",list:e.resolutionList},model:{value:e.cameraSettings.resolution,callback:function(t){e.$set(e.cameraSettings,"resolution",t)},expression:"cameraSettings.resolution"}}),a("CVselect",{attrs:{name:"Stream Resolution",list:["1:1","1:2","1:4","1:6"]},model:{value:e.cameraSettings.streamDivisor,callback:function(t){e.$set(e.cameraSettings,"streamDivisor",t)},expression:"cameraSettings.streamDivisor"}}),a("CVnumberinput",{attrs:{name:"Diagonal FOV"},model:{value:e.cameraSettings.fov,callback:function(t){e.$set(e.cameraSettings,"fov",t)},expression:"cameraSettings.fov"}}),a("v-btn",{staticStyle:{"margin-top":"10px"},attrs:{small:"",color:"#4baf62"},on:{click:e.sendCameraSettings}},[e._v("Save Camera Settings")])],1)},n=[],r=a("8384"),i=a("9696"),c={name:"CameraSettings",components:{CVselect:r["a"],CVnumberinput:i["a"]},data(){return{}},methods:{sendCameraSettings(){this.handleInput("cameraSettings",this.cameraSettings)}},computed:{currentCameraIndex:{get(){return this.$store.state.currentCameraIndex},set(e){this.$store.commit("currentCameraIndex",e)}},cameraList:{get(){return this.$store.state.cameraList},set(e){this.$store.commit("cameraList",e)}},resolutionList:{get(){return this.$store.state.resolutionList}},cameraSettings:{get(){return this.$store.state.cameraSettings},set(e){this.$store.commit("cameraSettings",e)}}}},l=c,o=a("2877"),m=a("6544"),u=a.n(m),d=a("8336"),p=Object(o["a"])(l,s,n,!1,null,"6fff04fd",null);t["default"]=p.exports;u()(p,{VBtn:d["a"]})},9696:function(e,t,a){"use strict";var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("v-row",{attrs:{dense:"",align:"center"}},[a("v-col",{attrs:{cols:2}},[a("span",[e._v(e._s(e.name))])]),a("v-col",[a("v-text-field",{staticClass:"mt-0 pt-0",staticStyle:{width:"70px"},attrs:{dark:"","hide-details":"","single-line":"",type:"number"},model:{value:e.localValue,callback:function(t){e.localValue=t},expression:"localValue"}})],1)],1)],1)},n=[],r={name:"NumberInput",props:["name","value"],data(){return{}},computed:{localValue:{get(){return this.value},set(e){this.$emit("input",parseInt(e))}}}},i=r,c=a("2877"),l=a("6544"),o=a.n(l),m=a("62ad"),u=a("0fd9"),d=a("8654"),p=Object(c["a"])(i,s,n,!1,null,"10e05c36",null);t["a"]=p.exports;o()(p,{VCol:m["a"],VRow:u["a"],VTextField:d["a"]})}}]);
+//# sourceMappingURL=chunk-98e0c8cc.240c79a9.js.map

Main/src/main/resources/web/js/chunk-c44c6306.d9c69fb0.js

@@ -0,0 +1,2 @@
+(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-c44c6306"],{"2db4":function(t,i,s){"use strict";s("ca71");var e=s("a9ad"),o=s("f2e7"),a=s("fe6c"),n=s("58df"),c=s("d9bd");i["a"]=Object(n["a"])(e["a"],o["a"],Object(a["b"])(["absolute","top","bottom","left","right"])).extend({name:"v-snackbar",props:{multiLine:Boolean,timeout:{type:Number,default:6e3},vertical:Boolean},data:()=>({activeTimeout:-1}),computed:{classes(){return{"v-snack--active":this.isActive,"v-snack--absolute":this.absolute,"v-snack--bottom":this.bottom||!this.top,"v-snack--left":this.left,"v-snack--multi-line":this.multiLine&&!this.vertical,"v-snack--right":this.right,"v-snack--top":this.top,"v-snack--vertical":this.vertical}}},watch:{isActive(){this.setTimeout()}},created(){this.$attrs.hasOwnProperty("auto-height")&&Object(c["d"])("auto-height",this)},mounted(){this.setTimeout()},methods:{setTimeout(){window.clearTimeout(this.activeTimeout),this.isActive&&this.timeout&&(this.activeTimeout=window.setTimeout(()=>{this.isActive=!1},this.timeout))}},render(t){return t("transition",{attrs:{name:"v-snack-transition"}},[this.isActive&&t("div",{staticClass:"v-snack",class:this.classes,on:this.$listeners},[t("div",this.setBackgroundColor(this.color,{staticClass:"v-snack__wrapper"}),[t("div",{staticClass:"v-snack__content"},this.$slots.default)])])])}})},"4c92":function(t,i,s){"use strict";s.r(i);var e=function(){var t=this,i=t.$createElement,s=t._self._c||i;return s("div",[s("CVselect",{attrs:{name:"SortMode",list:["Largest","Smallest","Highest","Lowest","Rightmost","Leftmost","Closest"]},on:{input:function(i){return t.handleInput("sortMode",t.value.sortMode)}},model:{value:t.value.sortMode,callback:function(i){t.$set(t.value,"sortMode",i)},expression:"value.sortMode"}}),s("span",[t._v("Calibrate:")]),s("v-divider",{attrs:{dark:"",color:"white"}}),s("v-row",{attrs:{align:"center",justify:"start"}},[s("v-col",{staticStyle:{"padding-right":"0px"},attrs:{cols:3}},[s("v-btn",{attrs:{small:"",color:"#4baf62"},on:{click:t.takePointA}},[t._v("Take Point A")])],1),s("v-col",{staticStyle:{"margin-left":"0px"},attrs:{cols:3}},[s("v-btn",{attrs:{small:"",color:"#4baf62"},on:{click:t.takePointB}},[t._v("Take Point B")])],1),s("v-col",[s("v-btn",{attrs:{small:"",color:"yellow darken-3"},on:{click:t.clearSlope}},[t._v("Clear All Points")])],1)],1),s("v-snackbar",{attrs:{timeout:3e3,top:"",color:"error"},model:{value:t.snackbar,callback:function(i){t.snackbar=i},expression:"snackbar"}},[s("span",{staticStyle:{color:"#000"}},[t._v("Points are too close")]),s("v-btn",{attrs:{color:"black",text:""},on:{click:function(i){t.snackbar=!1}}},[t._v("Close")])],1)],1)},o=[],a=s("8384"),n={name:"Output",props:["value"],components:{CVselect:a["a"]},methods:{takePointA(){this.pointA=this.rawPoint,this.calcSlope()},takePointB(){this.pointB=this.rawPoint,this.calcSlope()},calcSlope(){if(void 0!==this.pointA&&void 0!==this.pointB){let t=(this.pointB[1]-this.pointA[1])/(this.pointB[0]-this.pointA[0]),i=this.pointA[1]-t*this.pointA[0];!1===isNaN(t)&&!1===isNaN(i)?this.sendSlope(t,i,!0):this.snackbar=!0,this.pointA=void 0,this.pointB=void 0}},sendSlope(t,i,s){this.handleInput("m",t),this.handleInput("b",i),this.handleInput("isCalibrated",s)},clearSlope(){this.sendSlope(1,0,!1),this.pointA=void 0,this.pointB=void 0}},data(){return{snackbar:!1,pointA:void 0,pointB:void 0}},computed:{rawPoint:{get(){return this.$store.state.point.rawPoint}}}},c=n,l=s("2877"),r=s("6544"),h=s.n(r),v=s("8336"),u=s("62ad"),d=s("ce7e"),p=s("0fd9"),k=s("2db4"),m=Object(l["a"])(c,e,o,!1,null,"58812995",null);i["default"]=m.exports;h()(m,{VBtn:v["a"],VCol:u["a"],VDivider:d["a"],VRow:p["a"],VSnackbar:k["a"]})},ca71:function(t,i,s){}}]);
+//# sourceMappingURL=chunk-c44c6306.d9c69fb0.js.map

chameleon-client/src/store.js

@@ -29,6 +29,7 @@ export default new Vuex.Store({
       area:[0,12],
       ratio:[0,12],
       extent:[0,12],
+      speckle:5,
       targetGrouping:0,
       targetIntersection:0,
       sortMode:0,

chameleon-client/src/views/CameraViewes/ContoursTab.vue

@@ -3,6 +3,7 @@
         <CVrangeSlider v-model="value.area" name="Area" :min="0" :max="100" :step="0.1" @input="handleInput('area',value.area)"></CVrangeSlider>
         <CVrangeSlider v-model="value.ratio" name="Ratio (W/H)" :min="0" :max="100" :step="0.1" @input="handleInput('ratio',value.ratio)"></CVrangeSlider>
         <CVrangeSlider v-model="value.extent" name="Extent" :min="0" :max="100" @input="handleInput('extent',value.extent)"></CVrangeSlider>
+        <CVslider name="Speckle Rejection" :min="0" :max="100" v-model="value.speckle" @input="handleInput('speckle',value.speckle)"></CVslider>
         <CVselect name="Target Group" :list="['Single','Dual']" v-model="value.targetGroup" @input="handleInput('targetGroup',value.targetGroup)"></CVselect>
         <CVselect name="Target Intersection" :list="['None','Up','Down','Left','Right']" :disabled="isDisabled" v-model="value.targetIntersection" @input="handleInput('targetIntersection',value.targetIntersection)"></CVselect>
 
@@ -12,12 +13,14 @@
 <script>
 import CVrangeSlider from '../../components/cv-range-slider'
 import CVselect from '../../components/cv-select'
+import CVslider from '../../components/cv-slider'
     export default {
         name: 'Contours',
         props:['value'],
         components:{
             CVrangeSlider,
-            CVselect
+            CVselect,
+            CVslider
         },
 
         data() {