mirror of
https://github.com/PhotonVision/photonvision
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1b8943eb27
-added camera thread call in main -initial work on camera process class -initial work on vision process class
33 lines
1.2 KiB
Java
33 lines
1.2 KiB
Java
package Handlers.Vision;
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import org.jetbrains.annotations.NotNull;
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import org.opencv.core.*;
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import org.opencv.imgproc.*;
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import java.util.ArrayList;
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import java.util.List;
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public class VisionProcess {
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private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
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public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
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Mat hsv = new Mat();
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Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
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new Scalar(hue.get(0),saturation.get(0),value.get(0));
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Mat threshold = new Mat();
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Core.inRange(threshold,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
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if (IsErode){
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Imgproc.erode(threshold,threshold, Kernel);
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}
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if (IsDilate){
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Imgproc.dilate(threshold,threshold, Kernel);
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}
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return threshold;
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}
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public List<MatOfPoint> FindContours(Mat BinaryImage){
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List<MatOfPoint> Contours = new ArrayList<>();
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Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
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return Contours;
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}
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}
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