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Auto merge of #5 - lasarobotics:feature-blob, r=smo-key
Add blob detection and start on the FTC Resq beacon implementation More tweaks and improvements to come - the camera tester app is now fully functional!
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ftc-visionlib-java/src/main/java/org/lasarobotics/vision/detection/BlobDetection.java
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...isionlib-java/src/main/java/org/lasarobotics/vision/detection/CascadeObjectDetection.java
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| package org.lasarobotics.vision.detection; | ||
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| /** | ||
| * Created by arthur on 10/9/15. | ||
| */ | ||
| public class CascadeObjectDetection { | ||
| public CascadeObjectDetection() { | ||
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| } | ||
| } |
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ftc-visionlib-java/src/main/java/org/lasarobotics/vision/detection/ColorBlobDetector.java
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| package org.lasarobotics.vision.detection; | ||
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| import org.lasarobotics.vision.image.Drawing; | ||
| import org.lasarobotics.vision.util.color.Color; | ||
| import org.lasarobotics.vision.util.color.ColorHSV; | ||
| import org.lasarobotics.vision.util.color.ColorSpace; | ||
| import org.opencv.core.Core; | ||
| import org.opencv.core.Mat; | ||
| import org.opencv.core.MatOfPoint; | ||
| import org.opencv.core.Scalar; | ||
| import org.opencv.imgproc.Imgproc; | ||
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| import java.util.ArrayList; | ||
| import java.util.Iterator; | ||
| import java.util.List; | ||
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| /** | ||
| * Implements blob (regional) detection based on color | ||
| */ | ||
| public class ColorBlobDetector { | ||
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| //Lower bound for range checking | ||
| private ColorHSV lowerBound = new ColorHSV(0, 0, 0); | ||
| //Upper bound for range checking | ||
| private ColorHSV upperBound = new ColorHSV(0, 0, 0); | ||
| //Minimum contour area in percent for contours filtering | ||
| private static double minContourArea = 0.1; | ||
| //Color radius for range checking | ||
| private Scalar colorRadius = new Scalar(75, 75, 75, 0); | ||
| //Currently selected color | ||
| private Color color; | ||
| //True if radius is set, false if lower and upper bound is set | ||
| private boolean isRadiusSet = true; | ||
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| private List<Contour> contours = new ArrayList<>(); | ||
| private double maxArea; | ||
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| public ColorBlobDetector(Color color) | ||
| { | ||
| setColor(color); | ||
| } | ||
| public ColorBlobDetector(Color color, Color colorRadius) | ||
| { | ||
| this.colorRadius = colorRadius.convertColorScalar(ColorSpace.HSV); | ||
| setColor(color); | ||
| } | ||
| public ColorBlobDetector(ColorHSV colorMinimum, ColorHSV colorMaximum) | ||
| { | ||
| setColorRadius(colorMinimum, colorMaximum); | ||
| } | ||
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| public void setColor(Color color) | ||
| { | ||
| if (color == null) | ||
| throw new IllegalArgumentException("Color must not be null!"); | ||
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| if (isRadiusSet) | ||
| return; | ||
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| this.color = color; | ||
| Scalar hsvColor = color.convertColorScalar(ColorSpace.HSV); | ||
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| //calculate min and max hues | ||
| double minH = (hsvColor.val[0] >= colorRadius.val[0]) ? hsvColor.val[0] - colorRadius.val[0] : 0; | ||
| double maxH = (hsvColor.val[0] + colorRadius.val[0] <= 255) ? hsvColor.val[0] + colorRadius.val[0] : 255; | ||
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| Scalar lowerBoundScalar = lowerBound.getScalar(); | ||
| Scalar upperBoundScalar = upperBound.getScalar(); | ||
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| lowerBoundScalar.val[0] = minH; | ||
| upperBoundScalar.val[0] = maxH; | ||
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| lowerBoundScalar.val[1] = hsvColor.val[1] - colorRadius.val[1]; | ||
| upperBoundScalar.val[1] = hsvColor.val[1] + colorRadius.val[1]; | ||
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| lowerBoundScalar.val[2] = hsvColor.val[2] - colorRadius.val[2]; | ||
| upperBoundScalar.val[2] = hsvColor.val[2] + colorRadius.val[2]; | ||
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| lowerBoundScalar.val[3] = 0; | ||
| upperBoundScalar.val[3] = 255; | ||
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| lowerBound = new ColorHSV(lowerBoundScalar); | ||
| upperBound = new ColorHSV(upperBoundScalar); | ||
| } | ||
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| //TODO test this method - set a color radius in the contructor and solve for the true min and max bound | ||
| public void setColorRadius(Color lowerBound, Color upperBound) | ||
| { | ||
| isRadiusSet = false; | ||
| Scalar lower = lowerBound.convertColorScalar(ColorSpace.HSV); | ||
| Scalar upper = upperBound.convertColorScalar(ColorSpace.HSV); | ||
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| this.lowerBound = new ColorHSV(lower); | ||
| this.upperBound = new ColorHSV(upper); | ||
| } | ||
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| public void setColorRadius(ColorHSV radius) { | ||
| isRadiusSet = true; | ||
| this.colorRadius = radius.getScalar(); | ||
| //Update the bounds again | ||
| setColor(color); | ||
| } | ||
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| public void setMinContourArea(double area) { | ||
| minContourArea = area; | ||
| //Update the bounds again | ||
| setColor(color); | ||
| } | ||
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| public void process(Mat rgbaImage) { | ||
| Imgproc.pyrDown(rgbaImage, mPyrDownMat); | ||
| Imgproc.pyrDown(mPyrDownMat, mPyrDownMat); | ||
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| Imgproc.cvtColor(mPyrDownMat, mHsvMat, Imgproc.COLOR_RGB2HSV_FULL); | ||
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| //Test whether we need two inRange operations (only if the hue crosses over 255) | ||
| if (upperBound.getScalar().val[0] <= 255) { | ||
| Core.inRange(mHsvMat, lowerBound.getScalar(), upperBound.getScalar(), mMask); | ||
| } else | ||
| { | ||
| //We need two operations - we're going to OR the masks together | ||
| Scalar lower = lowerBound.getScalar().clone(); | ||
| Scalar upper = upperBound.getScalar().clone(); | ||
| while (upper.val[0] > 255) | ||
| upper.val[0] -= 255; | ||
| double tmp = lower.val[0]; | ||
| lower.val[0] = 0; | ||
| //Mask 1 - from 0 to n | ||
| Core.inRange(mHsvMat, lower, upper, mMaskOne); | ||
| //Mask 2 - from 255-n to 255 | ||
| lower.val[0] = tmp; | ||
| upper.val[0] = 255; | ||
| Core.inRange(mHsvMat, lower, upper, mMask); | ||
| //OR the two masks | ||
| Core.bitwise_or(mMaskOne, mMask, mMask); | ||
| } | ||
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| //Dilate (blur) the mask to decrease processing power | ||
| Imgproc.dilate(mMask, mDilatedMask, new Mat()); | ||
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| List<MatOfPoint> contourListTemp = new ArrayList<>(); | ||
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| Imgproc.findContours(mDilatedMask, contourListTemp, mHierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE); | ||
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| // Find max contour area | ||
| double maxArea = 0; | ||
| List<Contour> contourList = new ArrayList<>(); | ||
| for (MatOfPoint c : contourListTemp) { | ||
| Contour con = new Contour(c); | ||
| contourList.add(con); | ||
| double area = con.area(); | ||
| if (area > maxArea) | ||
| maxArea = area; | ||
| } | ||
| this.maxArea = maxArea; | ||
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| // Filter contours by area and resize to fit the original image size | ||
| contours.clear(); | ||
| for (Contour c : contourList ) { | ||
| if (Imgproc.contourArea(c) > minContourArea*maxArea) { | ||
| Core.multiply(c, new Scalar(4,4), c); | ||
| contours.add(new Contour(c)); | ||
| } | ||
| } | ||
| } | ||
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| public double getContourMaxArea() | ||
| { | ||
| return maxArea; | ||
| } | ||
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| public void drawContours(Mat img, Color color) | ||
| { | ||
| Drawing.drawContours(img, contours, color); | ||
| } | ||
| public void drawContours(Mat img, Color color, int thickness) | ||
| { | ||
| Drawing.drawContours(img, contours, color, thickness); | ||
| } | ||
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| public List<Contour> getContours() { | ||
| return contours; | ||
| } | ||
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| // Cache | ||
| private Mat mPyrDownMat = new Mat(); | ||
| private Mat mHsvMat = new Mat(); | ||
| private Mat mMaskOne = new Mat(); | ||
| private Mat mMask = new Mat(); | ||
| private Mat mDilatedMask = new Mat(); | ||
| private Mat mHierarchy = new Mat(); | ||
| } |
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