Ejemplo n.º 1
0
  /**
   * Finds and extracts all contours in the given Mat. Optionally also removes contours with areas
   * below that of MIN_CONTOUR_AREA.
   *
   * @param mask A mask of all resistors in the image
   * @param originalImage The original image from which the mask was created
   * @param thresholdByArea If true, remove contours below threshold
   * @return The list a found contours
   */
  private List<MatOfPoint> getContours(Mat mask, Mat originalImage, boolean thresholdByArea) {
    List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    Mat hierarchy = new Mat();
    Imgproc.findContours(
        mask,
        contours,
        hierarchy,
        Imgproc.RETR_EXTERNAL,
        Imgproc.CHAIN_APPROX_SIMPLE,
        new Point(0, 0));

    // remove any remaining noise by only keeping contours which area > threshold
    if (thresholdByArea) {
      for (int i = 0; i < contours.size(); i++) {
        double area = Imgproc.contourArea(contours.get(i));
        if (area < MIN_CONTOUR_AREA || area > 6000) {
          contours.remove(i);
          i--;
        }
      }
    }

    Mat drawing = Mat.zeros(originalImage.size(), CvType.CV_8U);

    for (int i = 0; i < contours.size(); i++) {
      Scalar color = new Scalar(255, 255, 255);
      Imgproc.drawContours(drawing, contours, i, color, 4, 8, hierarchy, 0, new Point());
    }
    paintBR(drawing);

    return contours;
  }
  public static Mat getCCH(Mat image) {
    ArrayList<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    Mat hierarchy = new Mat();
    Imgproc.findContours(
        image, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE);

    Mat chainHistogram = Mat.zeros(1, 8, CvType.CV_32F);
    int n = 0;
    MatOfPoint2f approxCurve = new MatOfPoint2f();
    for (MatOfPoint contour : contours) {

      // get the freeman chain code from the contours
      int rows = contour.rows();
      // System.out.println("\nrows"+rows+"\n"+contour.dump());
      int direction = 7;
      Mat prevPoint = contours.get(0).row(0);
      n += rows - 1;
      for (int i = 1; i < rows; i++) {
        // get the current point
        double x1 = contour.get(i - 1, 0)[1];
        double y1 = contour.get(i - 1, 0)[0];

        // get the second point
        double x2 = contour.get(i, 0)[1];
        double y2 = contour.get(i, 0)[0];

        if (x2 == x1 && y2 == y1 + 1) direction = 0;
        else if (x2 == x1 - 1 && y2 == y1 + 1) direction = 1;
        else if (x2 == x1 - 1 && y2 == y1) direction = 2;
        else if (x2 == x1 - 1 && y2 == y1 - 1) direction = 3;
        else if (x2 == x1 && y2 == y1 - 1) direction = 4;
        else if (x2 == x1 + 1 && y2 == y1 - 1) direction = 5;
        else if (x2 == x1 + 1 && y2 == y1) direction = 6;
        else if (x2 == x1 + 1 && y2 == y1 + 1) direction = 7;
        else System.out.print("err");
        double counter = chainHistogram.get(0, direction)[0];
        chainHistogram.put(0, direction, ++counter);
        System.out.print(direction);
      }
    }
    System.out.println("\n" + chainHistogram.dump());
    Scalar alpha = new Scalar(n); // the factor
    Core.divide(chainHistogram, alpha, chainHistogram);
    System.out.println("\nrows=" + n + " " + chainHistogram.dump());
    return chainHistogram;
  }
Ejemplo n.º 3
0
  /**
   * Creates Resistor objects for all resistors extracted from given contours. Optionally, also
   * displays a bounding rectangle for all contours in the top left frame of the GUI.
   *
   * @param contours The contours defining the resistors
   * @param image The image from which the contours were extracted
   * @param showBoundingRect If true draws a bounding rectange for each contour
   * @return A list of Resistor objects
   */
  private List<Resistor> extractResistorsFromContours(
      List<MatOfPoint> contours, Mat image, boolean showBoundingRect) {
    List<Mat> extractedResistors = new ArrayList<Mat>();
    List<Rect> boundingRect = new ArrayList<Rect>();
    List<Resistor> resistors = new ArrayList<Resistor>();

    for (int i = 0; i < contours.size(); i++) {
      // bounding rectangle
      boundingRect.add(Imgproc.boundingRect(contours.get(i)));
      Mat mask = Mat.zeros(image.size(), CvType.CV_8U);
      Imgproc.drawContours(mask, contours, i, new Scalar(255), Core.FILLED);

      Mat contourRegion;
      Mat imageROI = new Mat();
      image.copyTo(imageROI, mask);
      contourRegion = new Mat(imageROI, boundingRect.get(i));
      extractedResistors.add(contourRegion);

      // the center of the resistor as a point within the original captured image
      Point resistorCenterPoint = findCenter(contours.get(i));

      // create a new resistor entry
      Resistor r = new Resistor(resistorCenterPoint, contourRegion);
      resistors.add(r);
    }

    if (showBoundingRect) {
      Mat drawing = new Mat();
      image.copyTo(drawing);
      for (int i = 0; i < contours.size(); i++) {
        Core.rectangle(
            drawing, boundingRect.get(i).tl(), boundingRect.get(i).br(), new Scalar(0, 0, 255), 2);
      }
      paintTL(drawing);
    }

    return resistors;
  }
Ejemplo n.º 4
0
  /**
   * @param inputImg
   * @return Mat
   */
  public static Mat kmeans(Mat inputImg) {

    Mat rgba = inputImg;
    Mat tempMat = inputImg;
    rgba = new Mat(inputImg.cols(), inputImg.rows(), CvType.CV_8UC3);
    inputImg.copyTo(rgba);

    List<Mat> hsv_planes_temp = new ArrayList<Mat>(3);
    Core.split(tempMat, hsv_planes_temp);

    double threshValue1 = PreProcessingOperation.getHistAverage(inputImg, hsv_planes_temp.get(0));
    sample.util.Estimate.setFirstHistAverageValue(threshValue1);
    System.out.println("Defore eqau " + threshValue1);

    System.out.println(
        Estimate.getBlueAverage() + " ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;");

    if (threshValue1 > 140) {
      if (Estimate.getBlueAverage() > 110) {
        rgba.convertTo(rgba, -1, 10d * 31 / 100, 0);
        System.out.println("11");
      } else {
        rgba.convertTo(rgba, -1, 10d * 40 / 100, 0);
        System.out.println("12");
      }
    } else if (threshValue1 > 135) {
      rgba.convertTo(rgba, -1, 10d * 32 / 100, 0);
      System.out.println("21");
    } else if (threshValue1 > 125) {
      if (Estimate.getBlueAverage() > 110) {
        rgba.convertTo(rgba, -1, 10d * 30 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 5);
        System.out.println("31");
      } else {
        rgba.convertTo(rgba, -1, 10d * 37 / 100, 0);
        System.out.println("32");
      }
    } else if (threshValue1 > 120) {
      rgba.convertTo(rgba, -1, 10d * 35 / 100, 0);
      System.out.println("41");
    } else if (threshValue1 > 110) {
      if (Estimate.getBlueAverage() > 110) {
        rgba.convertTo(rgba, -1, 10d * 35 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 5);
        System.out.println("51");
      }
    } else if (threshValue1 > 100) {
      if (Estimate.getBlueAverage() > 107) {
        rgba.convertTo(rgba, -1, 10d * 24 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 5);
        System.out.println("61");
      } else if (Estimate.getBlueAverage() > 90) {
        rgba.convertTo(rgba, -1, 10d * 30 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 5);
        System.out.println("62");
      }
    } else if (threshValue1 > 50) {

      if (Estimate.getBlueAverage() > 160) {
        rgba.convertTo(rgba, -1, 10d * 30 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 3);
        System.out.println("81");
      } else if (Estimate.getBlueAverage() > 160) {
        rgba.convertTo(rgba, -1, 10d * 27 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 9);
        System.out.println("82");
      } else if (Estimate.getBlueAverage() > 130) {
        rgba.convertTo(rgba, -1, 10d * 30 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 9);
        System.out.println("83");
      } else if (Estimate.getBlueAverage() > 70) {
        rgba.convertTo(rgba, -1, 10d * 29 / 100, 0);
        rgba = PreProcessing.Dilate(rgba, 9);
        System.out.println("84");
      }
    } else if (threshValue1 > 30) {
      if (Estimate.getBlueAverage() > 190) {
        rgba.convertTo(rgba, -1, 10d * 25 / 100, 0);
        System.out.println("91");
      } else if (Estimate.getBlueAverage() > 160) {
        rgba.convertTo(rgba, -1, 10d * 35 / 100, 0);
        System.out.println("92");
      }
    } else {
      if (Estimate.getBlueAverage() > 240) {
        rgba.convertTo(rgba, -1, 10d * 24 / 100, 0);
        System.out.println("7");
      } else {
        rgba.convertTo(rgba, -1, 10d * 17 / 100, 0);
        System.out.println("7");
      }
    }
    tempMat.release();

    Mat mHSV = new Mat();
    Imgproc.cvtColor(rgba, mHSV, Imgproc.COLOR_RGBA2RGB, 3);
    Imgproc.cvtColor(rgba, mHSV, Imgproc.COLOR_RGB2HSV, 3);
    List<Mat> hsv_planes = new ArrayList<Mat>(3);
    Core.split(mHSV, hsv_planes);

    Mat channel = hsv_planes.get(0);
    channel = Mat.zeros(mHSV.rows(), mHSV.cols(), CvType.CV_8UC1);
    hsv_planes.set(2, channel);
    Core.merge(hsv_planes, mHSV);

    mHSV.convertTo(mHSV, CvType.CV_8UC1);
    mHSV = Histogram(mHSV);

    /*
    Mat clusteredHSV = new Mat();
    mHSV.convertTo(mHSV, CvType.CV_32FC3);
    TermCriteria criteria = new TermCriteria(TermCriteria.EPS + TermCriteria.MAX_ITER,100,0.1);
    Core.kmeans(mHSV, 1, clusteredHSV, criteria, 20, Core.KMEANS_PP_CENTERS);
    Mat hsvImg = new Mat();
    List<Mat> hsvPlanes = new ArrayList<>();
    Mat thresholdImg = new Mat();
    int thresh_type = Imgproc.THRESH_BINARY_INV;
    hsvImg.create(mHSV.size(), CvType.CV_8U);
    Imgproc.cvtColor(mHSV, hsvImg, Imgproc.COLOR_BGR2HSV);
    Core.split(hsvImg, hsvPlanes);
    Imgproc.threshold(hsvPlanes.get(1), thresholdImg, 0 , 200 , thresh_type);
    double threshValue = PreProcessingOperation.getHistAverage(hsvImg, hsvPlanes.get(0));
    Estimate.setSecondHistAverageValue(threshValue);
    System.out.println("After equa " + Estimate.getSecondHistAverageValue());*/

    Imgproc.threshold(mHSV, mHSV, 0, 150, Imgproc.THRESH_BINARY_INV);
    // mHSV.convertTo(mHSV, CvType.CV_8UC1);
    return mHSV;
  }
Ejemplo n.º 5
0
  /**
   * Extracts and classifies colour bands for each Resistor. Each ColourBand object is instantiated
   * and linked to their parent Resistor object.
   *
   * @param resistorList A list of Resistor objects from which to extract the colour bands
   * @param paintDebugInfo If ture, the extracted colour band ROIs are displayed on the GUI
   */
  private void extractColourBandsAndClassify(List<Resistor> resistorList, boolean paintDebugInfo) {
    if (resistorList.size() > 0) {
      for (int r = 0; r < resistorList.size(); r++) {
        Mat resImg = resistorList.get(r).resistorMat;

        Mat imgHSV = new Mat();
        Mat satImg = new Mat();
        Mat hueImg = new Mat();

        // convert to HSV
        Imgproc.cvtColor(resImg, imgHSV, Imgproc.COLOR_BGR2HSV);
        ArrayList<Mat> channels = new ArrayList<Mat>();
        Core.split(imgHSV, channels);
        // extract channels
        satImg = channels.get(1); // saturation
        hueImg = channels.get(0); // hue

        // threshold saturation channel
        Mat threshedROISatBands = new Mat(); // ~130 sat thresh val
        Imgproc.threshold(satImg, threshedROISatBands, SAT_BAND_THRESH, 255, Imgproc.THRESH_BINARY);

        // threshold hue channel
        Mat threshedROIHueBands = new Mat(); // ~50 hue thresh val
        Imgproc.threshold(hueImg, threshedROIHueBands, HUE_BAND_THRESH, 255, Imgproc.THRESH_BINARY);

        // combine the thresholded binary images
        Mat bandROI = new Mat();
        Core.bitwise_or(threshedROIHueBands, threshedROISatBands, bandROI);

        // find contours in binary ROI image
        ArrayList<MatOfPoint> contours = new ArrayList<MatOfPoint>();
        Mat hierarchy = new Mat();
        Imgproc.findContours(
            bandROI,
            contours,
            hierarchy,
            Imgproc.RETR_EXTERNAL,
            Imgproc.CHAIN_APPROX_SIMPLE,
            new Point(0, 0));

        // remove any remaining noise by only keeping contours which area > threshold
        for (int i = 0; i < contours.size(); i++) {
          double area = Imgproc.contourArea(contours.get(i));
          if (area < MIN_BAND_AREA) {
            contours.remove(i);
            i--;
          }
        }

        // create a ColourBand object for each detected band
        // storing its center, the contour and the bandROI
        for (int i = 0; i < contours.size(); i++) {
          MatOfPoint contour = contours.get(i);

          // extract this colour band and store in a Mat
          Rect boundingRect = Imgproc.boundingRect(contour);
          Mat mask = Mat.zeros(bandROI.size(), CvType.CV_8U);
          Imgproc.drawContours(mask, contours, i, new Scalar(255), Core.FILLED);
          Mat imageROI = new Mat();
          resImg.copyTo(imageROI, mask);
          Mat colourBandROI = new Mat(imageROI, boundingRect);

          // instantiate new ColourBand object
          ColourBand cb = new ColourBand(findCenter(contour), contour, colourBandROI);

          // cluster the band colour
          cb.clusterBandColour(BAND_COLOUR_K_MEANS);

          // classify using the Lab colourspace as feature vector
          Mat sampleMat =
              new Mat(1, 3, CvType.CV_32FC1); // create a Mat contacting the clustered band colour
          sampleMat.put(0, 0, cb.clusteredColourLAB[0]);
          sampleMat.put(0, 1, cb.clusteredColourLAB[1]);
          sampleMat.put(0, 2, cb.clusteredColourLAB[2]);
          Mat classifiedValue = new Mat(1, 1, CvType.CV_32FC1);
          Mat neighborResponses = new Mat(); // dont actually use this
          Mat dists = new Mat(); // dont actually use this
          // classify
          knn.find_nearest(sampleMat, 3, classifiedValue, neighborResponses, dists);

          // cast classified value into Colour enum and store
          cb.classifiedColour = ColourEnumVals[(int) classifiedValue.get(0, 0)[0]];
          // add the band to the parent resistor
          resistorList.get(r).bands.add(cb);
        }

        // paint the extracted band ROIs
        if (paintDebugInfo) {
          Mat finalBandROIMask = Mat.zeros(bandROI.size(), CvType.CV_8U);
          for (int i = 0; i < contours.size(); i++) {
            Scalar color = new Scalar(255, 255, 255);
            Imgproc.drawContours(
                finalBandROIMask, contours, i, color, -1, 4, hierarchy, 0, new Point());
          }
          Mat colourROI = new Mat();
          resImg.copyTo(colourROI, finalBandROIMask);
          paintResistorSubRegion(colourROI, r);
        }
      }
    }
  }
Ejemplo n.º 6
0
  /**
   * Determines which pieces are kings
   *
   * @param in Mat image of board
   */
  public void determineKings(Mat in) {
    int playSquares = 32;

    Mat dst = new Mat(in.rows(), in.cols(), in.type());
    in.copyTo(dst);

    Imgproc.cvtColor(dst, dst, Imgproc.COLOR_BGR2GRAY); // change to single color

    Mat canny = new Mat();
    Imgproc.Canny(dst, canny, 100, 200); // make image a canny image that is only edges; 2,4
    // lower threshold values find more edges
    List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    Mat hierarchy = new Mat(); // holds nested contour information
    Imgproc.findContours(
        canny,
        contours,
        hierarchy,
        Imgproc.RETR_LIST,
        Imgproc.CHAIN_APPROX_SIMPLE); // Imgproc.RETR_LIST, TREE

    // draw contour image
    Mat mask = new Mat();
    mask = Mat.zeros(dst.size(), dst.type());
    Imgproc.drawContours(
        mask, contours, -1, new Scalar(255, 255, 255), 1, 8, hierarchy, 2, new Point());
    Highgui.imwrite("contours.jpg", mask);

    ArrayList occupied = new ArrayList<Integer>();
    for (int i = 0; i < playSquares; i++) {
      if (board[i] != 0) occupied.add(i);
    }

    for (int i = 0; i < contours.size(); i++) // assuming only contours are checker pieces
    {
      // determine if it should be a king
      // use Rect r = Imgproc.boundingRect then find height of it by r.height

      // Get bounding rect of contour
      Rect bound = Imgproc.boundingRect(contours.get(i));

      if (bound.height > in.rows() / 8) {
        // board[(int) occupied.get(0)]++; // make it a king
        // occupied.remove(0);
      }
    }

    // or apply to each region of interest

    /*
    // keep track of starting row square
    int parity = 0; // 0 is even, 1 is odd, tied to row number
    int count = 0; // row square
    int rowNum = 0; // row number, starting at 0

    int vsegment = in.rows() / 8; // only accounts 8 playable
    int hsegment = in.cols() / 12; // 8 playable, 2 capture, 2 extra
    int offset = hsegment * 2; // offset for playable board

    // For angle of camera
    int dx = 48;
    hsegment -= 8;


    // Go through all playable squares
    for (int i = 0; i < playSquares; i++)
    {
    	// change offset depending on the row
    	if (parity == 0) // playable squares start on immediate left
    		offset = hsegment * 3 + dx;
    	else // playable squares start on 2nd square from left
    		offset = hsegment * 2 + dx;

    	// find where roi should be
    	Point p1 = new Point(offset + count * hsegment, rowNum * vsegment); // top left point of rectangle (x,y)
    	Point p2 = new Point(offset + (count + 1) * hsegment, (rowNum + 1) * vsegment); // bottom right point of rectangle (x,y)

    	// create rectangle that is board square
    	Rect bound = new Rect(p1, p2);

    	// frame only includes rectangle
    	Mat roi = new Mat(in, bound);

           Imgproc.cvtColor(roi, roi, Imgproc.COLOR_BGR2GRAY); // change to single color

           Mat canny = new Mat();
           Imgproc.Canny(roi, canny, 2, 4); // make image a canny image that is only edges; 2,4
           // lower threshold values find more edges
           List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
           Mat hierarchy = new Mat(); // holds nested contour information
           Imgproc.findContours(canny, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE); // Imgproc.RETR_LIST, TREE

           // Get bounding rect of contour
              Rect rect = Imgproc.boundingRect(contours.get(0));

              if (rect.height > in.rows() / 8)
    	{
    		board[i]++; // make it a king
    	}

    	count += 2;
    	if (count == 8)
    	{
    		parity = ++parity % 2; // change odd or even
    		count = 0;
    		rowNum++;
    		hsegment += 1;
    		dx -= 6;
    	}
    }*/
  }
Ejemplo n.º 7
0
  public Point findLaser(Mat inputFrame) {
    Mat mHsv = new Mat();

    Imgproc.cvtColor(inputFrame, mHsv, Imgproc.COLOR_RGB2HSV);

    // Find laser center
    Mat center = new Mat();
    Core.inRange(mHsv, new Scalar(0, 0, 250), new Scalar(180, 16, 255), center);

    Mat h = new Mat();
    List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    Imgproc.findContours(center, contours, h, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
    center.release();

    Mat center_mask = Mat.zeros(inputFrame.rows(), inputFrame.cols(), CvType.CV_8U);
    if (contours.size() > 0) {
      for (int i = 0; i < contours.size(); i++) {
        int radius = 10;
        // Point[] cont_pos = contours.get(i).toArray();
        Moments m = Imgproc.moments(contours.get(i));
        Point p = new Point();
        p.x = m.get_m10() / m.get_m00();
        p.y = m.get_m01() / m.get_m00();
        Core.circle(center_mask, p, radius * 2, new Scalar(255), -1);
      }
    }

    // Find halo
    Mat ranged = new Mat();
    Core.inRange(mHsv, new Scalar(100, 32, 225), new Scalar(150, 255, 255), ranged);
    mHsv.release();
    // Mat f_frame =ranged.clone();

    // Find halo around bright dot
    Core.bitwise_and(ranged, center_mask, ranged);
    center_mask.release();

    // Find biggest resulting contour
    for (int i = 1; i < contours.size(); i++) {
      contours.get(i).release();
    }
    contours.clear();
    Imgproc.findContours(ranged, contours, h, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
    h.release();
    ranged.release();

    if (contours.size() > 0) {
      MatOfPoint biggest_cont = contours.get(0);
      double cont_size = Imgproc.contourArea(biggest_cont);
      for (int i = 1; i < contours.size(); i++) {
        MatOfPoint cur = contours.get(i);
        if (Imgproc.contourArea(cur) > cont_size) {
          biggest_cont = cur;
          cont_size = Imgproc.contourArea(cur);
        }
      }
      Moments m = Imgproc.moments(biggest_cont);
      Point p = new Point();
      p.x = m.get_m10() / m.get_m00();
      p.y = m.get_m01() / m.get_m00();
      for (int i = 1; i < contours.size(); i++) {
        contours.get(i).release();
      }
      biggest_cont.release();

      return p;
    } else {
      return null;
    }
  }