public static void draw_opticflow(Mat flow, Mat cflowmap, int step, Scalar color) {
int i = 0, j = 0;
for (int y = 0; y < cflowmap.rows(); y += step) {
for (int x = 0; x < cflowmap.cols(); x += step) {
double[] fxy = Sample1View.flow.get(50, 50);
// for testing, getting change in values sa frames at point 50,50
// result : fxy ng.change ang value, however, kun i.add na ang 50, mura xag ma.zero??
i = (int) Math.round(fxy[0]);
j = (int) (50.00 + fxy[1]);
Core.putText(
cflowmap,
Double.toString(j),
new Point(10, 100),
3 /* CV_FONT_HERSHEY_COMPLEX */,
2,
new Scalar(255, 0, 0, 255),
3);
// Core.line(cflowmap, new Point(x,y), new Point(i,j), new Scalar(0,0,255), 4);
// Core.circle(cflowmap, new Point(i,j), 2, new Scalar(0,0,255), -1);
// Core.circle(cflowmap, new Point(x,y), 2, color, -1);
// System.out.print("fxy"+i+" "+j+"\n");
// Core.circle(cflowmap, new Point(cflowmap.width(), 50), 5, new Scalar(255,255,255), -1);
if (i < (cflowmap.width() / 2) && i != 0.0) {
Core.circle(cflowmap, new Point(i, j), 2, new Scalar(0, 0, 255), -1);
Core.putText(
cflowmap,
"LEFT",
new Point(10, 100),
3 /* CV_FONT_HERSHEY_COMPLEX */,
2,
new Scalar(255, 255, 255, 255),
3);
} else if (i > (cflowmap.width() / 2) && i != x) {
Core.circle(cflowmap, new Point(i, j), 2, new Scalar(0, 0, 255), -1);
Core.putText(
cflowmap,
"RIGHT",
new Point(10, 100),
3 /* CV_FONT_HERSHEY_COMPLEX */,
2,
new Scalar(255, 255, 255, 255),
3);
}
}
}
}
public void onEvent(WarpDrawEvent event) {
synchronized (this) {
if ((mode == Mode.SAMPLEWARPPLANE || mode == Mode.SAMPLEWARPGLASS) && useSample) {
if (!isSetup) setupMatrices();
double hGlassToSmall[] = getHGlassToSmall(sampleBGR.height(), sampleBGR.width());
if (hGlassToSmall == null) {
Log.w(TAG, "Warp: Bad size");
return;
}
double circleCenter[] = {event.getX(), event.getY(), 1};
double circleCenterSmall[] = HMultPoint(hGlassToSmall, circleCenter);
Core.circle(
sampleBGR,
new Point(circleCenterSmall[0], circleCenterSmall[1]),
event.getRadius(),
new Scalar(event.getR(), event.getG(), event.getB()));
}
}
}
private Mat get_template(CascadeClassifier clasificator, Rect area, int size) {
Mat template = new Mat();
Mat mROI = mGray.submat(area);
MatOfRect eyes = new MatOfRect();
Point iris = new Point();
Rect eye_template = new Rect();
clasificator.detectMultiScale(
mROI,
eyes,
1.15,
2,
Objdetect.CASCADE_FIND_BIGGEST_OBJECT | Objdetect.CASCADE_SCALE_IMAGE,
new Size(30, 30),
new Size());
Rect[] eyesArray = eyes.toArray();
for (int i = 0; i < eyesArray.length; i++) {
Rect e = eyesArray[i];
e.x = area.x + e.x;
e.y = area.y + e.y;
Rect eye_only_rectangle =
new Rect(
(int) e.tl().x,
(int) (e.tl().y + e.height * 0.4),
(int) e.width,
(int) (e.height * 0.6));
mROI = mGray.submat(eye_only_rectangle);
Mat vyrez = mRgba.submat(eye_only_rectangle);
Core.MinMaxLocResult mmG = Core.minMaxLoc(mROI);
Core.circle(vyrez, mmG.minLoc, 2, new Scalar(255, 255, 255, 255), 2);
iris.x = mmG.minLoc.x + eye_only_rectangle.x;
iris.y = mmG.minLoc.y + eye_only_rectangle.y;
eye_template = new Rect((int) iris.x - size / 2, (int) iris.y - size / 2, size, size);
Core.rectangle(mRgba, eye_template.tl(), eye_template.br(), new Scalar(255, 0, 0, 255), 2);
template = (mGray.submat(eye_template)).clone();
return template;
}
return template;
}
public Mat onCameraFrame(Mat inputFrame) {
if (takeScanBase) {
if (scanBase != null) {
scanBase.release();
}
scanBase = new Mat();
scanningMat = new Mat();
Imgproc.cvtColor(inputFrame, scanBase, Imgproc.COLOR_RGB2GRAY);
Imgproc.cvtColor(scanBase, scanningMat, Imgproc.COLOR_GRAY2RGB);
scanBase.release();
hasScanBase = true;
takeScanBase = false;
}
if (hasScanBase) {
Mat ret;
Point p = findLaser(inputFrame);
inputFrame.release();
if (p != null) {
if (hasThermal) {
double temp = mThermal.read();
data[(int) p.y][(int) p.x] = (float) temp;
Core.circle(scanningMat, p, 3, new Scalar(255, 0, 0), -3);
} else {
// Log.v(TAG, "No thermal!");
}
}
return scanningMat;
} else return inputFrame;
}
/**
* detection_contours, détecte les contours, les affiches et gères le traitement
* d'authentification
*
* @param inmat : la matrice qui arrive pour la detection de contour
* @param outmat : la matrice qui sort après les comptours
*/
public void detection_contours(Mat inmat, Mat outmat) {
Mat v = new Mat();
Mat vv = outmat.clone();
List<MatOfPoint> contours = new ArrayList(); // Tous les contours
int key; // Plus gros contours
MatOfInt hullI = new MatOfInt();
List<MatOfPoint> hullP = new ArrayList<MatOfPoint>();
Rect r; // Rectangle du plus gros contours
// Trouve tous les contours
Imgproc.findContours(vv, contours, v, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
// Calcul l'indice du plus gros contours
key = findBiggestContour(contours);
// S'il y a au moins un contours et le
if (key != 0) {
Imgproc.drawContours(inmat, contours, key, new Scalar(0, 0, 255));
r = Imgproc.boundingRect(contours.get(key));
Core.rectangle(currentFrame, r.br(), r.tl(), new Scalar(0, 255, 0), 1);
}
// Calcul les points convexes de la main
Imgproc.convexHull(contours.get(key), hullI, false);
// S'il y a des points de convexion
if (hullI != null) {
// Reinitialise les points de convexion
hullP.clear();
// On calcule le nombres de points de convexion
for (int i = 0; contours.size() >= i; i++) hullP.add(new MatOfPoint());
int[] cId = hullI.toArray();
// On récupère dans un tableau de points, les points du contours
Point[] contourPts = contours.get(key).toArray();
// Réinitialisation des points de recherche dans les tableau
int findRectA = 0;
int findRectB = 0;
int findRectC = 0;
int findRectD = 0;
// Pour chaque point de convexion
for (int i = 0; i < cId.length; i++) {
// Dessin du point de convexion sur la matrice
Core.circle(inmat, contourPts[cId[i]], 2, new Scalar(241, 247, 45), -3);
// Si le point de convexion se trouve dans un des carrés
// on incrémente le compteur associé
if (isInRectangle(rectA, contourPts[cId[i]])) findRectA++;
else if (isInRectangle(rectB, contourPts[cId[i]])) findRectB++;
else if (isInRectangle(rectC, contourPts[cId[i]])) findRectC++;
else if (isInRectangle(rectD, contourPts[cId[i]])) findRectD++;
}
// Si on a trouvé la main dans le rectangle A
if (findRectA >= 5) {
if (cptRect == 0) {
numeroRect[cptRect] = 1;
cptRect++;
System.out.println("Haut gauche");
} else {
if (numeroRect[cptRect - 1] != 1) {
numeroRect[cptRect] = 1;
if (cptRect == 3) cptRect = 0;
else cptRect++;
System.out.println("Haut gauche");
}
}
}
// Si on a trouvé la main dans le rectangle B
if (findRectB >= 5) {
if (cptRect == 0) {
numeroRect[cptRect] = 2;
cptRect++;
System.out.println("Bas gauche");
} else {
if (numeroRect[cptRect - 1] != 2) {
numeroRect[cptRect] = 2;
if (cptRect == 3) cptRect = 0;
else cptRect++;
System.out.println("Bas gauche");
}
}
}
// Si on a trouvé la main dans le rectangle C
if (findRectC >= 5) {
if (cptRect == 0) {
numeroRect[cptRect] = 3;
if (cptRect == 3) cptRect = 0;
else cptRect++;
System.out.println("Haut droite");
} else {
if (numeroRect[cptRect - 1] != 3) {
numeroRect[cptRect] = 3;
if (cptRect == 3) cptRect = 0;
else cptRect++;
System.out.println("Haut droite");
}
}
}
// Si on a trouvé la main dans le rectangle D
if (findRectD >= 5) {
if (cptRect == 0) {
numeroRect[cptRect] = 4;
cptRect++;
System.out.println("Bas droite");
} else {
if (numeroRect[cptRect - 1] != 4) {
numeroRect[cptRect] = 4;
if (cptRect == 3) cptRect = 0;
else cptRect++;
System.out.println("Bas droite");
}
}
}
// Si on a sélectionné 3 fenètres et que cela correspond au mot de passe
// MOT DE PASSE : Haut Gauche - Bas Droite - Bas Gauche
if (cptRect == 3) {
if ((numeroRect[0] == 1) && (numeroRect[1] == 4) && (numeroRect[2] == 2))
this.jTextField2.setText("Authenticated");
// Réinitilisation du compteur
cptRect = 0;
}
}
}
public void run() {
System.out.println("\nRunning DetectFaceDemo");
// Create a face detector from the cascade file in the resources
// directory.
// String facefilterpath =
// getClass().getResource("../resources/haarcascade_mcs_eyepair_big.xml").getPath();
String facefilterpath = getClass().getResource("../resources/haarcascade_eye.xml").getPath();
facefilterpath = facefilterpath.substring(1, facefilterpath.length());
CascadeClassifier faceDetector = new CascadeClassifier(facefilterpath);
String pngpath = getClass().getResource("../resources/brown_eyes.jpg").getPath();
pngpath = pngpath.substring(1, pngpath.length());
Mat image = Highgui.imread(pngpath);
// Detect faces in the ismage.
// MatOfRect is a special container class for Rect.
MatOfRect faceDetections = new MatOfRect();
faceDetector.detectMultiScale(image, faceDetections);
Mat image2 = image;
Imgproc.cvtColor(image2, image, 6); // 6 = CV_BGR2GRAY not working
Imgproc.GaussianBlur(image, image, new Size(7, 7), 4, 4);
// Imgproc.medianBlur(image,image, 2);
MatOfPoint3f circles = new MatOfPoint3f();
MatOfPoint3f circles2 = new MatOfPoint3f();
Imgproc.HoughCircles(
image, circles, Imgproc.CV_HOUGH_GRADIENT, 5, image.rows() / 5, 100, 100, 10, 50);
Imgproc.HoughCircles(
image, circles2, Imgproc.CV_HOUGH_GRADIENT, 5, image.rows() / 5, 100, 100, 50, 400);
Imgproc.cvtColor(image, image, 8); // 6 = CV_BGR2GRAY not working
System.out.println(String.format("Detected %s faces", faceDetections));
// Draw a bounding box around each face.
for (Rect rect : faceDetections.toArray()) {
// Core.rectangle(image, new Point(rect.x, rect.y), new Point(rect.x + rect.width, rect.y +
// rect.height), new Scalar(0, 255, 0),100);
}
System.out.println(String.format("Detected %s circles", circles.total()));
for (Point3 circle : circles.toArray()) {
Point center = new Point(circle.x, circle.y);
int radius = (int) Math.round(circle.z);
Core.circle(image, center, 3, new Scalar(0, 255, 0), -1, 8, 0);
Core.circle(image, center, radius, new Scalar(0, 0, 255), 3, 8, 0);
// Core.circle(image, center, radius, new Scalar(0,255,0), 10,8, 0);
}
for (Point3 circle : circles2.toArray()) {
Point center = new Point(circle.x, circle.y);
int radius = (int) Math.round(circle.z);
Core.circle(image, center, 3, new Scalar(0, 255, 0), -1, 8, 0);
Core.circle(image, center, radius, new Scalar(0, 0, 255), 3, 8, 0);
// Core.circle(image, center, radius, new Scalar(0,255,0), 10,8, 0);
}
// Core.circle(image, new Point(100,100), 10, new Scalar(0,255,0), 10, 8, 0);
// Save the visualized detection.
String filename = "faceDetection.png";
System.out.println(String.format("Writing %s", filename));
Highgui.imwrite(filename, image);
}
private Mat drawLines(Mat inputFrame) {
int row = inputFrame.rows();
int col = inputFrame.cols();
if (mIsFound) {
// Core.line(inputFrame, new Point(10,10), new Point(10,row-10), new Scalar(0, 255, 0, 255),
// 3);
// Core.line(inputFrame, new Point(10,10), new Point(col-10,10), new Scalar(0, 255, 0, 255),
// 3);
// Core.line(inputFrame, new Point(10,row-10), new Point(col-10,row-10), new Scalar(0, 255, 0,
// 255), 3);
// Core.line(inputFrame, new Point(col-10,10), new Point(col-10,row-10), new Scalar(0, 255, 0,
// 255), 3);
/*
if(mCheckIcon == null){
mCheckIcon = new Mat();
Bitmap input2 = MatchImageUtil.scaleAndTrun(BitmapFactory.decodeResource(getResources(), R.drawable.check_icon));
Utils.bitmapToMat(input2, mCheckIcon);
}
mCheckIcon.copyTo(inputFrame);
*/
int radius = (row > col ? col : row) / 2 - (row > col ? col : row) / 2 / 3;
Core.circle(inputFrame, new Point(col / 2, row / 2), radius, new Scalar(0, 255, 0, 255), 15);
}
int baseSize = (row > col ? col : row) / 2 - (row > col ? col : row) / 2 / 5;
Core.rectangle(
inputFrame,
new Point(col / 2 - baseSize, row / 2 - baseSize),
new Point(col / 2 + baseSize, row / 2 + baseSize),
new Scalar(255, 255, 255, 255),
1);
Core.line(
inputFrame,
new Point(col / 2 - 5, row / 2),
new Point(col / 2 + 5, row / 2),
new Scalar(255, 255, 255, 255),
1);
Core.line(
inputFrame,
new Point(col / 2, row / 2 - 5),
new Point(col / 2, row / 2 + 5),
new Scalar(255, 255, 255, 255),
1);
if (mIsBarDraw) {
if (mBarReverse) {
mBarCount -= 2;
} else {
mBarCount += 2;
}
if (!mBarReverse && mBarCount > row - 2 * MARGIN) {
mBarReverse = true;
}
if (mBarReverse && mBarCount < MARGIN) {
mBarReverse = false;
}
int curBarPosition = MARGIN + mBarCount;
Core.line(
inputFrame,
new Point(0, curBarPosition),
new Point(col, curBarPosition),
new Scalar(0, 255, 255, 255),
2);
}
return inputFrame;
}
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;
}
}
public void processImage(Mat imageToProcess) {
try {
final Mat processedImage = imageToProcess.clone();
// red
final Mat redUpper = new Mat();
final Mat redLower = new Mat();
Core.inRange(processedImage, new Scalar(170, 100, 20), new Scalar(180, 255, 255), redUpper);
Core.inRange(processedImage, new Scalar(0, 100, 20), new Scalar(20, 255, 255), redLower);
Core.bitwise_or(redLower, redUpper, processedImage);
// refining the binary image
Imgproc.erode(processedImage, processedImage, new Mat(), new Point(-1, -1), 1);
Imgproc.dilate(processedImage, processedImage, new Mat(), new Point(-1, -1), 0);
// create a clone for the processedImage to be used in finding contours
final Mat clone = processedImage.clone();
Imgproc.cvtColor(processedImage, processedImage, Imgproc.COLOR_GRAY2RGB);
// finds list of contours and draw the biggest on the processedImage
final Scalar color1 = new Scalar(0, 0, 255);
final Scalar color2 = new Scalar(255, 255, 0);
final Scalar color3 = new Scalar(255, 255, 255);
final List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
Imgproc.findContours(
clone, contours, new Mat(), Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_NONE);
final List<MatOfPoint> contour = new ArrayList<MatOfPoint>(1);
double maxArea = 0.0;
for (int index = 0; index < contours.size(); index++) {
double area = Imgproc.contourArea(contours.get(index));
if (area > maxArea && area > 25 && Imgproc.boundingRect(contours.get(index)).y > 40) {
maxArea = area;
contour.add(0, contours.get(index));
}
}
// finds bounding Rectangle and draws contours
Rect boundingRect = new Rect();
if (contour.size() > 0) {
Imgproc.drawContours(processedImage, contour, -2, color1);
boundingRect = Imgproc.boundingRect(contour.get(0));
final double x = boundingRect.x;
final double y = boundingRect.y;
final double width = boundingRect.width;
final double height = boundingRect.height;
Core.rectangle(processedImage, new Point(x, y), new Point(x + width, y + height), color3);
}
// finding bounding Circle and draws it
final Point center = new Point();
final float[] radius = new float[1];
if (contour.size() > 0) {
final MatOfPoint2f contour2f = new MatOfPoint2f(contour.get(0).toArray());
Imgproc.minEnclosingCircle(contour2f, center, radius);
Core.circle(processedImage, center, (int) radius[0], color2);
}
final BallStruct redBallStruct = new BallStruct(boundingRect, center, (double) radius[0]);
final BallTargeting ballTargeting = new BallTargeting(redBallStruct);
synchronized (this) {
distanceToRed = ballTargeting.getDistance();
angleToRedInDegrees = ballTargeting.getAngle() * (180 / Math.PI);
this.processedImage = processedImage;
}
} catch (Exception e) {
}
}
private void drawCircles(Mat img, Mat circles) {
logMsg("Found " + circles.cols() + " circles");
/** If two circles and the difference in their y axis is less than or equal to 20 */
if (circles.cols() == 2 && Math.abs(circles.get(0, 0)[1] - (circles.get(0, 1)[1])) <= 20) {
drawCircles = true;
setCircleParameters(circles);
/// Finds midpoint between the two circles
double midCircle = (circle1 + circle2) / 2;
/// Substrate from center in order to get negative distance on the left side
double distance = center - midCircle;
/// Calculate angle
double tempAngle = Math.atan(distance / img.height());
// Calculate angle change from previous
double angle_destination_change = (tempAngle - prevAngle) / (endTime - startTime);
prevAngle = tempAngle;
// use gyro information from arduino to get rotation rate of heading
double[] gyro = getGyro();
double drz = 0;
if (gyro != null) drz = gyro[2];
/// Get angle from PD controller
angle = tempAngle * Kp + (angle_destination_change - drz) * Kd;
// Ensure angle is within bounds
if (angle < -1.0) angle = -1.0;
else if (angle > 1.0) angle = 1.0;
/** Set the angle of the twist and send twist to server */
twist.drz(angle);
sendTwist(twist);
logMsg("Angle: " + angle);
} else if (circles.cols() <= 1) {
if (minRadius >= 10)
/** Minimum radius is 5 */
minRadius -= 5;
if (minDistance >= 30)
/** Minimum Distance is 20 */
minDistance -= 10;
if (maxRadius <= 70)
/** Max Radius is 80 */
maxRadius += 10;
} else {
if (minRadius + 5 < maxRadius) minRadius += 5;
if (maxRadius - 10 > minRadius) maxRadius -= 10;
if (minDistance + 10 <= 100) minDistance += 10;
}
/** If it has not seen the circles in 10 frames something is wrong */
if (drawCircles) {
frameCount = 0;
} else if (frameCount > 10) {
sendTwist(new Twist(0, 0, 0, 0, 0, 0));
frameCount = 0;
logMsg("Lost the circles");
}
/** Draw the circles */
for (int x = 0; drawCircles == true && circles.cols() > 1 && x < circles.cols(); x++) {
double circle[] = circles.get(0, x);
int ptx = (int) Math.round(circle[0]), pty = (int) Math.round(circle[1]);
Point pt = new Point(ptx, pty);
int radius = (int) Math.round(circle[2]);
/** Draw the circle outline */
Core.circle(img, pt, radius, new Scalar(0, 255, 0), 3, 8, 0);
/** Draw the circle center */
Core.circle(img, pt, 3, new Scalar(0, 255, 0), -1, 8, 0);
// Core.putText(img, ""+ angle, new Point(50,100), Core.FONT_HERSHEY_COMPLEX, .8, new
// Scalar(255,0,0));
}
}
