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) {
}
}
public void process(Mat rgbaImage) {
Mat pyrDownMat = new Mat();
Imgproc.pyrDown(rgbaImage, pyrDownMat);
Imgproc.pyrDown(pyrDownMat, pyrDownMat);
Mat hsvMat = new Mat();
Imgproc.cvtColor(pyrDownMat, hsvMat, Imgproc.COLOR_RGB2HSV_FULL);
Mat Mask = new Mat();
Core.inRange(hsvMat, mLowerBound, mUpperBound, Mask);
Mat dilatedMask = new Mat();
Imgproc.dilate(Mask, dilatedMask, new Mat());
List<MatOfPoint> contours = new ArrayList<MatOfPoint>();
Mat hierarchy = new Mat();
Imgproc.findContours(
dilatedMask, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
blobCenters[0] = new Point();
blobCenters[1] = new Point();
if (contours.size() > 0) {
// Find max contour area of the two biggest
double[] maxArea = new double[2];
maxArea[0] = 0; // biggest
maxArea[1] = 0; // 2nd biggest
Iterator<MatOfPoint> each = contours.iterator();
int[] contourIndex = new int[2];
contourIndex[0] = 0;
contourIndex[1] = 0;
int index = 0;
while (each.hasNext()) {
MatOfPoint wrapper = each.next();
double area = Imgproc.contourArea(wrapper);
if (area > maxArea[0]) { // area bigger than the maximum found
maxArea[1] = maxArea[0];
contourIndex[1] = contourIndex[0];
maxArea[0] = area;
contourIndex[0] = index;
} else if (area > maxArea[1]) { // area bigger than the second maximum found
maxArea[1] = area;
contourIndex[1] = index;
}
index++;
}
// // another possibility to iterate through contours
// for (index = 0; index < contours.size(); index++) {
// d = Imgproc.contourArea (contours.get(index));
Log.d("index0", Integer.toString(contourIndex[0]));
Log.d("index1", Integer.toString(contourIndex[1]));
MatOfPoint2f mMOP2f1 = new MatOfPoint2f();
float[] radius = new float[contours.size()];
// contours is a List<MatOfPoint>
// so contours.get(x) is a single MatOfPoint
// but to use approxPolyDP we need to pass a MatOfPoint2f
// so we need to do a conversion
contours.get(contourIndex[0]).convertTo(mMOP2f1, CvType.CV_32FC2);
// get the center of the bigger contour found
Point tempCenter = new Point();
Imgproc.minEnclosingCircle(mMOP2f1, tempCenter, radius);
blobCenters[0].x = tempCenter.x;
blobCenters[0].y = tempCenter.y;
blobRadius[0] = radius[0];
Log.d("center0.x", Double.toString(blobCenters[0].x));
Log.d("center0.y", Double.toString(blobCenters[0].y));
Log.d("radius0", Double.toString(blobRadius[0]));
contours.get(contourIndex[1]).convertTo(mMOP2f1, CvType.CV_32FC2);
Imgproc.minEnclosingCircle(mMOP2f1, tempCenter, radius);
blobCenters[1].x = tempCenter.x;
blobCenters[1].y = tempCenter.y;
blobRadius[1] = radius[0];
Log.d("center1.x", Double.toString(blobCenters[1].x));
Log.d("center1.y", Double.toString(blobCenters[1].y));
Log.d("radius1", Double.toString(blobRadius[1]));
// Filter contours by area and resize to fit the original image size
mContours.clear();
each = contours.iterator();
while (each.hasNext()) {
MatOfPoint contour = each.next();
if (Imgproc.contourArea(contour) > mMinContourArea * maxArea[1]) {
Core.multiply(contour, new Scalar(4, 4), contour);
mContours.add(contour);
}
}
} else {
blobCenters[0].x = 0;
blobCenters[0].y = 0;
blobCenters[1].x = 0;
blobCenters[1].y = 0;
}
}