Examples with MatOfPoint2f org.opencv.core.MatOfPoint2f used on opensource projects

Example 6 with MatOfPoint2f

use of org.opencv.core.MatOfPoint2f in project Relic_Main by TeamOverdrive.

the class JewelDetector method processFrame.

@Override
public Mat processFrame(Mat rgba, Mat gray) {
    Size initSize = rgba.size();
    newSize = new Size(initSize.width * downScaleFactor, initSize.height * downScaleFactor);
    rgba.copyTo(workingMat);
    Imgproc.resize(workingMat, workingMat, newSize);
    if (rotateMat) {
        Mat tempBefore = workingMat.t();
        // mRgba.t() is the transpose
        Core.flip(tempBefore, workingMat, -1);
        tempBefore.release();
    }
    Mat redConvert = workingMat.clone();
    Mat blueConvert = workingMat.clone();
    colorFilterRed.process(redConvert, maskRed);
    colorFilterBlue.process(blueConvert, maskBlue);
    List<MatOfPoint> contoursRed = new ArrayList<>();
    Imgproc.findContours(maskRed, contoursRed, hiarchy, Imgproc.RETR_TREE, Imgproc.CHAIN_APPROX_SIMPLE);
    Imgproc.drawContours(workingMat, contoursRed, -1, new Scalar(230, 70, 70), 2);
    Rect chosenRedRect = null;
    double chosenRedScore = Integer.MAX_VALUE;
    MatOfPoint2f approxCurve = new MatOfPoint2f();
    for (MatOfPoint c : contoursRed) {
        MatOfPoint2f contour2f = new MatOfPoint2f(c.toArray());
        // Processing on mMOP2f1 which is in type MatOfPoint2f
        double approxDistance = Imgproc.arcLength(contour2f, true) * 0.02;
        Imgproc.approxPolyDP(contour2f, approxCurve, approxDistance, true);
        // Convert back to MatOfPoint
        MatOfPoint points = new MatOfPoint(approxCurve.toArray());
        // Get bounding rect of contour
        Rect rect = Imgproc.boundingRect(points);
        // You can find this by printing the area of each found rect, then looking and finding what u deem to be perfect.
        // Run this with the bot, on a balance board, with jewels in their desired location. Since jewels should mostly be
        // in the same position, this hack could work nicely.
        double area = Imgproc.contourArea(c);
        double areaDiffrence = 0;
        switch(detectionMode) {
            case MAX_AREA:
                areaDiffrence = -area * areaWeight;
                break;
            case PERFECT_AREA:
                areaDiffrence = Math.abs(perfectArea - area);
                break;
        }
        // Just declaring vars to make my life eassy
        double x = rect.x;
        double y = rect.y;
        double w = rect.width;
        double h = rect.height;
        Point centerPoint = new Point(x + (w / 2), y + (h / 2));
        // Get the ratio. We use max in case h and w get swapped??? it happens when u account for rotation
        double cubeRatio = Math.max(Math.abs(h / w), Math.abs(w / h));
        double ratioDiffrence = Math.abs(cubeRatio - perfectRatio);
        double finalDiffrence = (ratioDiffrence * ratioWeight) + (areaDiffrence * areaWeight);
        // Think of diffrence as score. 0 = perfect
        if (finalDiffrence < chosenRedScore && finalDiffrence < maxDiffrence && area > minArea) {
            chosenRedScore = finalDiffrence;
            chosenRedRect = rect;
        }
        if (debugContours && area > 100) {
            Imgproc.circle(workingMat, centerPoint, 3, new Scalar(0, 255, 255), 3);
            Imgproc.putText(workingMat, "Area: " + area, centerPoint, 0, 0.5, new Scalar(0, 255, 255));
        }
    }
    List<MatOfPoint> contoursBlue = new ArrayList<>();
    Imgproc.findContours(maskBlue, contoursBlue, hiarchy, Imgproc.RETR_TREE, Imgproc.CHAIN_APPROX_SIMPLE);
    Imgproc.drawContours(workingMat, contoursBlue, -1, new Scalar(70, 130, 230), 2);
    Rect chosenBlueRect = null;
    double chosenBlueScore = Integer.MAX_VALUE;
    for (MatOfPoint c : contoursBlue) {
        MatOfPoint2f contour2f = new MatOfPoint2f(c.toArray());
        // Processing on mMOP2f1 which is in type MatOfPoint2f
        double approxDistance = Imgproc.arcLength(contour2f, true) * 0.02;
        Imgproc.approxPolyDP(contour2f, approxCurve, approxDistance, true);
        // Convert back to MatOfPoint
        MatOfPoint points = new MatOfPoint(approxCurve.toArray());
        // Get bounding rect of contour
        Rect rect = Imgproc.boundingRect(points);
        // You can find this by printing the area of each found rect, then looking and finding what u deem to be perfect.
        // Run this with the bot, on a balance board, with jewels in their desired location. Since jewels should mostly be
        // in the same position, this hack could work nicely.
        double area = Imgproc.contourArea(c);
        double areaDiffrence = 0;
        switch(detectionMode) {
            case MAX_AREA:
                areaDiffrence = -area * areaWeight;
                break;
            case PERFECT_AREA:
                areaDiffrence = Math.abs(perfectArea - area);
                break;
        }
        // Just declaring vars to make my life eassy
        double x = rect.x;
        double y = rect.y;
        double w = rect.width;
        double h = rect.height;
        Point centerPoint = new Point(x + (w / 2), y + (h / 2));
        // Get the ratio. We use max in case h and w get swapped??? it happens when u account for rotation
        double cubeRatio = Math.max(Math.abs(h / w), Math.abs(w / h));
        double ratioDiffrence = Math.abs(cubeRatio - 1);
        double finalDiffrence = (ratioDiffrence * ratioWeight) + (areaDiffrence * areaWeight);
        // Think of diffrence as score. 0 = perfect
        if (finalDiffrence < chosenBlueScore && finalDiffrence < maxDiffrence && area > minArea) {
            chosenBlueScore = finalDiffrence;
            chosenBlueRect = rect;
        }
        if (debugContours && area > 100) {
            Imgproc.circle(workingMat, centerPoint, 3, new Scalar(0, 255, 255), 3);
            Imgproc.putText(workingMat, "Area: " + area, centerPoint, 0, 0.5, new Scalar(0, 255, 255));
        }
    }
    if (chosenRedRect != null) {
        Imgproc.rectangle(workingMat, new Point(chosenRedRect.x, chosenRedRect.y), new Point(chosenRedRect.x + chosenRedRect.width, chosenRedRect.y + chosenRedRect.height), new Scalar(255, 0, 0), 2);
        Imgproc.putText(workingMat, "Red: " + String.format("%.2f", chosenRedScore), new Point(chosenRedRect.x - 5, chosenRedRect.y - 10), Core.FONT_HERSHEY_PLAIN, 1.3, new Scalar(255, 0, 0), 2);
    }
    if (chosenBlueRect != null) {
        Imgproc.rectangle(workingMat, new Point(chosenBlueRect.x, chosenBlueRect.y), new Point(chosenBlueRect.x + chosenBlueRect.width, chosenBlueRect.y + chosenBlueRect.height), new Scalar(0, 0, 255), 2);
        Imgproc.putText(workingMat, "Blue: " + String.format("%.2f", chosenBlueScore), new Point(chosenBlueRect.x - 5, chosenBlueRect.y - 10), Core.FONT_HERSHEY_PLAIN, 1.3, new Scalar(0, 0, 255), 2);
    }
    if (chosenBlueRect != null && chosenRedRect != null) {
        if (chosenBlueRect.x < chosenRedRect.x) {
            currentOrder = JewelOrder.BLUE_RED;
            lastOrder = currentOrder;
        } else {
            currentOrder = JewelOrder.RED_BLUE;
            lastOrder = currentOrder;
        }
    } else {
        currentOrder = JewelOrder.UNKNOWN;
    }
    Imgproc.putText(workingMat, "Result: " + lastOrder.toString(), new Point(10, newSize.height - 30), 0, 1, new Scalar(255, 255, 0), 1);
    Imgproc.putText(workingMat, "Current Track: " + currentOrder.toString(), new Point(10, newSize.height - 10), 0, 0.5, new Scalar(255, 255, 255), 1);
    Imgproc.resize(workingMat, workingMat, initSize);
    redConvert.release();
    blueConvert.release();
    Imgproc.putText(workingMat, "DogeCV 1.1 Jewel: " + newSize.toString() + " - " + speed.toString() + " - " + detectionMode.toString(), new Point(5, 30), 0, 1.2, new Scalar(0, 255, 255), 2);
    return workingMat;
}