Example usage for org.opencv.core Point Point

List of usage examples for org.opencv.core Point Point

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Introduction

In this page you can find the example usage for org.opencv.core Point Point.

Prototype

public Point(double x, double y)

Source Link

Usage

From source file:org.openpnp.vision.FluentCv.java

License:Open Source License

public FluentCv convertCirclesToPoints(List<Point> points) {
    for (int i = 0; i < mat.cols(); i++) {
        double[] circle = mat.get(0, i);
        double x = circle[0];
        double y = circle[1];
        points.add(new Point(x, y));
    }//from  w w  w.  j  a va2s . com
    return this;
}

From source file:org.openpnp.vision.FluentCv.java

License:Open Source License

/**
 * Draw circles from the current Mat contained onto the Mat specified in baseTag using the
 * specified color, optionally storing the results in tag. The current Mat is replaced with the
 * Mat from baseTag with the circles drawn on top of it.
 * /*from w ww. j  a  v a2 s  .  c om*/
 * @param baseTag
 * @param color
 * @param tag
 * @return
 */
public FluentCv drawCircles(String baseTag, Color color, String... tag) {
    Color centerColor = new HslColor(color).getComplementary();
    Mat mat = get(baseTag);
    if (mat == null) {
        mat = new Mat();
    }
    for (int i = 0; i < this.mat.cols(); i++) {
        double[] circle = this.mat.get(0, i);
        double x = circle[0];
        double y = circle[1];
        double radius = circle[2];
        Core.circle(mat, new Point(x, y), (int) radius, colorToScalar(color), 2);
        Core.circle(mat, new Point(x, y), 1, colorToScalar(centerColor), 2);
    }
    return store(mat, tag);
}

From source file:org.openpnp.vision.FluentCv.java

License:Open Source License

/**
 * Filter circles as returned from e.g. houghCircles to only those that are within maxDistance
 * of the best fitting line./*from  w ww  . ja v  a 2  s.  com*/
 * 
 * @param tag
 * @return
 */
public FluentCv filterCirclesToLine(double maxDistance, String... tag) {
    if (this.mat.cols() < 2) {
        return store(this.mat, tag);
    }

    List<Point> points = new ArrayList<>();
    // collect the circles into a list of points
    for (int i = 0; i < this.mat.cols(); i++) {
        float[] circle = new float[3];
        this.mat.get(0, i, circle);
        float x = circle[0];
        float y = circle[1];
        points.add(new Point(x, y));
    }

    Point[] line = Ransac.ransac(points, 100, maxDistance);
    Point a = line[0];
    Point b = line[1];

    // filter the points by distance from the resulting line
    List<float[]> results = new ArrayList<>();
    for (int i = 0; i < this.mat.cols(); i++) {
        float[] circle = new float[3];
        this.mat.get(0, i, circle);
        Point p = new Point(circle[0], circle[1]);
        if (pointToLineDistance(a, b, p) <= maxDistance) {
            results.add(circle);
        }
    }

    // It really seems like there must be a better way to do this, but after hours
    // and hours of trying I can't find one. How the hell do you append an element
    // of 3 channels to a Mat?!
    Mat r = new Mat(1, results.size(), CvType.CV_32FC3);
    for (int i = 0; i < results.size(); i++) {
        r.put(0, i, results.get(i));
    }
    return store(r, tag);
}

From source file:org.sahyagiri.rpi.opencv.DetectCar.java

License:Mozilla Public License

public final Point findCentreOfMass(final Mat inputRGB, final Scalar carColorThresholdHSVLow,
        final Scalar carColorThresholdHSVHigh) {
    Mat hsvImage = new Mat();
    Imgproc.cvtColor(inputRGB, hsvImage, Imgproc.COLOR_RGB2HSV);
    Mat outputHSV = new Mat();
    Core.inRange(hsvImage, carColorThresholdHSVLow, carColorThresholdHSVHigh, outputHSV);
    Imgproc.morphologyEx(outputHSV, outputHSV, Imgproc.MORPH_ERODE, new Mat());
    Imgproc.GaussianBlur(outputHSV, outputHSV, new Size(3, 3), 3);
    Imgproc.threshold(outputHSV, outputHSV, 50, 255, Imgproc.THRESH_BINARY);

    ArrayList<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    Imgproc.findContours(outputHSV, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
    MatOfPoint contourPoints = combineContourPoints(contours);
    Moments moments = Imgproc.moments(contourPoints);
    int x = (int) (moments.get_m10() / moments.get_m00());
    int y = (int) (moments.get_m01() / moments.get_m00());
    final Point centreOfMass = new Point(x, y);
    return centreOfMass;
}

From source file:org.technowolves.vision.TowerTracker.java

License:Open Source License

/**
 * /*from w  w w .j  a  v  a2s . co  m*/
 * reads an image from a live image capture and outputs information to the SmartDashboard or a file
 */
public static void processImage() {
    ArrayList<MatOfPoint> contours = new ArrayList<MatOfPoint>();
    double x, y, targetX, targetY, distance, azimuth;
    // frame counter
    int FrameCount = 0;
    long before = System.currentTimeMillis();
    // only run for the specified time
    while (FrameCount < 100) {
        contours.clear();
        // capture from the axis camera
        videoCapture.read(matOriginal);
        // captures from a static file for testing
        // matOriginal = Imgcodecs.imread("someFile.png");
        Imgproc.cvtColor(matOriginal, matHSV, Imgproc.COLOR_BGR2HSV);
        Core.inRange(matHSV, LOWER_BOUNDS, UPPER_BOUNDS, matThresh);
        Imgproc.findContours(matThresh, contours, matHeirarchy, Imgproc.RETR_EXTERNAL,
                Imgproc.CHAIN_APPROX_SIMPLE);
        // make sure the contours that are detected are at least 20x20 
        // pixels with an area of 400 and an aspect ration greater then 1
        for (Iterator<MatOfPoint> iterator = contours.iterator(); iterator.hasNext();) {
            MatOfPoint matOfPoint = (MatOfPoint) iterator.next();
            Rect rec = Imgproc.boundingRect(matOfPoint);
            if (rec.height < 25 || rec.width < 25) {
                iterator.remove();
                continue;
            }
            float aspect = (float) rec.width / (float) rec.height;
            if (aspect < 1.0)
                iterator.remove();
        }
        for (MatOfPoint mop : contours) {
            Rect rec = Imgproc.boundingRect(mop);
            Imgproc.rectangle(matOriginal, rec.br(), rec.tl(), BLACK);
        }
        // if there is only 1 target, then we have found the target we want
        if (contours.size() == 1) {
            Rect rec = Imgproc.boundingRect(contours.get(0));
            // "fun" math brought to you by miss daisy (team 341)!
            y = rec.br().y + rec.height / 2;
            y = -((2 * (y / matOriginal.height())) - 1);
            distance = (TOP_TARGET_HEIGHT - TOP_CAMERA_HEIGHT)
                    / Math.tan((y * VERTICAL_FOV / 2.0 + CAMERA_ANGLE) * Math.PI / 180);
            // angle to target...would not rely on this
            targetX = rec.tl().x + rec.width / 2;
            targetX = (2 * (targetX / matOriginal.width())) - 1;
            azimuth = normalize360(targetX * HORIZONTAL_FOV / 2.0 + 0);
            // drawing info on target
            Point center = new Point(rec.br().x - rec.width / 2 - 15, rec.br().y - rec.height / 2);
            Point centerw = new Point(rec.br().x - rec.width / 2 - 15, rec.br().y - rec.height / 2 - 20);
            Imgproc.putText(matOriginal, "" + (int) distance, center, Core.FONT_HERSHEY_PLAIN, 1, BLACK);
            Imgproc.putText(matOriginal, "" + (int) azimuth, centerw, Core.FONT_HERSHEY_PLAIN, 1, BLACK);
        }
        // output an image for debugging
        Imgcodecs.imwrite("output.png", matOriginal);
        FrameCount++;
    }
    shouldRun = false;
}

From source file:org.usfirst.frc.team2084.CMonster2016.vision.CameraCalibration.java

License:Open Source License

/**
 * Draws checkerboard corners on an image.
 * // www  . j  av  a 2 s  . c  o m
 * @param image the image to process
 * @param addToCalibration if true, add this image to the corner list
 */
public void process(Mat image, boolean addToCalibration) {
    boolean patternFound = Calib3d.findChessboardCorners(image, boardSize, boardCorners,
            Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_NORMALIZE_IMAGE | Calib3d.CALIB_CB_FAST_CHECK);

    if (patternFound) {
        // Refine corner positions to be more accurate
        Imgproc.cvtColor(image, grayImage, Imgproc.COLOR_BGR2GRAY);
        Imgproc.cornerSubPix(grayImage, boardCorners, new Size(6, 6), new Size(-1, -1),
                new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));

        if (addToCalibration) {
            calibrationCorners.add(boardCorners);
        }

    }

    image.copyTo(boardImage);
    Calib3d.drawChessboardCorners(boardImage, boardSize, boardCorners, patternFound);

    if (!addToCalibration) {
        debugImage("Board", boardImage);
    }

    Imgproc.undistort(image, undistortImage, cameraMatrix, distCoeffs);

    undistortImage.copyTo(image);

    Imgproc.putText(image, "Error: " + error, new Point(20, 20), Core.FONT_HERSHEY_PLAIN, 1.5,
            new Scalar(0, 255, 0));
}

From source file:org.usfirst.frc.team2084.CMonster2016.vision.Utils.java

License:Open Source License

public static void drawText(Mat image, String text, double x, double y) {
    Imgproc.putText(image, text, new Point(x, y), Core.FONT_HERSHEY_PLAIN, TEXT_SIZE, TEXT_COLOR);
}

From source file:org.usfirst.frc.team2084.CMonster2016.vision.Utils.java

License:Open Source License

public static void drawText(Mat image, String text, double x, double y, double textSize) {
    Imgproc.putText(image, text, new Point(x, y), Core.FONT_HERSHEY_PLAIN, textSize, TEXT_COLOR);
}

From source file:org.usfirst.frc.team2084.CMonster2016.vision.Utils.java

License:Open Source License

public static void drawText(Mat image, String text, double x, double y, Scalar textColor) {
    Imgproc.putText(image, text, new Point(x, y), Core.FONT_HERSHEY_PLAIN, TEXT_SIZE, textColor);
}

From source file:org.usfirst.frc.team2084.CMonster2016.vision.Utils.java

License:Open Source License

public static void drawText(Mat image, String text, double x, double y, double textSize, Scalar textColor) {
    Imgproc.putText(image, text, new Point(x, y), Core.FONT_HERSHEY_PLAIN, textSize, textColor);
}