Example usage for org.opencv.core Scalar Scalar

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

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Introduction

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

Prototype

public Scalar(double v0, double v1, double v2)

Source Link

Usage

From source file:org.lasarobotics.vision.ftc.resq.Beacon.java

License:Open Source License

/**
 * Set color tolerance for red beacon detector
 *
 * @param tolerance A color tolerance value from -1 to 1, where 0 is unmodified, 1 is maximum
 *                  tolerance (more colors detect as red), -1 is minimum (fery vew colors detect
 *                  as red)//w w w  .ja  v a2 s . com
 */
public void setColorToleranceRed(double tolerance) {
    //Reset the detector first
    redDetector = new ColorBlobDetector(Constants.COLOR_RED_LOWER, Constants.COLOR_RED_UPPER);
    double[] center = redDetector.getColorCenter().getScalar().val;
    double[] radius = redDetector.getColorRadius().val;
    radius = getColorWithTolerance(radius, tolerance);
    Scalar lower = new Scalar(center[0] - radius[0], center[1] - radius[1], center[2] - radius[2]);
    Scalar upper = new Scalar(center[0] + radius[0], center[1] + radius[1], center[2] + radius[2]);
    redDetector = new ColorBlobDetector(new ColorHSV(lower), new ColorHSV(upper));
}

From source file:org.lasarobotics.vision.ftc.resq.Beacon.java

License:Open Source License

/**
 * Set color tolerance for blue beacon detector
 *
 * @param tolerance A color tolerance value from -1 to 1, where 0 is unmodified, 1 is maximum
 *                  tolerance (more colors detect as blue), -1 is minimum (fery vew colors detect
 *                  as blue)//from   w  w  w . ja  v a  2s  . co m
 */
public void setColorToleranceBlue(double tolerance) {
    //Reset the detector first
    blueDetector = new ColorBlobDetector(Constants.COLOR_BLUE_LOWER, Constants.COLOR_BLUE_UPPER);
    double[] center = blueDetector.getColorCenter().getScalar().val;
    double[] radius = blueDetector.getColorRadius().val;
    radius = getColorWithTolerance(radius, tolerance);
    Scalar lower = new Scalar(center[0] - radius[0], center[1] - radius[1], center[2] - radius[2]);
    Scalar upper = new Scalar(center[0] + radius[0], center[1] + radius[1], center[2] + radius[2]);
    blueDetector = new ColorBlobDetector(new ColorHSV(lower), new ColorHSV(upper));
}

From source file:org.lasarobotics.vision.util.color.ColorHSV.java

License:Open Source License

/**
 * An HSV (hue, saturation, value) color
 * This is NOT an HSL color - they live in different spaces.
 *
 * @param h Hue, from 0 to 255/*from w  w w. j a v  a  2  s. c om*/
 * @param s Saturation, from 0 to 255
 * @param v Value, from 0 to 255
 */
public ColorHSV(int h, int s, int v) {
    super(new Scalar(h, s, v));
}

From source file:org.lasarobotics.vision.util.color.ColorHSV.java

License:Open Source License

/**
 * Parse a scalar value into the colorspace
 *
 * @param s Scalar value//  w w w .  j  av  a  2 s  .co m
 * @return Colorspace scalar value
 */
@Override
protected Scalar parseScalar(Scalar s) {
    if (s.val.length < 3)
        throw new IllegalArgumentException("Scalar must have 3 dimensions.");
    return new Scalar(s.val[0], s.val[1], s.val[2]);
}

From source file:org.openpnp.machine.reference.vision.OpenCvVisionProvider.java

License:Open Source License

private void locateTemplateMatchesDebug(Mat roiImage, Mat templateImage, org.opencv.core.Point matchLoc) {
    if (logger.isDebugEnabled()) {
        try {/*w  ww.  ja  v a  2  s.  co  m*/
            Core.rectangle(roiImage, matchLoc, new org.opencv.core.Point(matchLoc.x + templateImage.cols(),
                    matchLoc.y + templateImage.rows()), new Scalar(0, 255, 0));

            BufferedImage debugImage = OpenCvUtils.toBufferedImage(roiImage);
            File file = Configuration.get().createResourceFile(OpenCvVisionProvider.class, "debug_", ".png");
            ImageIO.write(debugImage, "PNG", file);
            logger.debug("Debug image filename {}", file);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
}

From source file:org.pattern.detection.contour.ContourDetectionAlgorithm.java

@Override
public List<? extends Particle> detectAndAssign(ParticleImage image) {

    // take the copy of image that we dont modify the original
    Mat img = new Mat();
    image.getPixels().copyTo(img);/*from  w w  w. ja v  a 2 s.  co m*/
    // blur the image to denoise
    //Imgproc.blur(imagePixels, imagePixels, new Size(3, 3));

    // thresholds the image
    Mat thresholded = new Mat();
    //        Imgproc.threshold(imagePixels, thresholded,
    //                THRESHOLD, MAX, Imgproc.THRESH_TOZERO_INV);

    // thresholding
    Imgproc.adaptiveThreshold(img, thresholded, 255, Imgproc.ADAPTIVE_THRESH_GAUSSIAN_C,
            Imgproc.THRESH_BINARY_INV, 155, 15);
    Highgui.imwrite("1_thresholded.jpg", thresholded);

    Mat edges = new Mat();
    Imgproc.Canny(img, edges, 100, 200);
    Highgui.imwrite("1_canny.jpg", edges);

    // remove small noises
    //        Mat kernel = Mat.ones(new Size(3, 3), CvType.CV_8UC1);
    Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_CROSS, new Size(5, 5));

    Imgproc.morphologyEx(thresholded, thresholded, Imgproc.MORPH_OPEN, kernel);
    Highgui.imwrite("2_opening.jpg", thresholded);

    //        Imgproc.erode(thresholded, thresholded, kernel, ORIGIN, 3);
    //        Highgui.imwrite("3_erode.jpg", thresholded);

    Mat distTransform = new Mat();
    Imgproc.distanceTransform(thresholded, distTransform, Imgproc.CV_DIST_C, 5);
    distTransform.convertTo(distTransform, CvType.CV_8UC1);
    Imgproc.equalizeHist(distTransform, distTransform);
    Highgui.imwrite("4_distance_transform.jpg", distTransform);

    Mat markerMask = Mat.zeros(img.size(), CvType.CV_8UC1);
    double max = Core.minMaxLoc(distTransform).maxVal;
    Imgproc.threshold(distTransform, markerMask, max * 0.9, 255, Imgproc.THRESH_BINARY);
    markerMask.convertTo(markerMask, CvType.CV_8UC1);
    Highgui.imwrite("5_thresholded_distance.jpg", markerMask);

    List<MatOfPoint> contours = new ArrayList<>();
    Imgproc.findContours(markerMask, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE,
            ORIGIN);

    Mat markers = Mat.zeros(img.size(), CvType.CV_32S);
    //markers.setTo(Scalar.all(0));
    Random rand = new Random();
    for (int idx = 0; idx < contours.size(); idx++) {
        Scalar color = new Scalar(rand.nextInt(255), rand.nextInt(255), rand.nextInt(255));
        Imgproc.drawContours(markers, contours, idx, color, -1);
    }
    Highgui.imwrite("6_markers.jpg", markers);

    Imgproc.cvtColor(img, img, Imgproc.COLOR_GRAY2RGB);
    img.convertTo(img, CvType.CV_8UC3);
    Imgproc.watershed(img, markers);
    Highgui.imwrite("7_wattershed.jpg", markers);

    // detect contours
    //        List<MatOfPoint> contours = new ArrayList<>();
    Imgproc.findContours(thresholded, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE,
            ORIGIN);

    // create particle from each contour
    List<Particle> particles = new ArrayList<>();
    int i = 0;
    for (MatOfPoint contour : contours) {
        Point cog = calcCog(contour);
        if (!Double.isNaN(cog.x) && !Double.isNaN(cog.y)) {
            System.out.println(cog);
            Particle p = new Particle(cog, contour);
            particles.add(p); // just for reorting reasons
            image.assign(p);
        }
    }

    return particles;
}

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

License:Open Source License

/**
 * Draws checkerboard corners on an image.
 * // w ww  .ja v  a  2s.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.VisionParameters.java

License:Open Source License

public static Scalar getGoalMinThreshold() {
    return new Scalar(VISION_PARAMETERS.getNumber(GOAL_H_MIN_KEY, DEFAULT_GOAL_H_THRESHOLD.getMin()),
            VISION_PARAMETERS.getNumber(GOAL_S_MIN_KEY, DEFAULT_GOAL_S_THRESHOLD.getMin()),
            (int) VISION_PARAMETERS.getNumber(GOAL_V_MIN_KEY, DEFAULT_GOAL_V_THRESHOLD.getMin()));
}

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

License:Open Source License

public static Scalar getGoalMaxThreshold() {
    return new Scalar(VISION_PARAMETERS.getNumber(GOAL_H_MAX_KEY, DEFAULT_GOAL_H_THRESHOLD.getMax()),
            VISION_PARAMETERS.getNumber(GOAL_S_MAX_KEY, DEFAULT_GOAL_S_THRESHOLD.getMax()),
            (int) VISION_PARAMETERS.getNumber(GOAL_V_MAX_KEY, DEFAULT_GOAL_V_THRESHOLD.getMax()));
}

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

License:Open Source License

public static Scalar getBoulderMinThreshold() {
    return new Scalar(VISION_PARAMETERS.getNumber(BOULDER_H_MIN_KEY, DEFAULT_BOULDER_H_THRESHOLD.getMin()),
            VISION_PARAMETERS.getNumber(BOULDER_S_MIN_KEY, DEFAULT_BOULDER_S_THRESHOLD.getMin()),
            (int) VISION_PARAMETERS.getNumber(BOULDER_V_MIN_KEY, DEFAULT_BOULDER_V_THRESHOLD.getMin()));
}