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Refactor Detection

This commit is contained in:
Scott Barnes 2024-02-21 17:24:38 -06:00
parent 3ed9e95ee9
commit bcf840cb94
8 changed files with 144 additions and 155 deletions
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4
build.gradle
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@ -8,9 +8,11 @@ buildscript {
}
}
apply plugin: 'maven-publish'
apply plugin: 'com.android.library'
group = 'com.github.tearabite'
android {
namespace = 'com.tearabite.ftctearabits'
compileSdkVersion 29

4
src/main/java/com/tearabite/ftctearabits/Alliance.java
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@ -1,4 +0,0 @@
package com.tearabite.ftctearabits;
public enum Alliance { Blue, Red }

4
src/main/java/com/tearabite/ftctearabits/common/Alliance.java Normal file
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@ -0,0 +1,4 @@
package com.tearabite.ftctearabits.common;
public enum Alliance { Blue, Red }

19
src/main/java/com/tearabite/ftctearabits/graphics/LinePaint.java Normal file
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@ -0,0 +1,19 @@
package com.tearabite.ftctearabits.graphics;
import android.graphics.Color;
import android.graphics.Paint;
public class LinePaint extends Paint
{
public LinePaint(int color)
{
setColor(color);
setAntiAlias(true);
setStrokeCap(Paint.Cap.ROUND);
}
public static LinePaint RED = new LinePaint(Color.RED);
public static LinePaint BLUE = new LinePaint(Color.BLUE);
public static LinePaint BLACK = new LinePaint(Color.BLACK);
public static LinePaint WHITE = new LinePaint(Color.WHITE);
}

34
src/main/java/com/tearabite/ftctearabits/vision/BasicColorDetectionVisionProcessor.java
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@ -1,9 +1,10 @@
package com.tearabite.ftctearabits.vision;
import static com.tearabite.ftctearabits.vision.Colors.FTC_BLUE_RANGE;
import static com.tearabite.ftctearabits.vision.Colors.FTC_RED_RANGE_1;
import static com.tearabite.ftctearabits.vision.Colors.FTC_RED_RANGE_2;
import static com.tearabite.ftctearabits.vision.Colors.WHITE;
import static com.tearabite.ftctearabits.graphics.LinePaint.WHITE;
import static com.tearabite.ftctearabits.vision.Detection.PropertyScale.Pixels;
import static com.tearabite.ftctearabits.vision.FTCColors.FTC_BLUE_RANGE;
import static com.tearabite.ftctearabits.vision.FTCColors.FTC_RED_RANGE_1;
import static com.tearabite.ftctearabits.vision.FTCColors.FTC_RED_RANGE_2;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getLargestContour;
import android.graphics.Canvas;
@ -29,12 +30,13 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
public static final Point ANCHOR = new Point((STRUCTURING_ELEMENT.cols() / 2f), STRUCTURING_ELEMENT.rows() / 2f);
private final Mat blurred = new Mat();
@Getter @Setter private ScalarRange[] colorRanges;
@Getter private Detection detection;
private final Mat hsv = new Mat();
private final Mat mask = new Mat();
private final Mat tmpMask = new Mat();
@Getter @Setter private ScalarRange[] colorRanges;
@Getter private Detection detection;
public BasicColorDetectionVisionProcessor(ScalarRange... colorRanges) {
@ -51,7 +53,7 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
@Override
public void init(int width, int height, CameraCalibration calibration) {
this.detection = new Detection(new Size(width, height), 0, 0);
this.detection = Detection.builder().frameSize(new Size(width, height)).build();
}
@Override
@ -81,24 +83,24 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
@Override
public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
if (detection != null && detection.isValid()) {
Point center = detection.getCenterPx();
Point center = detection.getCenter();
canvas.drawCircle((float) center.x, (float) center.y, 10, WHITE);
}
}
public double getIgnoreSmallerThan() {
return this.detection.getIgnoreSmallerThan();
public double getMinimumAreaThreshold() {
return this.detection.getMinimumAreaThreshold();
}
public void setIgnoreSmallerThan(double ignoreSmallerThan) {
this.detection.setIgnoreSmallerThan(ignoreSmallerThan);
public void setMinimumAreaThreshold(double ignoreSmallerThan) {
this.detection.setMinimumAreaThreshold(ignoreSmallerThan);
}
public double getIgnoreLargerThan() {
return this.detection.getIgnoreLargerThan();
public double getMaximumAreaThreshold() {
return this.detection.getMaximumAreaThreshold();
}
public void setIgnoreLargerThan(double ignoreLargerThan) {
this.detection.setIgnoreLargerThan(ignoreLargerThan);
public void setMaximumAreaThreshold(double ignoreLargerThan) {
this.detection.setMaximumAreaThreshold(ignoreLargerThan);
}
}

215
src/main/java/com/tearabite/ftctearabits/vision/Detection.java
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@ -1,151 +1,134 @@
package com.tearabite.ftctearabits.vision;
import static com.tearabite.ftctearabits.vision.Constants.GREEN;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.drawConvexHull;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.drawPoint;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.fillConvexHull;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getBottomLeftOfContour;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getBottomRightOfContour;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getCenterOfContour;
import android.graphics.drawable.Icon;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
// Class for a Detection
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Getter;
import lombok.NoArgsConstructor;
import lombok.Setter;
@NoArgsConstructor()
@AllArgsConstructor
@Builder
public class Detection {
public static final Point INVALID_POINT = new Point(Double.MIN_VALUE, Double.MIN_VALUE);
public static final double INVALID_AREA = -1;
public static final Detection INVALID_DETECTION = new Detection(new Size(0, 0), 0);
private double minAreaPx;
private final double maxAreaPx;
private final Size maxSizePx;
private double areaPx = INVALID_AREA;
private Point centerPx = INVALID_POINT;
private Point bottomLeftPx = INVALID_POINT;
private Point bottomRightPx = INVALID_POINT;
private MatOfPoint contour;
@Getter @Setter private MatOfPoint contour;
@Getter @Setter private Size frameSize;
@Getter @Setter private double maxAreaThreshold;
@Getter @Setter private double minAreaThreshold;
// Constructor
public Detection(Size frameSize, double minAreaFactor) {
this.maxSizePx = frameSize;
this.minAreaPx = frameSize.area() * minAreaFactor;
this.maxAreaPx = frameSize.area();
}
public Detection(Size frameSize, double minAreaFactor, double maxAreaFactor) {
this.maxSizePx = frameSize;
this.minAreaPx = frameSize.area() * minAreaFactor;
this.maxAreaPx = frameSize.area() * maxAreaFactor;
}
public void setMinArea(double minAreaFactor) {
this.minAreaPx = maxSizePx.area() * minAreaFactor;
}
public void setMaxArea(double maxAreaFactor) {
this.minAreaPx = maxSizePx.area() * maxAreaFactor;
}
// Draw a convex hull around the current detection on the given image
public void draw(Mat img, Scalar color) {
if (isValid()) {
drawConvexHull(img, contour, color);
drawPoint(img, centerPx, GREEN);
}
}
// Draw a convex hull around the current detection on the given image
public void fill(Mat img, Scalar color) {
if (isValid()) {
fillConvexHull(img, contour, color);
drawPoint(img, centerPx, GREEN);
}
}
// Check if the current Detection is valid
public boolean isValid() {
return (this.contour != null) && (this.areaPx != INVALID_AREA);
double area = getArea();
return contour != null
&& area > minAreaThreshold
&& area < maxAreaThreshold;
}
// Get the current contour
public MatOfPoint getContour() {
return contour;
}
// Set the values of the current contour
public void setContour(MatOfPoint contour) {
this.contour = contour;
double area;
if (contour != null && (area = Imgproc.contourArea(contour)) > minAreaPx && area < maxAreaPx) {
this.areaPx = area;
this.centerPx = getCenterOfContour(contour);
this.bottomLeftPx = getBottomLeftOfContour(contour);
this.bottomRightPx = getBottomRightOfContour(contour);
} else {
this.areaPx = INVALID_AREA;
this.centerPx = INVALID_POINT;
this.bottomLeftPx = INVALID_POINT;
this.bottomRightPx = INVALID_POINT;
}
}
// Returns the center of the Detection, normalized so that the width and height of the frame is from [-50,50]
public Point getCenter() {
if (!isValid()) {
return INVALID_POINT;
}
double normalizedX = ((centerPx.x / maxSizePx.width) * 100) - 50;
double normalizedY = ((centerPx.y / maxSizePx.height) * -100) + 50;
return new Point(normalizedX, normalizedY);
}
// Get the center point in pixels
public Point getCenterPx() {
return centerPx;
}
// Get the area of the Detection, normalized so that the area of the frame is 100
public double getArea() {
public double getArea(PropertyScale scale) {
if (!isValid()) {
return INVALID_AREA;
}
return (areaPx / (maxSizePx.width * maxSizePx.height)) * 100;
double areaPx = Imgproc.contourArea(contour);
if (scale == PropertyScale.Pixels) {
return areaPx;
}
return (areaPx / (frameSize.width * frameSize.height)) * 100;
}
// Get the leftmost bottom corner of the detection
public Point getBottomLeftCornerPx() {
return bottomLeftPx;
public double getArea() {
return getArea(PropertyScale.Pixels);
}
// Get the rightmost bottom corner of the detection
public Point getBottomRightCornerPx() {
return bottomRightPx;
public Point getCenter(PropertyScale scale) {
if (!isValid()) {
return INVALID_POINT;
}
Point centerPx = getCenterOfContour(this.contour);
if (scale == PropertyScale.Pixels) {
return centerPx;
}
return pixelPointToPercentageOfFrame(centerPx);
}
public void setIgnoreSmallerThan(double ignoreSmallerThan) {
this.minAreaPx = maxSizePx.area() * ignoreSmallerThan;
public Point getCenter() {
return getCenter(PropertyScale.Pixels);
}
public void setIgnoreLargerThan(double ignoreLargerThan) {
this.minAreaPx = maxSizePx.area() * ignoreLargerThan;
public void setMaximumAreaThreshold(double ignoreLargerThan, PropertyScale scale) {
switch (scale) {
case Pixels:
this.maxAreaThreshold = ignoreLargerThan;
break;
case Percent:
this.maxAreaThreshold = frameSize.area() * ignoreLargerThan;
break;
}
}
public double getIgnoreSmallerThan() {
return this.minAreaPx / this.maxSizePx.area();
public void setMaximumAreaThreshold(double threshold) {
setMaximumAreaThreshold(threshold, PropertyScale.Pixels);
}
public double getIgnoreLargerThan() {
return this.maxAreaPx / this.maxSizePx.area();
public void setMinimumAreaThreshold(double threshold, PropertyScale scale) {
switch (scale) {
case Pixels:
this.minAreaThreshold = threshold;
break;
case Percent:
this.minAreaThreshold = frameSize.area() * threshold;
break;
}
}
public void setMinimumAreaThreshold(double threshold) {
setMinimumAreaThreshold(threshold, PropertyScale.Pixels);
}
public double getMaximumAreaThreshold(PropertyScale scale) {
switch (scale) {
default:
case Pixels:
return this.maxAreaThreshold;
case Percent:
return this.maxAreaThreshold / this.frameSize.area();
}
}
public double getMaximumAreaThreshold() {
return getMaximumAreaThreshold(PropertyScale.Pixels);
}
public double getMinimumAreaThreshold(PropertyScale scale) {
switch (scale) {
default:
case Pixels:
return this.minAreaThreshold;
case Percent:
return this.minAreaThreshold / this.frameSize.area();
}
}
public double getMinimumAreaThreshold() {
return getMinimumAreaThreshold(PropertyScale.Pixels);
}
public enum PropertyScale { Pixels, Percent }
private Point pixelPointToPercentageOfFrame(Point pixelPoint) {
double normalizedX = ((pixelPoint.x / frameSize.width) * 100) - 50;
double normalizedY = ((pixelPoint.y / frameSize.height) * -100) + 50;
return new Point(normalizedX, normalizedY);
}
}

7
src/main/java/com/tearabite/ftctearabits/vision/Colors.java → src/main/java/com/tearabite/ftctearabits/vision/FTCColors.java
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@ -3,7 +3,7 @@ package com.tearabite.ftctearabits.vision;
import android.graphics.Color;
import org.opencv.core.Scalar;
public class Colors {
public class FTCColors {
public static Scalar FTC_RED_LOWER = new Scalar(165, 80, 80);
public static Scalar FTC_RED_UPPER = new Scalar(15, 255, 255);
public static ScalarRange FTC_RED_RANGE_1 = new ScalarRange(new Scalar(180, FTC_RED_UPPER.val[1], FTC_RED_UPPER.val[2]), FTC_RED_LOWER);
@ -13,9 +13,4 @@ public class Colors {
public static ScalarRange FTC_BLUE_RANGE = new ScalarRange(FTC_BLUE_UPPER, FTC_BLUE_LOWER);
public static Scalar FTC_WHITE_LOWER = new Scalar(0, 0, 40);
public static Scalar FTC_WHITE_UPPER = new Scalar(180, 30, 255);
public static OpenCVUtil.LinePaint RED = new OpenCVUtil.LinePaint(Color.RED);
public static OpenCVUtil.LinePaint BLUE = new OpenCVUtil.LinePaint(Color.BLUE);
public static OpenCVUtil.LinePaint BLACK = new OpenCVUtil.LinePaint(Color.BLACK);
public static OpenCVUtil.LinePaint WHITE = new OpenCVUtil.LinePaint(Color.WHITE);
}

12
src/main/java/com/tearabite/ftctearabits/vision/OpenCVUtil.java
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@ -1,7 +1,5 @@
package com.tearabite.ftctearabits.vision;
import android.graphics.Paint;
import org.opencv.core.Mat;
import org.opencv.core.MatOfInt;
import org.opencv.core.MatOfPoint;
@ -89,14 +87,4 @@ public class OpenCVUtil {
Collections.sort(contours, (a, b) -> (int) Imgproc.contourArea(b) - (int) Imgproc.contourArea(a));
return contours.subList(0, Math.min(numContours, contours.size()));
}
public static class LinePaint extends Paint
{
public LinePaint(int color)
{
setColor(color);
setAntiAlias(true);
setStrokeCap(Paint.Cap.ROUND);
}
}
}