Merge pull request #15 from Pattonville-Robotics/opencv-features

Opencv features

library/src/main/java/org/pattonvillerobotics/commoncode/opmodes/OpenCVTest.java

@@ -0,0 +1,50 @@
+package org.pattonvillerobotics.commoncode.opmodes;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
+import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
+import org.pattonvillerobotics.commoncode.robotclasses.opencv.ImageProcessor;
+import org.pattonvillerobotics.commoncode.robotclasses.opencv.JewelColorDetector;
+import org.pattonvillerobotics.commoncode.robotclasses.opencv.util.PhoneOrientation;
+import org.pattonvillerobotics.commoncode.robotclasses.vuforia.VuforiaNavigation;
+import org.pattonvillerobotics.commoncode.robotclasses.vuforia.VuforiaParameters;
+
+/**
+ * Created by greg on 10/7/2017.
+ */
+
+@Autonomous(name = "OpenCV Test", group = OpModeGroups.TESTING)
+public class OpenCVTest extends LinearOpMode {
+
+    private JewelColorDetector jewelColorDetector;
+    private VuforiaNavigation vuforia;
+
+    private VuforiaParameters VUFORIA_PARAMETERS = new VuforiaParameters.Builder()
+            .phoneLocation(0, 0, 0, AxesOrder.XYZ, 90, -90, 0)
+            .cameraDirection(VuforiaLocalizer.CameraDirection.BACK)
+            .licenseKey("AclLpHb/////AAAAGa41kVT84EtWtYJZW0bIHf9DHg5EHVYWCqExQMx6bbuBtjFeYdvzZLExJiXnT31qDi3WI3QQnOXH8pLZ4cmb39d1w0Oi7aCwy35ODjMvG5qX+e2+3v0l3r1hPpM8P7KPTkRPIl+CGYEBvoNkVbGGjalCW7N9eFDV/T5CN/RQvZjonX/uBPKkEd8ciqK8vWgfy9aPEipAoyr997DDagnMQJ0ajpwKn/SAfaVPA4osBZ5euFf07/3IUnpLEMdMKfoIH6QYLVgwbPuVtUiJWM6flzWaAw5IIhy0XXWwI0nGXrzVjPwZlN3El4Su73ADK36qqOax/pNxD4oYBrlpfYiaFaX0Q+BNro09weXQEoz/Mfgm")
+            .build();
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        ImageProcessor.initOpenCV(hardwareMap, this);
+
+        jewelColorDetector = new JewelColorDetector(PhoneOrientation.PORTRAIT);
+        vuforia = new VuforiaNavigation(VUFORIA_PARAMETERS);
+
+        JewelColorDetector.Analysis analysis;
+
+        waitForStart();
+
+        while (opModeIsActive()) {
+            jewelColorDetector.process(vuforia.getImage());
+            analysis = jewelColorDetector.getAnalysis();
+
+            telemetry.addData("Left: ", analysis.leftJewelColor);
+            telemetry.addData("Right: ", analysis.rightJewelColor);
+            telemetry.update();
+        }
+    }
+}

library/src/main/java/org/pattonvillerobotics/commoncode/robotclasses/opencv/ColorBlobDetector.java

@@ -0,0 +1,79 @@
+package org.pattonvillerobotics.commoncode.robotclasses.opencv;
+
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfPoint;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
+import org.pattonvillerobotics.commoncode.enums.ColorSensorColor;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class ColorBlobDetector {
+
+    private final List<MatOfPoint> contours = new ArrayList<>();
+    private final Mat blurMat = new Mat();
+    private final Mat thresholdMat = new Mat();
+    private final Mat hierarchyMat = new Mat();
+    private final Mat hsvMat = new Mat();
+    private Scalar lowerBoundHSV;
+    private Scalar upperBoundHSV;
+
+    public ColorBlobDetector(Scalar lowerBoundHSV, Scalar upperBoundHSV) {
+        setHSVBounds(lowerBoundHSV, upperBoundHSV);
+    }
+
+    public ColorBlobDetector(ColorSensorColor color) {
+        setHSVBounds(color);
+    }
+
+    public void setHSVBounds(Scalar lower, Scalar upper) {
+        lowerBoundHSV = lower;
+        upperBoundHSV = upper;
+    }
+
+    public void setHSVBounds(ColorSensorColor color) {
+        switch (color) {
+            case RED:
+                setHSVBounds(new Scalar(160, 40, 0), new Scalar(180, 255, 255));
+                break;
+            case BLUE:
+                setHSVBounds(new Scalar(90, 40, 0), new Scalar(110, 255, 255));
+                break;
+            case GREEN:
+                setHSVBounds(new Scalar(45, 40, 0), new Scalar(75, 255, 255));
+                break;
+            default:
+                throw new IllegalArgumentException("Must provide RED, BLUE, or GREEN!");
+        }
+    }
+
+    public void process(Mat rgbaMat) {
+        Imgproc.blur(rgbaMat, blurMat, new Size(10, 10));
+
+        Imgproc.cvtColor(blurMat, hsvMat, Imgproc.COLOR_RGB2HSV);
+        Core.inRange(hsvMat, lowerBoundHSV, upperBoundHSV, thresholdMat);
+
+        List<MatOfPoint> tmp = new ArrayList<>();
+
+        Imgproc.findContours(thresholdMat, tmp, hierarchyMat, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
+
+        // filters out super small contours
+        contours.clear();
+        for (MatOfPoint contour : tmp) {
+            if (Imgproc.contourArea(contour) > 500) {
+                contours.add(contour);
+            }
+        }
+    }
+
+    public Mat getThresholdMat() {
+        return thresholdMat;
+    }
+
+    public List<MatOfPoint> getContours() {
+        return contours;
+    }
+}

library/src/main/java/org/pattonvillerobotics/commoncode/robotclasses/opencv/ImageProcessor.java

@@ -1,32 +1,29 @@
 package org.pattonvillerobotics.commoncode.robotclasses.opencv;
 
+import android.graphics.Bitmap;
 import android.util.Log;
 
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 import org.opencv.android.BaseLoaderCallback;
 import org.opencv.android.LoaderCallbackInterface;
 import org.opencv.android.OpenCVLoader;
+import org.opencv.android.Utils;
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.imgproc.Imgproc;
+import org.pattonvillerobotics.commoncode.robotclasses.opencv.util.PhoneOrientation;
 
-
-/**
- * Created by greg on 10/4/2017.
- */
-
-public abstract class ImageProcessor {
+public final class ImageProcessor {
 
     private static final String TAG = ImageProcessor.class.getSimpleName();
 
-    private boolean initialized;
-    private HardwareMap hardwareMap;
+    private static boolean initialized;
 
-    public ImageProcessor(HardwareMap hardwareMap) {
-        this.hardwareMap = hardwareMap;
+    private ImageProcessor() {}
 
-        initOpenCV();
-    }
-
-    private void initOpenCV() {
+    public static void initOpenCV(HardwareMap hardwareMap, LinearOpMode opMode) {
         BaseLoaderCallback baseLoaderCallback = null;
 
         try {
@@ -67,7 +64,7 @@ public void onManagerConnected(int status) {
             }
         }
 
-        while (!initialized) {
+        while (!initialized && opMode.opModeIsActive()) {
             try {
                 Thread.sleep(50);
             } catch (InterruptedException e) {
@@ -76,16 +73,23 @@ public void onManagerConnected(int status) {
         }
     }
 
-    public void waitForOpenCVInit() {
-        while (!initialized) {
-            synchronized (this) {
-                try {
-                    this.wait();
-                } catch (InterruptedException e) {
-                    Thread.currentThread().interrupt();
-                    return;
-                }
-            }
-        }
+    /**
+     * Converts the Bitmap to a Mat and then rotates the image based off of the phone's orientation.
+     *
+     * @param bitmap A bitmap from taken from vuforia
+     * @param orientation The current orientation of the phone on the robot
+     * @return a Mat of the bitmap in the correct orientation
+     */
+    public static Mat processBitmap(Bitmap bitmap, PhoneOrientation orientation) {
+        Mat tmp = new Mat();
+        Utils.bitmapToMat(bitmap, tmp);
+
+        Mat rotMat = Imgproc.getRotationMatrix2D(new Point(tmp.cols()/2, tmp.rows()/2), orientation.getRotation(), 1.0);
+        Mat rotated = new Mat();
+        Imgproc.warpAffine(tmp, rotated, rotMat, tmp.size());
+
+        Log.i("Jewel", "Rotated.");
+
+        return rotated;
     }
 }