Merge pull request #22 from Pattonville-Robotics/opencv-fixes

OpenCV Updates

build.gradle

@@ -12,7 +12,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:3.0.0'
+        classpath 'com.android.tools.build:gradle:3.0.1'
         classpath 'com.github.dcendents:android-maven-gradle-plugin:2.0'
         classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
     }

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

@@ -6,7 +6,8 @@
 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.relicrecovery.jewels.JewelAnalysisMode;
+import org.pattonvillerobotics.commoncode.robotclasses.opencv.relicrecovery.jewels.JewelColorDetector;
 import org.pattonvillerobotics.commoncode.robotclasses.opencv.util.PhoneOrientation;
 import org.pattonvillerobotics.commoncode.robotclasses.vuforia.VuforiaNavigation;
 import org.pattonvillerobotics.commoncode.robotclasses.vuforia.VuforiaParameters;
@@ -31,16 +32,22 @@ public class OpenCVTest extends LinearOpMode {
     public void runOpMode() throws InterruptedException {
         ImageProcessor.initOpenCV(hardwareMap, this);
 
-        jewelColorDetector = new JewelColorDetector(PhoneOrientation.PORTRAIT);
+        jewelColorDetector = new JewelColorDetector(PhoneOrientation.LANDSCAPE_INVERSE, JewelAnalysisMode.FAST, true);
         vuforia = new VuforiaNavigation(VUFORIA_PARAMETERS);
 
-        JewelColorDetector.Analysis analysis;
+        JewelColorDetector.AnalysisResult analysis;
+
+        long startTime, endTime;
 
         waitForStart();
 
         while (opModeIsActive()) {
+            startTime = System.currentTimeMillis();
             jewelColorDetector.process(vuforia.getImage());
             analysis = jewelColorDetector.getAnalysis();
+            endTime = System.currentTimeMillis();
+
+            telemetry.addData("Time: ", endTime - startTime);
 
             telemetry.addData("Left: ", analysis.leftJewelColor);
             telemetry.addData("Right: ", analysis.rightJewelColor);

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

@@ -4,9 +4,9 @@
 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 org.pattonvillerobotics.commoncode.robotclasses.opencv.util.Contour;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -51,19 +51,28 @@ public void setHSVBounds(ColorSensorColor color) {
     }
 
     public void process(Mat rgbaMat) {
-        Imgproc.blur(rgbaMat, blurMat, new Size(10, 10));
+        Imgproc.pyrDown(rgbaMat, blurMat);
+        Imgproc.pyrDown(blurMat, blurMat);
 
         Imgproc.cvtColor(blurMat, hsvMat, Imgproc.COLOR_RGB2HSV);
         Core.inRange(hsvMat, lowerBoundHSV, upperBoundHSV, thresholdMat);
+        Imgproc.dilate(thresholdMat, thresholdMat, new Mat());
 
         List<MatOfPoint> tmp = new ArrayList<>();
 
         Imgproc.findContours(thresholdMat, tmp, hierarchyMat, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
 
+        MatOfPoint largest = Contour.findLargestContour(tmp);
+        double maxArea = 0;
+        if (largest != null) {
+            maxArea = Imgproc.contourArea(largest);
+        }
+
         // filters out super small contours
         contours.clear();
         for (MatOfPoint contour : tmp) {
-            if (Imgproc.contourArea(contour) > 500) {
+            if (Imgproc.contourArea(contour) > maxArea * .1) {
+                Core.multiply(contour, new Scalar(4, 4), contour);
                 contours.add(contour);
             }
         }

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

@@ -73,6 +73,10 @@ public void onManagerConnected(int status) {
         }
     }
 
+    public static boolean isInitialized() {
+        return initialized;
+    }
+
     /**
      * Converts the Bitmap to a Mat and then rotates the image based off of the phone's orientation.
      *
@@ -88,8 +92,6 @@ public static Mat processBitmap(Bitmap bitmap, PhoneOrientation orientation) {
         Mat rotated = new Mat();
         Imgproc.warpAffine(tmp, rotated, rotMat, tmp.size());
 
-        Log.i("Jewel", "Rotated.");
-
         return rotated;
     }
 }

library/src/main/java/org/pattonvillerobotics/commoncode/robotclasses/opencv/relicrecovery/jewels/JewelAnalysisMode.java

@@ -0,0 +1,9 @@
+package org.pattonvillerobotics.commoncode.robotclasses.opencv.relicrecovery.jewels;
+
+/**
+ * Created by gregbahr on 11/28/17.
+ */
+
+public enum JewelAnalysisMode {
+    FAST, COMPLEX
+}