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JLLeitschuhJLLeitschuh
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Merge branch 'master' into build/fixReleaseArtifacts
2 parents 8562f59 + 6d13835 commit 22a371d

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‎core/src/main/java/edu/wpi/grip/core/operations/Operations.java‎

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@@ -19,6 +19,9 @@ public static void addOperations(EventBus eventBus) {
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eventBus.post(new OperationAddedEvent(new RGBThresholdOperation()));
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eventBus.post(new OperationAddedEvent(new HSVThresholdOperation()));
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eventBus.post(new OperationAddedEvent(new HSLThresholdOperation()));
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eventBus.post(new OperationAddedEvent(new FindContoursOperation()));
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eventBus.post(new OperationAddedEvent(new FilterContoursOperation()));
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eventBus.post(new OperationAddedEvent(new ConvexHullsOperation()));
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eventBus.post(new OperationAddedEvent(new FindBlobsOperation()));
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eventBus.post(new OperationAddedEvent(new FindLinesOperation()));
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eventBus.post(new OperationAddedEvent(new FilterLinesOperation()));

‎core/src/main/java/edu/wpi/grip/core/operations/composite/ContoursReport.java‎

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package edu.wpi.grip.core.operations.composite;
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import static org.bytedeco.javacpp.opencv_core.*;
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/**
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* The output of {@link FindContoursOperation}. This stores a list of contours (which is basically a list of points) in
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* OpenCV objects, as well as the width and height of the image that the contours are from, to give context to the
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* points.
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*/
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public final class ContoursReport {
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private int rows, cols;
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private MatVector contours = new MatVector();
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public ContoursReport() {
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this(new MatVector(), -1, -1);
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}
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public ContoursReport(MatVector contours, int rows, int cols) {
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this.contours = contours;
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this.rows = rows;
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this.cols = cols;
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}
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public void setContours(MatVector contours) {
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this.contours = contours;
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}
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public MatVector getContours() {
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return this.contours;
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}
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public void setRows(int rows) {
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this.rows = rows;
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}
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public void setCols(int cols) {
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this.cols = cols;
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}
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public int getRows() {
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return this.rows;
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}
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public int getCols() {
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return this.cols;
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/ConvexHullsOperation.java‎

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.InputSocket;
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import edu.wpi.grip.core.Operation;
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import edu.wpi.grip.core.OutputSocket;
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import edu.wpi.grip.core.SocketHint;
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import java.io.InputStream;
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import java.util.Optional;
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import static org.bytedeco.javacpp.opencv_imgproc.convexHull;
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/**
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* An {@link Operation} that finds the convex hull of each of a list of contours.
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* <p>
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* This can help remove holes in detected shapes, making them easier to analyze.
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*/
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public class ConvexHullsOperation implements Operation {
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private final SocketHint<ContoursReport> contoursHint = new SocketHint.Builder<>(ContoursReport.class)
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.identifier("Contours").initialValueSupplier(ContoursReport::new).build();
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@Override
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public String getName() {
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return "Convex Hulls";
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}
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@Override
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public String getDescription() {
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return "Compute the convex hulls of contours.";
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}
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@Override
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public Optional<InputStream> getIcon() {
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return Optional.of(getClass().getResourceAsStream("/edu/wpi/grip/ui/icons/convex-hulls.png"));
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{new InputSocket<>(eventBus, contoursHint)};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{new OutputSocket<>(eventBus, contoursHint)};
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}
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@Override
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@SuppressWarnings("unchecked")
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
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final InputSocket<ContoursReport> inputSocket = (InputSocket<ContoursReport>) inputs[0];
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final OutputSocket<ContoursReport> outputSocket = (OutputSocket<ContoursReport>) outputs[0];
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final ContoursReport inputContours = inputSocket.getValue().get();
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final ContoursReport outputContours = outputSocket.getValue().get();
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outputContours.getContours().resize(inputContours.getContours().size());
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for (int i = 0; i < inputContours.getContours().size(); i++) {
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convexHull(inputContours.getContours().get(i), outputContours.getContours().get(i));
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}
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outputContours.setRows(inputContours.getRows());
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outputContours.setCols(inputContours.getCols());
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outputSocket.setValue(outputContours);
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/FilterContoursOperation.java‎

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.*;
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import java.io.InputStream;
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import java.util.Optional;
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import static org.bytedeco.javacpp.opencv_core.*;
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import static org.bytedeco.javacpp.opencv_imgproc.*;
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/**
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* An {@link Operation} that takes in a list of contours and outputs a list of any contours in the input that match
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* all of several criteria. Right now, the user can specify a minimum area, minimum perimeter, and ranges for width
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* and height.
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* <p>
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* This is useful because running a Find Contours on a real-life image typically leads to many small undesirable
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* contours from noise and small objects, as well as contours that do not meet the expected characteristics of the
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* feature we're actually looking for. So, this operation can help narrow them down.
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*/
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public class FilterContoursOperation implements Operation {
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private final SocketHint<ContoursReport> contoursHint = new SocketHint.Builder<>(ContoursReport.class)
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.identifier("Contours").initialValueSupplier(ContoursReport::new).build();
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private final SocketHint<Number> minAreaHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Min Area", 0, 0, Integer.MAX_VALUE);
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private final SocketHint<Number> minPerimeterHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Min Perimeter", 0, 0, Integer.MAX_VALUE);
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private final SocketHint<Number> minWidthHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Min Width", 0, 0, Integer.MAX_VALUE);
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private final SocketHint<Number> maxWidthHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Max Width", 0, 0, Integer.MAX_VALUE);
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private final SocketHint<Number> minHeightHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Min Height", 0, 0, Integer.MAX_VALUE);
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private final SocketHint<Number> maxHeightHint =
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SocketHints.Inputs.createNumberSpinnerSocketHint("Max Height", 0, 0, Integer.MAX_VALUE);
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@Override
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public String getName() {
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return "Filter Contours";
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}
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@Override
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public String getDescription() {
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return "Find contours matching certain criteria.";
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}
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@Override
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public Optional<InputStream> getIcon() {
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return Optional.of(getClass().getResourceAsStream("/edu/wpi/grip/ui/icons/find-contours.png"));
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{
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new InputSocket<>(eventBus, contoursHint),
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new InputSocket<>(eventBus, minAreaHint),
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new InputSocket<>(eventBus, minPerimeterHint),
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new InputSocket<>(eventBus, minWidthHint),
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new InputSocket<>(eventBus, maxWidthHint),
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new InputSocket<>(eventBus, minHeightHint),
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new InputSocket<>(eventBus, maxHeightHint),
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};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{new OutputSocket<>(eventBus, contoursHint)};
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}
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@Override
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@SuppressWarnings("unchecked")
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
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final InputSocket<ContoursReport> inputSocket = (InputSocket<ContoursReport>) inputs[0];
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final double minArea = ((Number) inputs[1].getValue().get()).doubleValue();
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final double minPerimeter = ((Number) inputs[2].getValue().get()).doubleValue();
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final double minWidth = ((Number) inputs[3].getValue().get()).doubleValue();
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final double maxWidth = ((Number) inputs[4].getValue().get()).doubleValue();
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final double minHeight = ((Number) inputs[5].getValue().get()).doubleValue();
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final double maxHeight = ((Number) inputs[6].getValue().get()).doubleValue();
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final MatVector inputContours = inputSocket.getValue().get().getContours();
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final MatVector outputContours = new MatVector(inputContours.size());
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// Add contours from the input vector to the output vector only if they pass all of the criteria (minimum
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// area, minimum perimeter, width, and height)
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int filteredContourCount = 0;
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for (int i = 0; i < inputContours.size(); i++) {
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final Mat contour = inputContours.get(i);
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final Rect bb = boundingRect(contour);
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if (contourArea(contour) < minArea) continue;
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if (arcLength(contour, true) < minPerimeter) continue;
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if (bb.width() < minWidth || bb.width() > maxWidth) continue;
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if (bb.height() < minHeight || bb.height() > maxHeight) continue;
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outputContours.put(filteredContourCount++, contour);
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}
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outputContours.resize(filteredContourCount);
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final OutputSocket<ContoursReport> outputSocket = (OutputSocket<ContoursReport>) outputs[0];
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outputSocket.getValue().get().setRows(inputSocket.getValue().get().getRows());
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outputSocket.getValue().get().setCols(inputSocket.getValue().get().getCols());
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outputSocket.getValue().get().setContours(outputContours);
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outputSocket.setValueOptional(outputSocket.getValue());
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/FindContoursOperation.java‎

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.*;
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import java.io.InputStream;
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import java.util.Optional;
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import static org.bytedeco.javacpp.opencv_core.*;
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import static org.bytedeco.javacpp.opencv_imgproc.*;
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/**
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* An {@link Operation} that, given a binary image, produces a list of contours of all of the shapes in the image
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*/
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public class FindContoursOperation implements Operation {
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private final SocketHint<Mat> inputHint =
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new SocketHint.Builder<>(Mat.class).identifier("Input").build();
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private final SocketHint<Boolean> externalHint =
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SocketHints.createBooleanSocketHint("External Only", false);
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private final SocketHint<ContoursReport> contoursHint = new SocketHint.Builder<>(ContoursReport.class)
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.identifier("Contours").initialValueSupplier(ContoursReport::new).build();
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@Override
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public String getName() {
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return "Find Contours";
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}
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@Override
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public String getDescription() {
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return "Detect contours in a binary image.";
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}
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@Override
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public Optional<InputStream> getIcon() {
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return Optional.of(getClass().getResourceAsStream("/edu/wpi/grip/ui/icons/find-contours.png"));
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{
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new InputSocket<>(eventBus, inputHint),
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new InputSocket<>(eventBus, externalHint),
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};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{new OutputSocket<>(eventBus, contoursHint)};
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}
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@Override
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public Optional<?> createData() {
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return Optional.of(new Mat());
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}
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@Override
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@SuppressWarnings("unchecked")
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs, Optional<?> data) {
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final Mat input = ((InputSocket<Mat>) inputs[0]).getValue().get();
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final Mat tmp = ((Optional<Mat>) data).get();
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final boolean externalOnly = ((InputSocket<Boolean>) inputs[1]).getValue().get();
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final OutputSocket<ContoursReport> contoursSocket = (OutputSocket<ContoursReport>) outputs[0];
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final ContoursReport contours = contoursSocket.getValue().get();
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if (input.empty()) {
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return;
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}
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// findContours modifies its input, so we pass it a temporary copy of the input image
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input.copyTo(tmp);
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// OpenCV has a few different things it can return from findContours, but for now we only use EXTERNAL and LIST.
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// The other ones involve hierarchies of contours, which might be useful in some situations, but probably only
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// when processing the contours manually in code (so, not in a graphical pipeline).
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findContours(tmp, contours.getContours(), externalOnly ? CV_RETR_EXTERNAL : CV_RETR_LIST,
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CV_CHAIN_APPROX_TC89_KCOS);
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contours.setRows(input.rows());
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contours.setCols(input.cols());
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contoursSocket.setValue(contours);
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}
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}

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