Example usage for org.opencv.core Mat cols

Introduction

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

Prototype

public int cols() 

Source Link

Usage

From source file:org.akvo.caddisfly.sensor.colorimetry.strip.util.OpenCVUtil.java

License:Open Source License

@SuppressWarnings("UnusedParameters")
public static Mat detectStrip(Mat stripArea, StripTest.Brand brand, double ratioW, double ratioH) {
    List<Mat> channels = new ArrayList<>();
    Mat sArea = stripArea.clone();/*  w  w w .j  a v a2 s  . com*/

    // Gaussian blur
    Imgproc.medianBlur(sArea, sArea, 3);
    Core.split(sArea, channels);

    // create binary image
    Mat binary = new Mat();

    // determine min and max NOT USED
    Imgproc.threshold(channels.get(0), binary, 128, MAX_RGB_INT_VALUE, Imgproc.THRESH_BINARY);

    // compute first approximation of line through length of the strip
    final WeightedObservedPoints points = new WeightedObservedPoints();
    final WeightedObservedPoints corrPoints = new WeightedObservedPoints();

    double tot, yTot;
    for (int i = 0; i < binary.cols(); i++) { // iterate over cols
        tot = 0;
        yTot = 0;
        for (int j = 0; j < binary.rows(); j++) { // iterate over rows
            if (binary.get(j, i)[0] > 128) {
                yTot += j;
                tot++;
            }
        }
        if (tot > 0) {
            points.add((double) i, yTot / tot);
        }
    }

    // order of coefficients is (b + ax), so [b, a]
    final PolynomialCurveFitter fitter = PolynomialCurveFitter.create(1);
    List<WeightedObservedPoint> pointsList = points.toList();
    final double[] coefficient = fitter.fit(pointsList);

    // second pass, remove outliers
    double estimate, actual;

    for (int i = 0; i < pointsList.size(); i++) {
        estimate = coefficient[1] * pointsList.get(i).getX() + coefficient[0];
        actual = pointsList.get(i).getY();
        if (actual > LOWER_PERCENTAGE_BOUND * estimate && actual < UPPER_PERCENTAGE_BOUND * estimate) {
            //if the point differs less than +/- 10%, keep the point
            corrPoints.add(pointsList.get(i).getX(), pointsList.get(i).getY());
        }
    }

    final double[] coefficientCorr = fitter.fit(corrPoints.toList());
    double slope = coefficientCorr[1];
    double offset = coefficientCorr[0];

    // compute rotation angle
    double rotAngleDeg = Math.atan(slope) * 180 / Math.PI;

    //determine a point on the line, in the middle of strip, in the horizontal middle of the whole image
    int midPointX = binary.cols() / 2;
    int midPointY = (int) Math.round(midPointX * slope + offset);

    // rotate around the midpoint, to straighten the binary strip
    Mat dstBinary = new Mat(binary.rows(), binary.cols(), binary.type());
    Point center = new Point(midPointX, midPointY);
    Mat rotMat = Imgproc.getRotationMatrix2D(center, rotAngleDeg, 1.0);
    Imgproc.warpAffine(binary, dstBinary, rotMat, binary.size(),
            Imgproc.INTER_CUBIC + Imgproc.WARP_FILL_OUTLIERS);

    // also apply rotation to colored strip
    Mat dstStrip = new Mat(stripArea.rows(), stripArea.cols(), stripArea.type());
    Imgproc.warpAffine(stripArea, dstStrip, rotMat, binary.size(),
            Imgproc.INTER_CUBIC + Imgproc.WARP_FILL_OUTLIERS);

    // Compute white points in each row
    double[] rowCount = new double[dstBinary.rows()];
    int rowTot;
    for (int i = 0; i < dstBinary.rows(); i++) { // iterate over rows
        rowTot = 0;
        for (int j = 0; j < dstBinary.cols(); j++) { // iterate over cols
            if (dstBinary.get(i, j)[0] > 128) {
                rowTot++;
            }
        }
        rowCount[i] = rowTot;
    }

    // find width by finding rising and dropping edges
    // rising edge  = largest positive difference
    // falling edge = largest negative difference
    int risePos = 0;
    int fallPos = 0;
    double riseVal = 0;
    double fallVal = 0;
    for (int i = 0; i < dstBinary.rows() - 1; i++) {
        if (rowCount[i + 1] - rowCount[i] > riseVal) {
            riseVal = rowCount[i + 1] - rowCount[i];
            risePos = i + 1;
        }
        if (rowCount[i + 1] - rowCount[i] < fallVal) {
            fallVal = rowCount[i + 1] - rowCount[i];
            fallPos = i;
        }
    }

    // cut out binary strip
    Point stripTopLeft = new Point(0, risePos);
    Point stripBottomRight = new Point(dstBinary.cols(), fallPos);

    org.opencv.core.Rect stripAreaRect = new org.opencv.core.Rect(stripTopLeft, stripBottomRight);
    Mat binaryStrip = dstBinary.submat(stripAreaRect);

    // also cut out colored strip
    Mat colorStrip = dstStrip.submat(stripAreaRect);

    // now right end of strip
    // method: first rising edge

    double[] colCount = new double[binaryStrip.cols()];
    int colTotal;
    for (int i = 0; i < binaryStrip.cols(); i++) { // iterate over cols
        colTotal = 0;
        for (int j = 0; j < binaryStrip.rows(); j++) { // iterate over rows
            if (binaryStrip.get(j, i)[0] > 128) {
                colTotal++;
            }
        }

        //Log.d("Caddisfly", String.valueOf(colTotal));
        colCount[i] = colTotal;
    }

    stripAreaRect = getStripRectangle(binaryStrip, colCount, brand.getStripLength(), ratioW);

    Mat resultStrip = colorStrip.submat(stripAreaRect).clone();

    // release Mat objects
    stripArea.release();
    sArea.release();
    binary.release();
    dstBinary.release();
    dstStrip.release();
    binaryStrip.release();
    colorStrip.release();

    return resultStrip;
}

---

From source file:org.akvo.caddisfly.sensor.colorimetry.strip.util.OpenCVUtil.java

License:Open Source License

private static Rect getStripRectangle(Mat binaryStrip, double[] colCount, double stripLength, double ratioW) {
    // threshold is that half of the rows in a column should be white
    int threshold = binaryStrip.rows() / 2;

    boolean found = false;

    // moving from the left, determine the first point that crosses the threshold
    double posLeft = 0;
    while (!found && posLeft < binaryStrip.cols()) {
        if (colCount[(int) posLeft] > threshold) {
            found = true;/*ww w .  j  a va2  s  .c  o m*/
        } else {
            posLeft++;
        }
    }
    //use known length of strip to determine right side
    double posRight = posLeft + (stripLength * ratioW);

    found = false;
    // moving from the right, determine the first point that crosses the threshold
    int posRightTemp = binaryStrip.cols() - 1;
    while (!found && posRightTemp > 0) {
        if (colCount[posRightTemp] > threshold) {
            found = true;
        } else {
            posRightTemp--;
        }
    }

    // if there is a big difference in the right position determined by the two above methods
    // then ignore the first method above and determine the left position by second method only
    if (Math.abs(posRightTemp - posRight) > 5) {
        // use known length of strip to determine left side
        posLeft = posRightTemp - (stripLength * ratioW);
        posRight = posRightTemp;
    }

    // cut out final strip
    Point stripTopLeft = new Point(posLeft, 0);
    Point stripBottomRight = new Point(posRight, binaryStrip.rows());

    return new Rect(stripTopLeft, stripBottomRight);
}

---

From source file:org.akvo.caddisfly.sensor.colorimetry.strip.util.ResultUtil.java

License:Open Source License

@NonNull
public static Mat concatenate(@NonNull Mat m1, @NonNull Mat m2) {
    int width = Math.max(m1.cols(), m2.cols());
    int height = m1.rows() + m2.rows();

    Mat result = new Mat(height, width, CvType.CV_8UC3,
            new Scalar(MAX_RGB_INT_VALUE, MAX_RGB_INT_VALUE, MAX_RGB_INT_VALUE));

    // rect works with x, y, width, height
    Rect roi1 = new Rect(0, 0, m1.cols(), m1.rows());
    Mat roiMat1 = result.submat(roi1);/*from  w  ww.  j av a  2  s  . com*/
    m1.copyTo(roiMat1);

    Rect roi2 = new Rect(0, m1.rows(), m2.cols(), m2.rows());
    Mat roiMat2 = result.submat(roi2);
    m2.copyTo(roiMat2);

    return result;
}

---

From source file:org.akvo.caddisfly.sensor.colorimetry.strip.util.ResultUtil.java

License:Open Source License

@NonNull
public static Mat concatenateHorizontal(@NonNull Mat m1, @NonNull Mat m2) {
    int width = m1.cols() + m2.cols() + HORIZONTAL_MARGIN;
    int height = Math.max(m1.rows(), m2.rows());

    Mat result = new Mat(height, width, CvType.CV_8UC3,
            new Scalar(MAX_RGB_INT_VALUE, MAX_RGB_INT_VALUE, MAX_RGB_INT_VALUE));

    // rect works with x, y, width, height
    Rect roi1 = new Rect(0, 0, m1.cols(), m1.rows());
    Mat roiMat1 = result.submat(roi1);/*  w w w  . j  a  va 2  s.  com*/
    m1.copyTo(roiMat1);

    Rect roi2 = new Rect(m1.cols() + HORIZONTAL_MARGIN, 0, m2.cols(), m2.rows());
    Mat roiMat2 = result.submat(roi2);
    m2.copyTo(roiMat2);

    return result;
}

---

From source file:org.firstinspires.ftc.rmrobotics.histoy.opmodes.feRMilab.experimental.AutoExperimental.java

private void DisplayImage(Mat img) {
    // Scale down x2
    Core.flip(img, img, -1);/*from   w  w w  . java 2s .  c o  m*/
    mImageMap = Bitmap.createBitmap(img.cols(), img.rows(), Bitmap.Config.ARGB_8888);
    Utils.matToBitmap(img, mImageMap);

    ((FtcRobotControllerActivity) hardwareMap.appContext).runOnUiThread(new Runnable() {
        @Override
        public void run() {
            mImageView.setImageBitmap(mImageMap);
        }
    });
}

---

From source file:org.firstinspires.ftc.teamcode.AutonomousVuforia.java

public int getBeaconConfig(Image img, VuforiaTrackable beacon, CameraCalibration camCal) {

    OpenGLMatrix pose = ((VuforiaTrackableDefaultListener) beacon.getListener()).getRawPose();
    telemetry.addData("Stuff", pose != null);
    telemetry.addData("Stuff", img != null);
    try {/*w w w  .  j a v  a  2  s . c  o  m*/
        telemetry.addData("Stuff", img.getPixels() != null);
    } catch (Exception e) {
        telemetry.addData("Stuff", e);
    }
    telemetry.update();

    if (pose != null && img != null && img.getPixels() != null) {
        Matrix34F rawPose = new Matrix34F();
        float[] poseData = Arrays.copyOfRange(pose.transposed().getData(), 0, 12);
        rawPose.setData(poseData);

        float[][] corners = new float[4][2];

        corners[0] = Tool.projectPoint(camCal, rawPose, new Vec3F(-127, 276, 0)).getData();
        corners[1] = Tool.projectPoint(camCal, rawPose, new Vec3F(127, 276, 0)).getData();
        corners[2] = Tool.projectPoint(camCal, rawPose, new Vec3F(127, 92, 0)).getData();
        corners[3] = Tool.projectPoint(camCal, rawPose, new Vec3F(-127, 92, 0)).getData();

        Bitmap bm = Bitmap.createBitmap(img.getWidth(), img.getHeight(), Bitmap.Config.RGB_565);
        bm.copyPixelsFromBuffer(img.getPixels());

        Mat crop = new Mat(bm.getHeight(), bm.getWidth(), CvType.CV_8UC3);
        Utils.bitmapToMat(bm, crop);

        float x = Math.min(Math.min(corners[1][0], corners[3][0]), Math.min(corners[0][0], corners[2][0]));
        float y = Math.min(Math.min(corners[1][1], corners[3][1]), Math.min(corners[0][1], corners[2][1]));
        float width = Math.max(Math.abs(corners[0][0] - corners[2][0]),
                Math.abs(corners[1][0] - corners[3][0]));
        float height = Math.max(Math.abs(corners[0][1] - corners[2][1]),
                Math.abs(corners[1][1] - corners[3][1]));

        x = Math.max(x, 0);
        y = Math.max(y, 0);
        width = (x + width > crop.cols()) ? crop.cols() - x : width;
        height = (y + height > crop.rows()) ? crop.rows() - y : height;

        Mat cropped = new Mat(crop, new Rect((int) x, (int) y, (int) width, (int) height));

        Imgproc.cvtColor(cropped, cropped, Imgproc.COLOR_RGB2HSV_FULL);

        Mat mask = new Mat();
        Core.inRange(cropped, blueLow, blueHigh, mask);
        Moments mmnts = Imgproc.moments(mask, true);

        if (mmnts.get_m00() > mask.total() * 0.8) {
            return BEACON_ALL_BLUE;
        } else if (mmnts.get_m00() < mask.total() * 0.8) {
            return BEACON_NO_BLUE;
        }

        if ((mmnts.get_m01() / mmnts.get_m00()) < cropped.rows() / 2) {

            return BEACON_RED_BLUE;
        } else {

            return BEACON_BLUERED;
        } // else

    }

    return BEACON_NOT_VISIBLE;
}

---

From source file:org.firstinspires.ftc.teamcode.libraries.VuforiaBallLib.java

protected static Scalar drawSquare(Mat src, int[] ballPoint, int ballDist) {
    //find average left and right ball square
    //find the average color for all the pixels in that square
    if (ballPoint[0] >= 0 && ballPoint[1] >= 0 && ballPoint[0] + ballDist < src.cols()
            && ballPoint[1] + ballDist < src.rows()) {
        double total[] = new double[3];
        for (int x = 0; x < ballDist; x++)
            for (int y = 0; y < ballDist; y++) {
                double[] pixel = src.get(y + ballPoint[1], x + ballPoint[0]);
                total[0] += pixel[0];/*from  w w  w .  j a v  a  2 s . co m*/
                total[1] += pixel[1];
                total[2] += pixel[2];
            }
        //make average color
        Scalar color = new Scalar(total[0] / (ballDist * ballDist), total[1] / (ballDist * ballDist),
                total[2] / (ballDist * ballDist));

        Imgproc.rectangle(src, new Point(ballPoint[0], ballPoint[1]),
                new Point(ballPoint[0] + ballDist, ballPoint[1] + ballDist), color, -1);

        return color;
    } else
        return null;
}

---

From source file:org.firstinspires.ftc.teamcode.opmodes.demo.VumarkHiJackVideo.java

private static Scalar drawSquare(Mat src, int[] ballPoint, int ballDist) {
    //find average left and right ball square
    //find the average color for all the pixels in that square
    if (ballPoint[0] >= 0 && ballPoint[1] >= 0 && ballPoint[0] + ballDist < src.cols()
            && ballPoint[1] + ballDist < src.rows()) {
        double total[] = new double[3];
        for (int x = 0; x < ballDist; x++)
            for (int y = 0; y < ballDist; y++) {
                double[] pixel = src.get(y + ballPoint[1], x + ballPoint[0]);
                total[0] += pixel[0];//from  ww  w .j av a2  s.c o m
                total[1] += pixel[1];
                total[2] += pixel[2];
            }

        //make average color
        Scalar color = new Scalar(total[0] / (ballDist * ballDist), total[1] / (ballDist * ballDist),
                total[2] / (ballDist * ballDist));

        Imgproc.rectangle(src, new Point(ballPoint[0], ballPoint[1]),
                new Point(ballPoint[0] + ballDist, ballPoint[1] + ballDist), color, -1);

        return color;
    } else
        return null;
}

---

From source file:org.firstinspires.ftc.teamcode.opmodes.demo.VumarkOpenCV.java

@Override
public Mat onCameraFrame(CameraBridgeViewBase.CvCameraViewFrame frame) {
    Mat currentFrame = frame.rgba();

    //if we haven't figured out how to scale the size, do that
    if (xOffset == 0 || yOffset == 0) {
        //find the offset to the sqaure of pixels vuforia looks at
        xOffset = (int) ((currentFrame.cols() - size[0]) / 2.0);
        yOffset = (int) ((currentFrame.rows() - size[1]) / 2.0);

        //add the offset to all points calculated
        for (Point point : imagePoints) {
            point.x += xOffset;/* w w  w. j  a  va 2 s  . c om*/
            point.y += yOffset;
        }
        leftBall[0] += xOffset;
        leftBall[1] += yOffset;
        rightBall[0] += xOffset;
        rightBall[1] += yOffset;
    }

    //operation: subsquare
    //take a square mat we are 100% sure will have a ball in it
    //sum it up and find the average color

    drawSquare(currentFrame, leftBall, leftDist);
    drawSquare(currentFrame, rightBall, rightDist);

    Scalar color = new Scalar(0, 255, 0);

    for (int i = 0; i < 2; i++)
        for (int o = 0; o < 4; o++)
            Imgproc.line(currentFrame, imagePoints[o == 0 ? 3 + i * 4 : i * 4 + o - 1], imagePoints[i * 4 + o],
                    color);

    //connect the rectangles
    for (int i = 0; i < 4; i++)
        Imgproc.line(currentFrame, imagePoints[i], imagePoints[i + 4], color);

    //flip it for display
    Core.flip(currentFrame, currentFrame, -1);

    return currentFrame;
}

---

From source file:org.firstinspires.ftc.teamcode.opmodes.demo.VumarkOpenCV.java

private static void drawSquare(Mat src, int[] ballPoint, int ballDist) {
    //find average left and right ball square
    //find the average color for all the pixels in that square
    if (ballPoint[0] >= 0 && ballPoint[1] >= 0 && ballPoint[0] + ballDist < src.cols()
            && ballPoint[1] + ballDist < src.rows()) {
        double total[] = new double[3];
        for (int x = 0; x < ballDist; x++)
            for (int y = 0; y < ballDist; y++) {
                double[] pixel = src.get(y + ballPoint[1], x + ballPoint[0]);
                total[0] += pixel[0];/*from w  w  w.ja va  2 s.  co m*/
                total[1] += pixel[1];
                total[2] += pixel[2];
            }

        //make average color
        Scalar color = new Scalar(total[0] / (ballDist * ballDist), total[1] / (ballDist * ballDist),
                total[2] / (ballDist * ballDist));

        Imgproc.rectangle(src, new Point(ballPoint[0], ballPoint[1]),
                new Point(ballPoint[0] + ballDist, ballPoint[1] + ballDist), color, -1);
    }
}

---

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