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.lasarobotics.vision.detection.objects.Detectable.java

License:Open Source License

/**
 * Gets the average color of the object//from   w  w  w.  j a va2 s . c  o  m
 *
 * @param img      The image matrix, of any color size
 * @param imgSpace The image's color space
 * @return The average color of the region
 */
public Color averageColor(Mat img, ColorSpace imgSpace) {
    //Coerce values to stay within screen dimensions
    double leftX = MathUtil.coerce(0, img.cols() - 1, left());
    double rightX = MathUtil.coerce(0, img.cols() - 1, right());

    double topY = MathUtil.coerce(0, img.rows() - 1, top());
    double bottomY = MathUtil.coerce(0, img.rows() - 1, bottom());

    //Input points into array for calculation
    //TODO rectangular submatrix-based calculation isn't perfectly accurate when you have ellipses or weird shapes
    Mat subMat = img.submat((int) topY, (int) bottomY, (int) leftX, (int) rightX);

    //Calculate average and return new color instance
    return Color.create(Core.mean(subMat), imgSpace);
}

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From source file:org.lasarobotics.vision.util.color.Color.java

License:Open Source License

/**
 * Rapidly convert an RGBA matrix to a Grayscale matrix, bypassing
 * most of the color conversion overhead.
 *
 * @param rgba RGBA matrix// w  w  w  .j ava2 s .c om
 * @return Grayscale matrix
 */
public static Mat rapidConvertRGBAToGRAY(Mat rgba) {
    Mat gray = new Mat(rgba.rows(), rgba.cols(), CvType.CV_8UC1);
    Imgproc.cvtColor(rgba, gray, Imgproc.COLOR_RGBA2GRAY);
    return gray;
}

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From source file:org.openpnp.machine.reference.vision.OpenCvVisionProvider.java

License:Open Source License

/**
 * Attempt to find matches of the given template within the current camera
 * frame. Matches are returned as TemplateMatch objects which contain
 * a Location in Camera coordinates. The results are sorted best score
 * to worst score.// w w  w. j  ava  2s .  c o  m
 * @param template
 * @return
 */
public List<TemplateMatch> getTemplateMatches(BufferedImage template) {
    // TODO: ROI
    BufferedImage image = camera.capture();

    // Convert the camera image and template image to the same type. This
    // is required by the cvMatchTemplate call.
    template = OpenCvUtils.convertBufferedImage(template, BufferedImage.TYPE_BYTE_GRAY);
    image = OpenCvUtils.convertBufferedImage(image, BufferedImage.TYPE_BYTE_GRAY);

    Mat templateMat = OpenCvUtils.toMat(template);
    Mat imageMat = OpenCvUtils.toMat(image);
    Mat resultMat = new Mat();

    Imgproc.matchTemplate(imageMat, templateMat, resultMat, Imgproc.TM_CCOEFF_NORMED);

    Mat debugMat = null;
    if (logger.isDebugEnabled()) {
        debugMat = imageMat.clone();
    }

    MinMaxLocResult mmr = Core.minMaxLoc(resultMat);
    double maxVal = mmr.maxVal;

    // TODO: Externalize?
    double threshold = 0.7f;
    double corr = 0.85f;

    double rangeMin = Math.max(threshold, corr * maxVal);
    double rangeMax = maxVal;

    List<TemplateMatch> matches = new ArrayList<TemplateMatch>();
    for (Point point : matMaxima(resultMat, rangeMin, rangeMax)) {
        TemplateMatch match = new TemplateMatch();
        int x = point.x;
        int y = point.y;
        match.score = resultMat.get(y, x)[0] / maxVal;

        if (logger.isDebugEnabled()) {
            Core.rectangle(debugMat, new org.opencv.core.Point(x, y),
                    new org.opencv.core.Point(x + templateMat.cols(), y + templateMat.rows()), new Scalar(255));
            Core.putText(debugMat, "" + match.score,
                    new org.opencv.core.Point(x + templateMat.cols(), y + templateMat.rows()),
                    Core.FONT_HERSHEY_PLAIN, 1.0, new Scalar(255));
        }

        Location offsets = getPixelCenterOffsets(x + (templateMat.cols() / 2), y + (templateMat.rows() / 2));
        match.location = camera.getLocation().subtract(offsets);
        matches.add(match);
    }

    Collections.sort(matches, new Comparator<TemplateMatch>() {
        @Override
        public int compare(TemplateMatch o1, TemplateMatch o2) {
            return ((Double) o2.score).compareTo(o1.score);
        }
    });

    saveDebugImage("template", templateMat);
    saveDebugImage("camera", imageMat);
    saveDebugImage("result", resultMat);
    saveDebugImage("debug", debugMat);

    return matches;
}

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From source file:org.openpnp.machine.reference.vision.OpenCvVisionProvider.java

License:Open Source License

@Override
public Point[] locateTemplateMatches(int roiX, int roiY, int roiWidth, int roiHeight, int coiX, int coiY,
        BufferedImage templateImage_) throws Exception {
    BufferedImage cameraImage_ = camera.capture();

    // Convert the camera image and template image to the same type. This
    // is required by the cvMatchTemplate call.
    templateImage_ = OpenCvUtils.convertBufferedImage(templateImage_, BufferedImage.TYPE_INT_ARGB);
    cameraImage_ = OpenCvUtils.convertBufferedImage(cameraImage_, BufferedImage.TYPE_INT_ARGB);

    Mat templateImage = OpenCvUtils.toMat(templateImage_);
    Mat cameraImage = OpenCvUtils.toMat(cameraImage_);
    Mat roiImage = new Mat(cameraImage, new Rect(roiX, roiY, roiWidth, roiHeight));

    // http://stackoverflow.com/questions/17001083/opencv-template-matching-example-in-android
    Mat resultImage = new Mat(roiImage.cols() - templateImage.cols() + 1,
            roiImage.rows() - templateImage.rows() + 1, CvType.CV_32FC1);
    Imgproc.matchTemplate(roiImage, templateImage, resultImage, Imgproc.TM_CCOEFF);

    MinMaxLocResult mmr = Core.minMaxLoc(resultImage);

    org.opencv.core.Point matchLoc = mmr.maxLoc;
    double matchValue = mmr.maxVal;

    // TODO: Figure out certainty and how to filter on it.

    logger.debug(/*from w ww  . j a  va 2 s. c o  m*/
            String.format("locateTemplateMatches certainty %f at %f, %f", matchValue, matchLoc.x, matchLoc.y));
    locateTemplateMatchesDebug(roiImage, templateImage, matchLoc);

    return new Point[] { new Point(((int) matchLoc.x) + roiX, ((int) matchLoc.y) + roiY) };
}

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From source file:org.openpnp.machine.reference.vision.OpenCvVisionProvider.java

License:Open Source License

private void locateTemplateMatchesDebug(Mat roiImage, Mat templateImage, org.opencv.core.Point matchLoc) {
    if (logger.isDebugEnabled()) {
        try {//from ww w .j  a  v  a2 s.c om
            Core.rectangle(roiImage, matchLoc, new org.opencv.core.Point(matchLoc.x + templateImage.cols(),
                    matchLoc.y + templateImage.rows()), new Scalar(0, 255, 0));

            BufferedImage debugImage = OpenCvUtils.toBufferedImage(roiImage);
            File file = Configuration.get().createResourceFile(OpenCvVisionProvider.class, "debug_", ".png");
            ImageIO.write(debugImage, "PNG", file);
            logger.debug("Debug image filename {}", file);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
}

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From source file:org.openpnp.machine.reference.vision.OpenCvVisionProvider.java

License:Open Source License

static List<Point> matMaxima(Mat mat, double rangeMin, double rangeMax) {
    List<Point> locations = new ArrayList<Point>();

    int rEnd = mat.rows() - 1;
    int cEnd = mat.cols() - 1;

    // CHECK EACH ROW MAXIMA FOR LOCAL 2D MAXIMA
    for (int r = 0; r <= rEnd; r++) {
        MinMaxState state = MinMaxState.BEFORE_INFLECTION;
        double curVal = mat.get(r, 0)[0];
        for (int c = 1; c <= cEnd; c++) {
            double val = mat.get(r, c)[0];

            if (val == curVal) {
                continue;
            } else if (curVal < val) {
                if (state == MinMaxState.BEFORE_INFLECTION) {
                    // n/a
                } else {
                    state = MinMaxState.BEFORE_INFLECTION;
                }//from  www.  j  a  v  a  2 s .c om
            } else { // curVal > val
                if (state == MinMaxState.BEFORE_INFLECTION) {
                    if (rangeMin <= curVal && curVal <= rangeMax) { // ROW
                                                                    // MAXIMA
                        if (0 < r && (mat.get(r - 1, c - 1)[0] >= curVal || mat.get(r - 1, c)[0] >= curVal)) {
                            // cout << "reject:r-1 " << r << "," << c-1 <<
                            // endl;
                            // - x x
                            // - - -
                            // - - -
                        } else if (r < rEnd
                                && (mat.get(r + 1, c - 1)[0] > curVal || mat.get(r + 1, c)[0] > curVal)) {
                            // cout << "reject:r+1 " << r << "," << c-1 <<
                            // endl;
                            // - - -
                            // - - -
                            // - x x
                        } else if (1 < c
                                && (0 < r && mat.get(r - 1, c - 2)[0] >= curVal || mat.get(r, c - 2)[0] > curVal
                                        || r < rEnd && mat.get(r + 1, c - 2)[0] > curVal)) {
                            // cout << "reject:c-2 " << r << "," << c-1 <<
                            // endl;
                            // x - -
                            // x - -
                            // x - -
                        } else {
                            locations.add(new Point(c - 1, r));
                        }
                    }
                    state = MinMaxState.AFTER_INFLECTION;
                } else {
                    // n/a
                }
            }

            curVal = val;
        }

        // PROCESS END OF ROW
        if (state == MinMaxState.BEFORE_INFLECTION) {
            if (rangeMin <= curVal && curVal <= rangeMax) { // ROW MAXIMA
                if (0 < r && (mat.get(r - 1, cEnd - 1)[0] >= curVal || mat.get(r - 1, cEnd)[0] >= curVal)) {
                    // cout << "rejectEnd:r-1 " << r << "," << cEnd-1 <<
                    // endl;
                    // - x x
                    // - - -
                    // - - -
                } else if (r < rEnd
                        && (mat.get(r + 1, cEnd - 1)[0] > curVal || mat.get(r + 1, cEnd)[0] > curVal)) {
                    // cout << "rejectEnd:r+1 " << r << "," << cEnd-1 <<
                    // endl;
                    // - - -
                    // - - -
                    // - x x
                } else if (1 < r && mat.get(r - 1, cEnd - 2)[0] >= curVal || mat.get(r, cEnd - 2)[0] > curVal
                        || r < rEnd && mat.get(r + 1, cEnd - 2)[0] > curVal) {
                    // cout << "rejectEnd:cEnd-2 " << r << "," << cEnd-1 <<
                    // endl;
                    // x - -
                    // x - -
                    // x - -
                } else {
                    locations.add(new Point(cEnd, r));
                }
            }
        }
    }

    return locations;
}

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From source file:org.openpnp.vision.FluentCv.java

License:Open Source License

/**
 * Draw the infinite line defined by the two points to the extents of the image instead of just
 * between the two points. From://from   w w w .  java2 s .  com
 * http://stackoverflow.com/questions/13160722/how-to-draw-line-not-line-segment-opencv-2-4-2
 * 
 * @param img
 * @param p1
 * @param p2
 * @param color
 */
public static void infiniteLine(Mat img, Point p1, Point p2, Color color) {
    Point p = new Point(), q = new Point();
    // Check if the line is a vertical line because vertical lines don't
    // have slope
    if (p1.x != p2.x) {
        p.x = 0;
        q.x = img.cols();
        // Slope equation (y1 - y2) / (x1 - x2)
        float m = (float) ((p1.y - p2.y) / (p1.x - p2.x));
        // Line equation: y = mx + b
        float b = (float) (p1.y - (m * p1.x));
        p.y = m * p.x + b;
        q.y = m * q.x + b;
    } else {
        p.x = q.x = p2.x;
        p.y = 0;
        q.y = img.rows();
    }
    Core.line(img, p, q, colorToScalar(color));
}

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From source file:org.openpnp.vision.FluentCv.java

License:Open Source License

/**
 * From FireSight: https://github.com/firepick1/FireSight/wiki/op-Sharpness
 * //ww  w.  ja va  2 s  . c  o m
 * @param image
 * @return
 */
public static double calculateSharpnessGRAS(Mat image) {
    int sum = 0;
    Mat matGray = new Mat();

    if (image.channels() == 1) {
        matGray = image;
    } else {
        Imgproc.cvtColor(image, matGray, Imgproc.COLOR_BGR2GRAY);
    }

    byte[] b1 = new byte[1];
    byte[] b2 = new byte[1];
    for (int r = 0; r < matGray.rows(); r++) {
        for (int c = 0; c < matGray.cols() - 1; c++) {
            matGray.get(r, c, b1);
            matGray.get(r, c + 1, b2);
            int df = (int) b1[0] - (int) b2[0];
            sum += df * df;
        }
    }

    return ((double) sum / matGray.rows() / (matGray.cols() - 1));
}

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From source file:org.pattern.utils.MatUtils.java

/**
 * Compares if two image matrices contains similar data.
 * //from ww  w . j  a  v  a 2  s  .c  om
 * @param mat1
 * @param mat2
 * @return 
 */
public static boolean similar(Mat mat1, Mat mat2) {

    if (mat1.cols() != mat2.cols() || mat1.rows() != mat2.rows()) {
        return false;
    }

    Mat mat = new Mat();
    Core.compare(mat1, mat2, mat, Core.CMP_EQ);
    return Core.countNonZero(mat) != 0;
}

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From source file:org.sikuli.script.Finder.java

License:MIT License

private static void printMatI(Mat mat) {
    int[] data = new int[mat.channels()];
    for (int r = 0; r < mat.rows(); r++) {
        for (int c = 0; c < mat.cols(); c++) {
            mat.get(r, c, data);/*ww w.j av a2 s  . c  o m*/
            log(lvl, "(%d, %d) %s", r, c, Arrays.toString(data));
        }
    }
}

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