Java tutorial
/* * To change this license header, choose License Headers in Project Properties. * To change this template file, choose Tools | Templates * and open the template in the editor. */ package servershootingstar; import java.awt.FlowLayout; import java.awt.Image; import java.awt.image.BufferedImage; import java.awt.image.DataBufferByte; import java.io.FileNotFoundException; import java.util.Random; import java.util.Scanner; import javax.imageio.ImageIO; import javax.swing.ImageIcon; import javax.swing.JFrame; import javax.swing.JLabel; import javax.swing.WindowConstants; import org.opencv.core.Core; import org.opencv.core.Mat; import org.opencv.core.MatOfByte; import org.opencv.core.Point; import org.opencv.core.Scalar; import org.opencv.core.Size; import org.opencv.imgcodecs.Imgcodecs; import org.opencv.imgproc.Imgproc; import org.opencv.videoio.VideoCapture; /** * * @author Goran */ public class BallDetector { static JFrame guiFrame; static JLabel guiLabel; static Image image; static ImageIcon guiImageIcon; static double cos = 0.0; public static BufferedImage Mat2BufferedImage(Mat m) { // source: http://answers.opencv.org/question/10344/opencv-java-load-image-to-gui/ // The output can be assigned either to a BufferedImage or to an Image int type = BufferedImage.TYPE_BYTE_GRAY; if (m.channels() > 1) { type = BufferedImage.TYPE_3BYTE_BGR; } int bufferSize = m.channels() * m.cols() * m.rows(); byte[] b = new byte[bufferSize]; m.get(0, 0, b); // get all the pixels BufferedImage image = new BufferedImage(m.cols(), m.rows(), type); final byte[] targetPixels = ((DataBufferByte) image.getRaster().getDataBuffer()).getData(); System.arraycopy(b, 0, targetPixels, 0, b.length); return image; } public static void initSwing(Mat mat) { guiFrame = new JFrame("window"); guiFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE); // image size is 640x480 guiFrame.setSize(mat.width() + 20, mat.height() + 40); guiFrame.setLayout(new FlowLayout()); guiLabel = new JLabel(); guiFrame.add(guiLabel); guiFrame.setVisible(true); updateSwing(mat); } public static void updateSwing(Mat mat) { image = Mat2BufferedImage(mat); guiImageIcon = new ImageIcon(image); guiLabel.setIcon(guiImageIcon); guiLabel.repaint(); } public static String getAngleFromRobot(int input) { System.loadLibrary(Core.NATIVE_LIBRARY_NAME); System.out.println("before"); int point; try { Mat frame = new Mat(); System.out.println("AAAAAA"); Mat originalFrame = new Mat(); System.out.println("BBBBBB"); VideoCapture videoCapture = new VideoCapture(0); System.out.println("CCCCCCCC"); videoCapture.read(originalFrame); // System.out.println("original" + originalFrame.dump()); // initSwing(originalFrame); int workaround = 20; while (workaround > 0) { System.out.println("workaround " + workaround); videoCapture.read(originalFrame); // System.out.println(originalFrame.dump() + originalFrame.dump().length()); workaround--; } // Imgcodecs.imwrite("C:\\Users\\Goran\\Desktop\\Goran.jpg", originalFrame); Mat cropped = originalFrame.submat(originalFrame.rows() / 4, originalFrame.rows() / 4 * 3, 0, originalFrame.cols()); initSwing(cropped); Imgproc.cvtColor(cropped, frame, Imgproc.COLOR_BGR2HSV); // insert lower and upper bounds for colors Scalar greenLowerB = new Scalar(20, 55, 55); Scalar greenUpperB = new Scalar(40, 255, 255); Scalar redLowerB = new Scalar(160, 100, 35); Scalar red1LowerB = new Scalar(0, 100, 35); Scalar redUpperB = new Scalar(180, 255, 255); Scalar red1UpperB = new Scalar(20, 255, 255); Scalar blueLowerB = new Scalar(100, 100, 35); Scalar blueUpperB = new Scalar(120, 255, 155); Mat mask = new Mat(); if (input == 1) { Mat otherMask = new Mat(); Core.inRange(frame, redLowerB, redUpperB, mask); Core.inRange(frame, red1LowerB, red1UpperB, otherMask); Core.bitwise_or(mask, otherMask, mask); } else if (input == 2) { Core.inRange(frame, greenLowerB, greenUpperB, mask); } else { Core.inRange(frame, blueLowerB, blueUpperB, mask); } Imgproc.erode(mask, mask, Imgproc.getStructuringElement(Imgproc.CV_SHAPE_ELLIPSE, new Size(5, 5))); Imgproc.erode(mask, mask, Imgproc.getStructuringElement(Imgproc.CV_SHAPE_ELLIPSE, new Size(5, 5))); Imgproc.erode(mask, mask, Imgproc.getStructuringElement(Imgproc.CV_SHAPE_ELLIPSE, new Size(5, 5))); Imgproc.erode(mask, mask, Imgproc.getStructuringElement(Imgproc.CV_SHAPE_ELLIPSE, new Size(5, 5))); int minX = Integer.MAX_VALUE, maxX = Integer.MIN_VALUE, minY = Integer.MAX_VALUE, maxY = Integer.MIN_VALUE; for (int i = 0; i < mask.rows(); ++i) { for (int j = 0; j < mask.cols(); ++j) { double value = mask.get(i, j)[0]; //System.out.println(value); if (value > 1) { minX = Math.min(minX, i); maxX = Math.max(maxX, i); minY = Math.min(minY, j); maxY = Math.max(maxY, j); } } } Imgproc.circle(mask, new Point((maxY + minY) / 2, (minX + maxX) / 2), 3, new Scalar(0, 0, 0)); initSwing(mask); point = (minY + maxY) / 2; point = point - 320; cos = point / 320.0; System.out.println("OK"); } catch (Exception ex) { point = (new Random()).nextInt(640); cos = -1; System.out.println("error imase, davam random brojka: " + point); ex.printStackTrace(); } // System.out.println(); // System.out.println("tockata u granica od [-320, 320]"); // System.out.println(point); // System.out.println("cosinus vrednost"); // System.out.println(cos); // System.out.println(); System.out.println("cos = " + cos); if (cos == -1) { return "-1"; } int res = (int) (2 * Math.toDegrees(Math.acos(cos)) / 3); System.out.println("Res: " + res); return String.valueOf(res); } }