org.openpnp.util

Class OpenCvUtils

java.lang.Object

org.openpnp.util.OpenCvUtils

public class OpenCvUtils
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
OpenCvUtils()

Method Summary

Modifier and Type	Method and Description
static java.awt.image.BufferedImage	createFootprintTemplate(Camera camera, Footprint footprint, double rotation, boolean topView, java.awt.Color padsColor, java.awt.Color bodyColor, java.awt.Color backgroundColor, double marginFactor, int minimumMarginSize) Draws a template image of the given footprint.
static Mat	drawCircles(Mat mat, Mat circles)
static Mat	gaussianBlur(Mat mat, int kernel) Perform an in place gaussian blur on the given Mat with a kernel of size kernel x kernel.
static java.util.List<Location>	houghCircles(Camera camera, Length minDiameter, Length maxDiameter, Length minDistance) Finds circles of the given min and maxDiameter, no less than minDistance apart by capturing an image from the given Camera.
static Mat	houghCircles(Mat mat, double minDiameter, double maxDiameter, double minDistance)
static java.util.List<java.awt.Point>	matMaxima(Mat mat, double rangeMin, double rangeMax) Ported from the C++ version in FireSight by Karl Lew, which is licensed under the MIT license.
static void	saveDebugImage(java.lang.Class implementationClass, java.lang.String function, java.lang.String identifier, java.awt.image.BufferedImage img)
static void	saveDebugImage(java.lang.Class implementationClass, java.lang.String function, java.lang.String identifier, Mat mat)
static Mat	thresholdAdaptive(Mat mat, boolean invert)
static Mat	thresholdOtsu(Mat mat, boolean invert)
static java.awt.image.BufferedImage	toBufferedImage(Mat m)
static Mat	toGray(Mat mat) Convert the given Mat to grayscale.
static Mat	toMat(java.awt.image.BufferedImage img)
static Mat	toRGB(Mat mat) Convert the given Mat to RGB.
static Mat	toRGB(Mat image, FluentCv.ColorSpace colorSpace) Convert the given Mat to True Color RGB from the given ColorSpace.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

OpenCvUtils

public OpenCvUtils()

Method Detail

toBufferedImage

public static java.awt.image.BufferedImage toBufferedImage(Mat m)

toMat

public static Mat toMat(java.awt.image.BufferedImage img)

houghCircles

public static java.util.List<Location> houghCircles(Camera camera,
                                                    Length minDiameter,
                                                    Length maxDiameter,
                                                    Length minDistance)
                                             throws java.lang.Exception

Finds circles of the given min and maxDiameter, no less than minDistance apart by capturing an image from the given Camera. Results are returned as a List of Location where X and Y represent the center of the circle, Z is that of the Camera and rotation is the diameter of the circle found. Results are returned sorted by distance from the Camera Location in ascending order.

Parameters:

camera -

minDiameter -

maxDiameter -

minDistance -

Returns:

Throws:

java.lang.Exception

houghCircles

public static Mat houghCircles(Mat mat,
                               double minDiameter,
                               double maxDiameter,
                               double minDistance)

toGray

public static Mat toGray(Mat mat)

Convert the given Mat to grayscale. Conversion is done in place and if the Mat is already grayscale nothing is done.

Parameters:

mat -

Returns:

toRGB

public static Mat toRGB(Mat mat)

Convert the given Mat to RGB. Conversion is done in place and if the Mat is already RGB nothing is done.

Parameters:

mat -

Returns:

toRGB

public static Mat toRGB(Mat image,
                        FluentCv.ColorSpace colorSpace)
                 throws java.lang.Exception

Convert the given Mat to True Color RGB from the given ColorSpace. Conversion is done in place and if the Mat is already True Color nothing is done.

Parameters:

image -

colorSpace -

Returns:

Throws:

java.lang.Exception

gaussianBlur

public static Mat gaussianBlur(Mat mat,
                               int kernel)

Perform an in place gaussian blur on the given Mat with a kernel of size kernel x kernel.

Parameters:

mat -

kernel -

Returns:

drawCircles

public static Mat drawCircles(Mat mat,
                              Mat circles)

thresholdAdaptive

public static Mat thresholdAdaptive(Mat mat,
                                    boolean invert)

thresholdOtsu

public static Mat thresholdOtsu(Mat mat,
                                boolean invert)

saveDebugImage

public static void saveDebugImage(java.lang.Class implementationClass,
                                  java.lang.String function,
                                  java.lang.String identifier,
                                  java.awt.image.BufferedImage img)

saveDebugImage

public static void saveDebugImage(java.lang.Class implementationClass,
                                  java.lang.String function,
                                  java.lang.String identifier,
                                  Mat mat)

createFootprintTemplate

public static java.awt.image.BufferedImage createFootprintTemplate(Camera camera,
                                                                   Footprint footprint,
                                                                   double rotation,
                                                                   boolean topView,
                                                                   java.awt.Color padsColor,
                                                                   java.awt.Color bodyColor,
                                                                   java.awt.Color backgroundColor,
                                                                   double marginFactor,
                                                                   int minimumMarginSize)
                                                            throws java.lang.Exception

Draws a template image of the given footprint.

Parameters:

camera - The camera to get the pixel scale from.

footprint - Footprint to be drawn.

topView - Whether the body is drawn over the pads rather than vice versa.

padsColor - Color of the pads. Pads are not drawn if null.

bodyColor - Color of the body. Body is not drawn if null.

backgroundColor -

marginFactor - The margin around the Footprint, relative to its bounding rectangle.

minimumMarginSize -

Returns:

Throws:

java.lang.Exception

matMaxima

public static java.util.List<java.awt.Point> matMaxima(Mat mat,
                                                       double rangeMin,
                                                       double rangeMax)

Ported from the C++ version in FireSight by Karl Lew, which is licensed under the MIT license. https://github.com/firepick1/FireSight

Parameters:

mat -

rangeMin -

rangeMax -

Returns: