org.openpnp.vision

Class FluentCv

java.lang.Object

org.openpnp.vision.FluentCv

public class FluentCv
extends java.lang.Object

A fluent API for some of the most commonly used OpenCV primitives. Successive operations modify a running Mat. By specifying a tag on an operation the result of the operation will be stored and can be recalled back into the current Mat. Heavily influenced by FireSight by Karl Lew https://github.com/firepick1/FireSight In the spirit of FireSight, this code is licensed differently from the rest of OpenPnP. Please see the license header above. WARNING WARNING WARNING WARNING WARNING WARNING WARNING WARNING This API is still under heavy development and is likely to change significantly in the near future. TODO: Rethink operations that return or process data points versus images. Perhaps these should require a tag to work with and leave the image unchanged. There is a bit of a divergence right now between how things like contours and rotated rects are handled versus circles. Circles already have a Mat representation that we can kind of coerce along the pipeline where contours do not (List). We need to pick one of the methods and stick with it, doing translation where needed. Keeping things in Mat does give the benefit of not moving too much memory between OpenCv and Java.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	FluentCv.ColorCode

Constructor Summary

Constructors

Constructor and Description
FluentCv()

Method Summary

Modifier and Type	Method and Description
FluentCv	absDiff(java.lang.String source1, java.lang.String... tag) Calculate the absolute difference between the previously stored Mat called source1 and the current Mat.
FluentCv	blurGaussian(int kernelSize, java.lang.String... tag)
FluentCv	blurMedian(int kernelSize, java.lang.String... tag)
static double	calculatePsnr(Mat I1, Mat I2)
static double	calculateSharpnessGRAS(Mat image) From FireSight: https://github.com/firepick1/FireSight/wiki/op-Sharpness
static Scalar	colorToScalar(java.awt.Color color)
static java.awt.image.BufferedImage	convertBufferedImage(java.awt.image.BufferedImage src, int type)
FluentCv	convertCirclesToLocations(java.util.List<Location> locations)
FluentCv	convertCirclesToPoints(java.util.List<Point> points)
FluentCv	convertColor(FluentCv.ColorCode code, java.lang.String... tag)
FluentCv	convertColor(int code, java.lang.String... tag)
FluentCv	drawCircles(java.lang.String baseTag, java.awt.Color color, java.lang.String... tag) Draw circles from the current Mat contained onto the Mat specified in baseTag using the specified color, optionally storing the results in tag.
FluentCv	drawCircles(java.lang.String baseTag, java.lang.String... tag) Draw circles from the current Mat contained onto the Mat specified in baseTag using the color red, optionally storing the results in tag.
FluentCv	drawContours(java.util.List<MatOfPoint> contours, java.awt.Color color, int thickness, java.lang.String... tag)
FluentCv	drawRects(java.util.List<RotatedRect> rects, java.awt.Color color, int thickness, java.lang.String... tag)
static void	drawRotatedRect(Mat mat, RotatedRect rect, java.awt.Color color, int thickness)
FluentCv	filterCirclesByDistance(double originX, double originY, double minDistance, double maxDistance, java.lang.String... tag)
FluentCv	filterCirclesByDistance(Length minDistance, Length maxDistance, java.lang.String... tag)
FluentCv	filterCirclesToLine(double maxDistance, java.lang.String... tag) Filter circles as returned from e.g.
FluentCv	filterCirclesToLine(Length maxDistance, java.lang.String... tag)
FluentCv	filterContoursByArea(java.util.List<MatOfPoint> contours, double areaMin, double areaMax)
FluentCv	filterRectsByArea(java.util.List<RotatedRect> rects, double areaMin, double areaMax)
FluentCv	findCirclesHough(int minDiameter, int maxDiameter, int minDistance, java.lang.String... tag)
FluentCv	findCirclesHough(Length minDiameter, Length maxDiameter, Length minDistance, java.lang.String... tag)
FluentCv	findContours(java.util.List<MatOfPoint> contours, java.lang.String... tag)
FluentCv	findEdgesCanny(double threshold1, double threshold2, java.lang.String... tag)
FluentCv	findEdgesRobertsCross(java.lang.String... tag)
FluentCv	floodFill(Point seedPoint, java.awt.Color color, java.lang.String... tag)
FluentCv	getContourMaxRects(java.util.List<MatOfPoint> contours, java.util.List<RotatedRect> rect)
FluentCv	getContourRects(java.util.List<MatOfPoint> contours, java.util.List<RotatedRect> rects)
java.util.List<java.lang.String>	getStoredTags()
static java.awt.Color	indexedColor(int i) Return a Color from an imaginary list of colors starting at index 0 and extending on to Integer.MAX_VALUE.
static void	infiniteLine(Mat img, Point p1, Point p2, java.awt.Color color) Draw the infinite line defined by the two points to the extents of the image instead of just between the two points.
Mat	mat()
FluentCv	mat(Mat mat, java.lang.String... tag)
static double	pointToLineDistance(Point A, Point B, Point P)
static double	pointToLineSegmentDistance(Point A, Point B, Point P)
FluentCv	read(java.io.File file, java.lang.String... tag)
FluentCv	recall(java.lang.String tag)
FluentCv	saveDebugImage(java.lang.Class implementationClass, java.lang.String function, java.lang.String identifier)
FluentCv	setCamera(Camera camera) Set a Camera that can be used for calculations that require a Camera Location or units per pixel.
FluentCv	settleAndCapture(java.lang.String... tag)
FluentCv	store(java.lang.String tag)
FluentCv	threshold(double threshold, boolean invert, java.lang.String... tag)
FluentCv	threshold(double threshold, java.lang.String... tag) Apply a threshold to the Mat.
FluentCv	thresholdAdaptive(boolean invert, java.lang.String... tag)
FluentCv	thresholdAdaptive(java.lang.String... tag)
java.awt.image.BufferedImage	toBufferedImage()
FluentCv	toColor(java.lang.String... tag)
FluentCv	toGray(java.lang.String... tag)
FluentCv	toMat(java.awt.image.BufferedImage img, java.lang.String... tag)
FluentCv	write(java.io.File file)

Methods inherited from class java.lang.Object

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

Constructor Detail

FluentCv

public FluentCv()

Method Detail

toMat

public FluentCv toMat(java.awt.image.BufferedImage img,
                      java.lang.String... tag)

toGray

public FluentCv toGray(java.lang.String... tag)

toColor

public FluentCv toColor(java.lang.String... tag)

convertColor

public FluentCv convertColor(FluentCv.ColorCode code,
                             java.lang.String... tag)

convertColor

public FluentCv convertColor(int code,
                             java.lang.String... tag)

threshold

public FluentCv threshold(double threshold,
                          java.lang.String... tag)

Apply a threshold to the Mat. If the threshold value is 0 then the Otsu flag will be added and the threshold value ignored. Otsu performs automatic determination of the threshold value by sampling the image.

Parameters:

threshold -

tag -

Returns:

threshold

public FluentCv threshold(double threshold,
                          boolean invert,
                          java.lang.String... tag)

thresholdAdaptive

public FluentCv thresholdAdaptive(java.lang.String... tag)

thresholdAdaptive

public FluentCv thresholdAdaptive(boolean invert,
                                  java.lang.String... tag)

blurGaussian

public FluentCv blurGaussian(int kernelSize,
                             java.lang.String... tag)

blurMedian

public FluentCv blurMedian(int kernelSize,
                           java.lang.String... tag)

findCirclesHough

public FluentCv findCirclesHough(Length minDiameter,
                                 Length maxDiameter,
                                 Length minDistance,
                                 java.lang.String... tag)

findCirclesHough

public FluentCv findCirclesHough(int minDiameter,
                                 int maxDiameter,
                                 int minDistance,
                                 java.lang.String... tag)

convertCirclesToPoints

public FluentCv convertCirclesToPoints(java.util.List<Point> points)

convertCirclesToLocations

public FluentCv convertCirclesToLocations(java.util.List<Location> locations)

drawCircles

public FluentCv drawCircles(java.lang.String baseTag,
                            java.awt.Color color,
                            java.lang.String... tag)

Draw circles from the current Mat contained onto the Mat specified in baseTag using the specified color, optionally storing the results in tag. The current Mat is replaced with the Mat from baseTag with the circles drawn on top of it.

Parameters:

baseTag -

color -

tag -

Returns:

drawCircles

public FluentCv drawCircles(java.lang.String baseTag,
                            java.lang.String... tag)

Draw circles from the current Mat contained onto the Mat specified in baseTag using the color red, optionally storing the results in tag. The current Mat is replaced with the Mat from baseTag with the circles drawn on top of it.

Parameters:

baseTag -

tag -

Returns:

recall

public FluentCv recall(java.lang.String tag)

store

public FluentCv store(java.lang.String tag)

getStoredTags

public java.util.List<java.lang.String> getStoredTags()

write

public FluentCv write(java.io.File file)
               throws java.lang.Exception

Throws:

java.lang.Exception

saveDebugImage

public FluentCv saveDebugImage(java.lang.Class implementationClass,
                               java.lang.String function,
                               java.lang.String identifier)

read

public FluentCv read(java.io.File file,
                     java.lang.String... tag)
              throws java.lang.Exception

Throws:

java.lang.Exception

toBufferedImage

public java.awt.image.BufferedImage toBufferedImage()

settleAndCapture

public FluentCv settleAndCapture(java.lang.String... tag)

setCamera

public FluentCv setCamera(Camera camera)

Set a Camera that can be used for calculations that require a Camera Location or units per pixel.

Parameters:

camera -

Returns:

filterCirclesByDistance

public FluentCv filterCirclesByDistance(Length minDistance,
                                        Length maxDistance,
                                        java.lang.String... tag)

filterCirclesByDistance

public FluentCv filterCirclesByDistance(double originX,
                                        double originY,
                                        double minDistance,
                                        double maxDistance,
                                        java.lang.String... tag)

filterCirclesToLine

public FluentCv filterCirclesToLine(Length maxDistance,
                                    java.lang.String... tag)

filterCirclesToLine

public FluentCv filterCirclesToLine(double maxDistance,
                                    java.lang.String... tag)

Filter circles as returned from e.g. houghCircles to only those that are within maxDistance of the best fitting line.

Parameters:

tag -

Returns:

mat

public Mat mat()

mat

public FluentCv mat(Mat mat,
                    java.lang.String... tag)

absDiff

public FluentCv absDiff(java.lang.String source1,
                        java.lang.String... tag)

Calculate the absolute difference between the previously stored Mat called source1 and the current Mat.

Parameters:

source1 -

tag -

findEdgesCanny

public FluentCv findEdgesCanny(double threshold1,
                               double threshold2,
                               java.lang.String... tag)

findEdgesRobertsCross

public FluentCv findEdgesRobertsCross(java.lang.String... tag)

findContours

public FluentCv findContours(java.util.List<MatOfPoint> contours,
                             java.lang.String... tag)

drawContours

public FluentCv drawContours(java.util.List<MatOfPoint> contours,
                             java.awt.Color color,
                             int thickness,
                             java.lang.String... tag)

filterContoursByArea

public FluentCv filterContoursByArea(java.util.List<MatOfPoint> contours,
                                     double areaMin,
                                     double areaMax)

drawRects

public FluentCv drawRects(java.util.List<RotatedRect> rects,
                          java.awt.Color color,
                          int thickness,
                          java.lang.String... tag)

getContourRects

public FluentCv getContourRects(java.util.List<MatOfPoint> contours,
                                java.util.List<RotatedRect> rects)

getContourMaxRects

public FluentCv getContourMaxRects(java.util.List<MatOfPoint> contours,
                                   java.util.List<RotatedRect> rect)

filterRectsByArea

public FluentCv filterRectsByArea(java.util.List<RotatedRect> rects,
                                  double areaMin,
                                  double areaMax)

floodFill

public FluentCv floodFill(Point seedPoint,
                          java.awt.Color color,
                          java.lang.String... tag)

colorToScalar

public static Scalar colorToScalar(java.awt.Color color)

indexedColor

public static java.awt.Color indexedColor(int i)

Return a Color from an imaginary list of colors starting at index 0 and extending on to Integer.MAX_VALUE. Can be used to pick a different color for each object in a list. Colors are not guaranteed to be unique but successive colors will be significantly different from each other.

Parameters:

i -

Returns:

convertBufferedImage

public static java.awt.image.BufferedImage convertBufferedImage(java.awt.image.BufferedImage src,
                                                                int type)

pointToLineDistance

public static double pointToLineDistance(Point A,
                                         Point B,
                                         Point P)

pointToLineSegmentDistance

public static double pointToLineSegmentDistance(Point A,
                                                Point B,
                                                Point P)

infiniteLine

public static void infiniteLine(Mat img,
                                Point p1,
                                Point p2,
                                java.awt.Color color)

Draw the infinite line defined by the two points to the extents of the image instead of just between the two points. From: http://stackoverflow.com/questions/13160722/how-to-draw-line-not-line-segment-opencv-2-4-2

Parameters:

img -

p1 -

p2 -

color -

drawRotatedRect

public static void drawRotatedRect(Mat mat,
                                   RotatedRect rect,
                                   java.awt.Color color,
                                   int thickness)

calculatePsnr

public static double calculatePsnr(Mat I1,
                                   Mat I2)

calculateSharpnessGRAS

public static double calculateSharpnessGRAS(Mat image)

From FireSight: https://github.com/firepick1/FireSight/wiki/op-Sharpness

Parameters:

image -

Returns: