GripPipeline.java

package gripcode1;

import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import java.util.HashMap;

import org.opencv.core.*;
import org.opencv.core.Core.*;
import org.opencv.features2d.FeatureDetector;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.*;
import org.opencv.objdetect.*;

/**
* GripPipeline class.
*
* <p>An OpenCV pipeline generated by GRIP.
*
* @author GRIP
*/
public class GripPipeline {

	//Outputs
	private Mat resizeImageOutput = new Mat();
	private Mat hsvThresholdOutput = new Mat();
	private Mat cvErodeOutput = new Mat();
	private ArrayList<MatOfPoint> findContoursOutput = new ArrayList<MatOfPoint>();

	static {
		System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
	}

	/**
	 * This is the primary method that runs the entire pipeline and updates the outputs.
	 */
	public void process(Mat source0) {
		// Step Resize_Image0:
		Mat resizeImageInput = source0;
		double resizeImageWidth = 640;
		double resizeImageHeight = 480;
		int resizeImageInterpolation = Imgproc.INTER_CUBIC;
		resizeImage(resizeImageInput, resizeImageWidth, resizeImageHeight, resizeImageInterpolation, resizeImageOutput);

		// Step HSV_Threshold0:
		Mat hsvThresholdInput = resizeImageOutput;
		double[] hsvThresholdHue = {84.17266187050359, 91.37521222410864};
		double[] hsvThresholdSaturation = {0.0, 255.0};
		double[] hsvThresholdValue = {75.67446043165468, 140.27164685908318};
		hsvThreshold(hsvThresholdInput, hsvThresholdHue, hsvThresholdSaturation, hsvThresholdValue, hsvThresholdOutput);

		// Step CV_erode0:
		Mat cvErodeSrc = hsvThresholdOutput;
		Mat cvErodeKernel = new Mat();
		Point cvErodeAnchor = new Point(-1, -1);
		double cvErodeIterations = 1;
		int cvErodeBordertype = Core.BORDER_CONSTANT;
		Scalar cvErodeBordervalue = new Scalar(-1);
		cvErode(cvErodeSrc, cvErodeKernel, cvErodeAnchor, cvErodeIterations, cvErodeBordertype, cvErodeBordervalue, cvErodeOutput);

		// Step Find_Contours0:
		Mat findContoursInput = cvErodeOutput;
		boolean findContoursExternalOnly = false;
		findContours(findContoursInput, findContoursExternalOnly, findContoursOutput);

	}

	/**
	 * This method is a generated getter for the output of a Resize_Image.
	 * @return Mat output from Resize_Image.
	 */
	public Mat resizeImageOutput() {
		return resizeImageOutput;
	}

	/**
	 * This method is a generated getter for the output of a HSV_Threshold.
	 * @return Mat output from HSV_Threshold.
	 */
	public Mat hsvThresholdOutput() {
		return hsvThresholdOutput;
	}

	/**
	 * This method is a generated getter for the output of a CV_erode.
	 * @return Mat output from CV_erode.
	 */
	public Mat cvErodeOutput() {
		return cvErodeOutput;
	}

	/**
	 * This method is a generated getter for the output of a Find_Contours.
	 * @return ArrayList<MatOfPoint> output from Find_Contours.
	 */
	public ArrayList<MatOfPoint> findContoursOutput() {
		return findContoursOutput;
	}


	/**
	 * Scales and image to an exact size.
	 * @param input The image on which to perform the Resize.
	 * @param width The width of the output in pixels.
	 * @param height The height of the output in pixels.
	 * @param interpolation The type of interpolation.
	 * @param output The image in which to store the output.
	 */
	private void resizeImage(Mat input, double width, double height,
		int interpolation, Mat output) {
		Imgproc.resize(input, output, new Size(width, height), 0.0, 0.0, interpolation);
	}

	/**
	 * Segment an image based on hue, saturation, and value ranges.
	 *
	 * @param input The image on which to perform the HSL threshold.
	 * @param hue The min and max hue
	 * @param sat The min and max saturation
	 * @param val The min and max value
	 * @param output The image in which to store the output.
	 */
	private void hsvThreshold(Mat input, double[] hue, double[] sat, double[] val,
	    Mat out) {
		Imgproc.cvtColor(input, out, Imgproc.COLOR_BGR2HSV);
		Core.inRange(out, new Scalar(hue[0], sat[0], val[0]),
			new Scalar(hue[1], sat[1], val[1]), out);
	}

	/**
	 * Expands area of lower value in an image.
	 * @param src the Image to erode.
	 * @param kernel the kernel for erosion.
	 * @param anchor the center of the kernel.
	 * @param iterations the number of times to perform the erosion.
	 * @param borderType pixel extrapolation method.
	 * @param borderValue value to be used for a constant border.
	 * @param dst Output Image.
	 */
	private void cvErode(Mat src, Mat kernel, Point anchor, double iterations,
		int borderType, Scalar borderValue, Mat dst) {
		if (kernel == null) {
			kernel = new Mat();
		}
		if (anchor == null) {
			anchor = new Point(-1,-1);
		}
		if (borderValue == null) {
			borderValue = new Scalar(-1);
		}
		Imgproc.erode(src, dst, kernel, anchor, (int)iterations, borderType, borderValue);
	}

	/**
	 * Sets the values of pixels in a binary image to their distance to the nearest black pixel.
	 * @param input The image on which to perform the Distance Transform.
	 * @param type The Transform.
	 * @param maskSize the size of the mask.
	 * @param output The image in which to store the output.
	 */
	private void findContours(Mat input, boolean externalOnly,
		List<MatOfPoint> contours) {
		Mat hierarchy = new Mat();
		contours.clear();
		int mode;
		if (externalOnly) {
			mode = Imgproc.RETR_EXTERNAL;
		}
		else {
			mode = Imgproc.RETR_LIST;
		}
		int method = Imgproc.CHAIN_APPROX_SIMPLE;
		Imgproc.findContours(input, contours, hierarchy, mode, method);
	}




}