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JLLeitschuhJLLeitschuh
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Merge pull request #545 from Sam-Carlberg/master
Added distance transform, normalize, and watershed operations
2 parents ff4d1ce + f4271a1 commit 7aac91f

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‎core/src/main/java/edu/wpi/grip/core/operations/Operations.java

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@@ -43,5 +43,8 @@ public static void addOperations(EventBus eventBus) {
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eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(BlobsReport.class)));
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eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(LinesReport.class)));
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eventBus.post(new OperationAddedEvent(new PublishVideoOperation()));
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eventBus.post(new OperationAddedEvent(new DistanceTransformOperation()));
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eventBus.post(new OperationAddedEvent(new NormalizeOperation()));
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eventBus.post(new OperationAddedEvent(new WatershedOperation()));
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/DistanceTransformOperation.java

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.InputSocket;
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import edu.wpi.grip.core.Operation;
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import edu.wpi.grip.core.OutputSocket;
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import edu.wpi.grip.core.SocketHint;
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import edu.wpi.grip.core.SocketHints;
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import java.io.InputStream;
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import java.util.Optional;
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import org.bytedeco.javacpp.opencv_core.Mat;
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import static org.bytedeco.javacpp.opencv_core.*;
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import static org.bytedeco.javacpp.opencv_imgproc.*;
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/**
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* GRIP {@link Operation} for
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* {@link org.bytedeco.javacpp.opencv_imgproc#distanceTransform}.
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*/
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public class DistanceTransformOperation implements Operation {
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private enum Type {
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DIST_L1("CV_DIST_L1", CV_DIST_L1),
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DIST_L2("CV_DIST_L2", CV_DIST_L2),
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DIST_C("CV_DIST_C", CV_DIST_C);
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private final String label;
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private final int value;
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private Type(String label, int value) {
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this.label = label;
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this.value = value;
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}
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@Override
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public String toString() {
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return label;
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}
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}
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/** Masks are either 0x0, 3x3, or 5x5 */
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private enum MaskSize {
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ZERO("0x0", 0),
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THREE("3x3", 3),
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FIVE("5x5", 5);
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private final String label;
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private final int value;
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private MaskSize(String label, int value) {
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this.label = label;
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this.value = value;
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}
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@Override
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public String toString() {
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return label;
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}
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}
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private final SocketHint<Mat> srcHint = SocketHints.Inputs.createMatSocketHint("Input", false);
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private final SocketHint<Type> typeHint = SocketHints.createEnumSocketHint("Type", Type.DIST_L2);
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private final SocketHint<MaskSize> maskSizeHint = SocketHints.createEnumSocketHint("Mask size", MaskSize.ZERO);
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private final SocketHint<Mat> outputHint = SocketHints.Inputs.createMatSocketHint("Output", true);
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@Override
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public String getName() {
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return "Distance Transform";
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}
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@Override
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public String getDescription() {
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return "Sets the values of pixels in a binary image to their distance to the nearest black pixel.";
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}
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@Override
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public Category getCategory() {
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return Category.IMAGE_PROCESSING;
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}
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@Override
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public Optional<InputStream> getIcon() {
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return Optional.of(getClass().getResourceAsStream("/edu/wpi/grip/ui/icons/opencv.png"));
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{
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new InputSocket<>(eventBus, srcHint),
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new InputSocket<>(eventBus, typeHint),
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new InputSocket<>(eventBus, maskSizeHint)
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};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{
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new OutputSocket<>(eventBus, outputHint)
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};
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}
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@Override
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
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final Mat input = (Mat) inputs[0].getValue().get();
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if (input.type() != CV_8U) {
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throw new IllegalArgumentException("Distance transform only works on 8-bit binary images");
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}
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final Type type = (Type) inputs[1].getValue().get();
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final MaskSize maskSize = (MaskSize) inputs[2].getValue().get();
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final OutputSocket<Mat> outputSocket = (OutputSocket<Mat>) outputs[0];
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final Mat output = outputSocket.getValue().get();
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distanceTransform(input, output, type.value, maskSize.value);
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output.convertTo(output, CV_8U);
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outputSocket.setValue(output);
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/NormalizeOperation.java

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.InputSocket;
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import edu.wpi.grip.core.Operation;
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import edu.wpi.grip.core.OutputSocket;
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import edu.wpi.grip.core.SocketHint;
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import edu.wpi.grip.core.SocketHints;
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import java.io.InputStream;
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import java.util.Optional;
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import static org.bytedeco.javacpp.opencv_core.*;
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/**
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* GRIP {@link Operation} for
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* {@link org.bytedeco.javacpp.opencv_core#normalize}.
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*/
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public class NormalizeOperation implements Operation {
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private enum Type {
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INF("NORM_INF", NORM_INF),
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L1("NORM_L1", NORM_L1),
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L2("NORM_L2", NORM_L2),
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MINMAX("NORM_MINMAX", NORM_MINMAX);
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private final String label;
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private final int value;
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private Type(String name, int value) {
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this.label = name;
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this.value = value;
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}
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@Override
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public String toString() {
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return label;
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}
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}
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private final SocketHint<Mat> srcHint = SocketHints.Inputs.createMatSocketHint("Input", false);
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private final SocketHint<Type> typeHint = SocketHints.createEnumSocketHint("Type", Type.MINMAX);
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private final SocketHint<Number> aHint = SocketHints.Inputs.createNumberSpinnerSocketHint("Alpha", 0.0, 0, Double.MAX_VALUE);
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private final SocketHint<Number> bHint = SocketHints.Inputs.createNumberSpinnerSocketHint("Beta", 255, 0, Double.MAX_VALUE);
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private final SocketHint<Mat> dstHint = SocketHints.Inputs.createMatSocketHint("Output", true);
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@Override
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public String getName() {
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return "Normalize";
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}
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@Override
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public String getDescription() {
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return "Normalizes or remaps the pixel values in an image.";
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}
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@Override
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public Category getCategory() {
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return Category.IMAGE_PROCESSING;
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}
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@Override
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public Optional<InputStream> getIcon() {
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return Optional.of(getClass().getResourceAsStream("/edu/wpi/grip/ui/icons/opencv.png"));
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{
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new InputSocket<>(eventBus, srcHint),
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new InputSocket<>(eventBus, typeHint),
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new InputSocket<>(eventBus, aHint),
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new InputSocket<>(eventBus, bHint)
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};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{
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new OutputSocket<>(eventBus, dstHint)
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};
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}
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@Override
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
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final Mat input = (Mat) inputs[0].getValue().get();
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final Type type = (Type) inputs[1].getValue().get();
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final Number a = (Number) inputs[2].getValue().get();
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final Number b = (Number) inputs[3].getValue().get();
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final OutputSocket<Mat> outputSocket = (OutputSocket<Mat>) outputs[0];
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final Mat output = outputSocket.getValue().get();
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normalize(input, output, a.doubleValue(), b.doubleValue(), type.value, -1, null);
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outputSocket.setValue(output);
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}
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}

‎core/src/main/java/edu/wpi/grip/core/operations/composite/WatershedOperation.java

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package edu.wpi.grip.core.operations.composite;
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import com.google.common.eventbus.EventBus;
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import edu.wpi.grip.core.InputSocket;
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import edu.wpi.grip.core.Operation;
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import edu.wpi.grip.core.OutputSocket;
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import edu.wpi.grip.core.SocketHint;
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import edu.wpi.grip.core.SocketHints;
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import static org.bytedeco.javacpp.opencv_core.*;
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import static org.bytedeco.javacpp.opencv_imgproc.*;
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/**
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* GRIP {@link Operation} for
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* {@link org.bytedeco.javacpp.opencv_imgproc#watershed}.
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*/
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public class WatershedOperation implements Operation {
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private final SocketHint<Mat> srcHint = SocketHints.Inputs.createMatSocketHint("Input", false);
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private final SocketHint<ContoursReport> contoursHint = new SocketHint.Builder<>(ContoursReport.class)
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.identifier("Contours")
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.initialValueSupplier(ContoursReport::new)
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.build();
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private final SocketHint<Mat> outputHint = SocketHints.Inputs.createMatSocketHint("Output", true);
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@Override
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public String getName() {
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return "Watershed";
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}
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@Override
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public String getDescription() {
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return "Isolates overlapping objects from the background and each other";
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}
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@Override
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public InputSocket<?>[] createInputSockets(EventBus eventBus) {
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return new InputSocket<?>[]{
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new InputSocket<>(eventBus, srcHint),
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new InputSocket<>(eventBus, contoursHint)
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};
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}
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@Override
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public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
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return new OutputSocket<?>[]{
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new OutputSocket<>(eventBus, outputHint)
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};
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}
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@Override
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public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
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final Mat input = (Mat) inputs[0].getValue().get();
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if (input.type() != CV_8UC3) {
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throw new IllegalArgumentException("Watershed only works on 8-bit, 3-channel images");
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}
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final ContoursReport contourReport = (ContoursReport) inputs[1].getValue().get();
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final MatVector contours = contourReport.getContours();
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final OutputSocket<Mat> outputSocket = (OutputSocket<Mat>) outputs[0];
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final Mat markers = new Mat(input.size(), CV_32SC1, new Scalar(0.0));
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final Mat output = new Mat(markers.size(), CV_8UC1, new Scalar(0.0));
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try {
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// draw foreground markers (these have to be different colors)
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for (int i = 0; i < contours.size(); i++) {
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drawContours(markers, contours, i, Scalar.all((i + 1) * (255 / contours.size())), CV_FILLED, LINE_8, null, 2, null);
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}
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// draw background marker a different color from the foreground markers
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// TODO maybe make this configurable? There may be something in the corner
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circle(markers, new Point(5, 5), 3, Scalar.WHITE, -1, LINE_8, 0);
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watershed(input, markers);
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markers.convertTo(output, CV_8UC1);
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bitwise_not(output, output); // watershed inverts colors; invert them back
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outputSocket.setValue(output);
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} finally {
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// make sure that the working mat is freed to avoid a memory leak
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markers.release();
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}
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}
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}

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