Chief Delphi - Laptop Vision and Converting between WPIBinaryImage and BinaryImage

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Laptop Vision and Converting between WPIBinaryImage and BinaryImage

If anyone is making an effort to do vision on the laptop, let me make your life a little bit easier. Here is the (almost) working code for a vision processing widget in SmartDashboard that I found and have been tinkering with. Right now it's kind of a frankenstein of Greg's code and the stock vision code.

Code:

package edu.wpi.first.smartdashboard.extension.vision;



import edu.wpi.first.smartdashboard.camera.WPICameraExtension;

import edu.wpi.first.smartdashboard.robot.Robot;

import edu.wpi.first.wpijavacv.WPIBinaryImage;

import edu.wpi.first.wpijavacv.WPIColor;

import edu.wpi.first.wpijavacv.WPIColorImage;

import edu.wpi.first.wpijavacv.WPIContour;

import edu.wpi.first.wpijavacv.WPIImage;

import edu.wpi.first.wpijavacv.WPIPoint;

import edu.wpi.first.wpijavacv.WPIPolygon;

import edu.wpi.first.wpilibj.image.BinaryImage;

import edu.wpi.first.wpilibj.image.ColorImage;

import edu.wpi.first.wpilibj.image.CriteriaCollection;

import edu.wpi.first.wpilibj.image.NIVision.MeasurementType;

import edu.wpi.first.wpilibj.image.NIVisionException;

import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;

import edu.wpi.first.wpilibj.image.RGBImage;

import edu.wpi.first.wpilibj.networking.NetworkTable;

import java.util.ArrayList;

import java.util.logging.Level;

import java.util.logging.Logger;



/**

 *

 * @author Greg Granito

 */

public class LaptopVisionRobot extends WPICameraExtension {

    public static final String NAME = "Robot Camera Square Tracker";



    NetworkTable table = NetworkTable.getTable("camera");

    WPIColor targetColor = new WPIColor(255, 0, 0);

    criteriaCollection cc;

    

    @Override

    public void init() {

        cc = new CriteriaCollection();      // create the criteria for the particle filter

        cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 30, 400, false);

        cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 40, 400, false);

    }

    

    @Override

    public WPIImage processImage(WPIColorImage rawImage) {

        WPIBinaryImage blueBin = rawImage.getBlueChannel().getThresholdInverted(100);

        WPIBinaryImage greenBin = rawImage.getGreenChannel().getThresholdInverted(100);

        WPIBinaryImage redBin = rawImage.getRedChannel().getThresholdInverted(100);



        WPIBinaryImage finalBin = blueBin.getAnd(redBin).getAnd(greenBin);

        try {

            finalBin.erode(2);

            finalBin.dilate(6);

            BinaryImage thresholdImage = finalBin;

            BinaryImage bigObjectsImage = thresholdImage.removeSmallObjects(false, 2);  // remove small artifacts

            BinaryImage convexHullImage = bigObjectsImage.convexHull(false);          // fill in occluded rectangles

            BinaryImage filteredImage = convexHullImage.particleFilter(cc);           // find filled in rectangles



            WPIContour[] contours = finalBin.findContours();



            ArrayList<WPIPolygon> polygons = new ArrayList<WPIPolygon>();



            for(WPIContour c : contours){

                double ratio = ((double)c.getHeight()) / ((double)c.getWidth());

                if(ratio < 1.5 && ratio> 0.75){

                    polygons.add(c.approxPolygon(45));

                }

            }



            ArrayList<WPIPolygon> possiblePolygons = new ArrayList<WPIPolygon>();



            for(WPIPolygon p : polygons){

                if(p.isConvex() && p.getNumVertices() == 4){

                    possiblePolygons.add(p);

                }else{

                    rawImage.drawPolygon(p, WPIColor.CYAN, 5);

                }

            }



            WPIPolygon square = null;

            int squareArea = 0;



            for(WPIPolygon p : possiblePolygons){

                rawImage.drawPolygon(p, WPIColor.GREEN, 5);

                for(WPIPolygon q : possiblePolygons){

                    if(p == q) continue;



                   int pCenterX = (p.getX() + (p.getWidth()/2));

                   

                   int qCenterX = q.getX() + (q.getWidth()/2);

                   

                   int pCenterY = (p.getY() + (p.getHeight()/2));



                   int qCenterY = q.getY() + (q.getHeight()/2);



                   rawImage.drawPoint(new WPIPoint(pCenterX, pCenterY), targetColor, 5);

                   rawImage.drawPoint(new WPIPoint(qCenterX, qCenterY), targetColor, 5);



                    if(Math.abs(pCenterX - qCenterX) < 20 &&

                        Math.abs(pCenterY - qCenterY) < 20){

                        int pArea = Math.abs(p.getArea());

                        int qArea = Math.abs(q.getArea());

                        if(pArea > qArea){

                            square = p;

                            squareArea = pArea;

                        }else{

                            square = q;

                            squareArea = qArea;

                        }

                        break;

                    }

                }

            }



            if(square != null){

                double x = square.getX() + (square.getWidth()/2);

                x = (2 * (x/rawImage.getWidth())) - 1;

                

                double area = ((double)squareArea) /  ((double)(rawImage.getWidth() * rawImage.getHeight()));

                

                synchronized(table) {

                table.beginTransaction();

                    table.putBoolean("found", true);

                    table.putDouble("x", x);

                    table.putDouble("area", area);

                table.endTransaction();

                }



                Robot.getTable().putBoolean("found", true);

                Robot.getTable().putDouble("X", x);

                Robot.getTable().putDouble("Area", area);

                rawImage.drawPolygon(square, targetColor, 7);

            }else{

                table.putBoolean("found", false);

                Robot.getTable().putBoolean("found", false);

            }



        } catch (NIVisionException ex) {

            Logger.getLogger(LaptopVisionRobot.class.getName()).log(Level.SEVERE, null, ex);

        }

        return finalBin;

    }

}

The major trouble I'm having, and why you'll find this doesn't compile, is the

Code:

BinaryImage thresholdImage = finalBin;

In order to do higher order image processing, I need to convert from WPIBinaryImage to BinaryImage, but there doesn't seem to be a way to do this. My only alternative at this point is to physically save a bitmap to the harddrive, then read it out, but that is sooooo slow. Anybody have any ideas?