Add project source code
This commit is contained in:
parent
d935e906b7
commit
e01c0fbdd8
GPG key ID:
0F54A7ED232D3319
8
.idea/.gitignore
vendored
Normal file
8
.idea/.gitignore
vendored
Normal file
|
|
@ -0,0 +1,8 @@
|
||||||
|
# Default ignored files
|
||||||
|
/shelf/
|
||||||
|
/workspace.xml
|
||||||
|
# Datasource local storage ignored files
|
||||||
|
/dataSources/
|
||||||
|
/dataSources.local.xml
|
||||||
|
# Editor-based HTTP Client requests
|
||||||
|
/httpRequests/
|
||||||
1
.idea/.name
Normal file
1
.idea/.name
Normal file
|
|
@ -0,0 +1 @@
|
||||||
|
computer-vision
|
||||||
88
.idea/codeStyles/Project.xml
Normal file
88
.idea/codeStyles/Project.xml
Normal file
|
|
@ -0,0 +1,88 @@
|
||||||
|
<component name="ProjectCodeStyleConfiguration">
|
||||||
|
<code_scheme name="Project" version="173">
|
||||||
|
<option name="LINE_SEPARATOR" value=" " />
|
||||||
|
<option name="LAYOUT_STATIC_IMPORTS_SEPARATELY" value="false" />
|
||||||
|
<option name="CLASS_COUNT_TO_USE_IMPORT_ON_DEMAND" value="999" />
|
||||||
|
<option name="NAMES_COUNT_TO_USE_IMPORT_ON_DEMAND" value="999" />
|
||||||
|
<option name="PACKAGES_TO_USE_IMPORT_ON_DEMAND">
|
||||||
|
<value />
|
||||||
|
</option>
|
||||||
|
<option name="IMPORT_LAYOUT_TABLE">
|
||||||
|
<value>
|
||||||
|
<package name="java" withSubpackages="true" static="false" />
|
||||||
|
<package name="javax" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="net.minecraft" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="net.minecraftforge" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="logisticspipes" withSubpackages="true" static="false" />
|
||||||
|
<package name="network.rs485" withSubpackages="true" static="false" />
|
||||||
|
</value>
|
||||||
|
</option>
|
||||||
|
<option name="FORMATTER_TAGS_ENABLED" value="true" />
|
||||||
|
<JavaCodeStyleSettings>
|
||||||
|
<option name="LAYOUT_STATIC_IMPORTS_SEPARATELY" value="false" />
|
||||||
|
<option name="CLASS_COUNT_TO_USE_IMPORT_ON_DEMAND" value="999" />
|
||||||
|
<option name="NAMES_COUNT_TO_USE_IMPORT_ON_DEMAND" value="999" />
|
||||||
|
<option name="PACKAGES_TO_USE_IMPORT_ON_DEMAND">
|
||||||
|
<value />
|
||||||
|
</option>
|
||||||
|
<option name="IMPORT_LAYOUT_TABLE">
|
||||||
|
<value>
|
||||||
|
<package name="java" withSubpackages="true" static="false" />
|
||||||
|
<package name="javax" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="net.minecraft" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="net.minecraftforge" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="" withSubpackages="true" static="false" />
|
||||||
|
<emptyLine />
|
||||||
|
<package name="logisticspipes" withSubpackages="true" static="false" />
|
||||||
|
<package name="network.rs485" withSubpackages="true" static="false" />
|
||||||
|
</value>
|
||||||
|
</option>
|
||||||
|
</JavaCodeStyleSettings>
|
||||||
|
<JetCodeStyleSettings>
|
||||||
|
<option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
|
||||||
|
</JetCodeStyleSettings>
|
||||||
|
<codeStyleSettings language="JAVA">
|
||||||
|
<option name="KEEP_FIRST_COLUMN_COMMENT" value="false" />
|
||||||
|
<option name="KEEP_BLANK_LINES_IN_DECLARATIONS" value="1" />
|
||||||
|
<option name="KEEP_BLANK_LINES_IN_CODE" value="1" />
|
||||||
|
<option name="KEEP_BLANK_LINES_BEFORE_RBRACE" value="1" />
|
||||||
|
<option name="BLANK_LINES_AFTER_CLASS_HEADER" value="1" />
|
||||||
|
<option name="BLANK_LINES_AFTER_ANONYMOUS_CLASS_HEADER" value="1" />
|
||||||
|
<option name="ALIGN_MULTILINE_PARAMETERS" value="false" />
|
||||||
|
<option name="ALIGN_MULTILINE_RESOURCES" value="false" />
|
||||||
|
<option name="SPACE_WITHIN_ARRAY_INITIALIZER_BRACES" value="true" />
|
||||||
|
<option name="SPACE_BEFORE_ARRAY_INITIALIZER_LBRACE" value="true" />
|
||||||
|
<option name="CALL_PARAMETERS_WRAP" value="1" />
|
||||||
|
<option name="METHOD_PARAMETERS_WRAP" value="1" />
|
||||||
|
<option name="RESOURCE_LIST_WRAP" value="5" />
|
||||||
|
<option name="EXTENDS_LIST_WRAP" value="1" />
|
||||||
|
<option name="THROWS_LIST_WRAP" value="1" />
|
||||||
|
<option name="EXTENDS_KEYWORD_WRAP" value="1" />
|
||||||
|
<option name="THROWS_KEYWORD_WRAP" value="1" />
|
||||||
|
<option name="METHOD_CALL_CHAIN_WRAP" value="1" />
|
||||||
|
<option name="BINARY_OPERATION_WRAP" value="1" />
|
||||||
|
<option name="BINARY_OPERATION_SIGN_ON_NEXT_LINE" value="true" />
|
||||||
|
<option name="TERNARY_OPERATION_WRAP" value="5" />
|
||||||
|
<option name="KEEP_SIMPLE_BLOCKS_IN_ONE_LINE" value="true" />
|
||||||
|
<option name="KEEP_SIMPLE_METHODS_IN_ONE_LINE" value="true" />
|
||||||
|
<option name="KEEP_SIMPLE_LAMBDAS_IN_ONE_LINE" value="true" />
|
||||||
|
<option name="KEEP_SIMPLE_CLASSES_IN_ONE_LINE" value="true" />
|
||||||
|
<option name="ARRAY_INITIALIZER_WRAP" value="1" />
|
||||||
|
<option name="VARIABLE_ANNOTATION_WRAP" value="2" />
|
||||||
|
<indentOptions>
|
||||||
|
<option name="USE_TAB_CHARACTER" value="true" />
|
||||||
|
</indentOptions>
|
||||||
|
</codeStyleSettings>
|
||||||
|
<codeStyleSettings language="kotlin">
|
||||||
|
<option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
|
||||||
|
</codeStyleSettings>
|
||||||
|
</code_scheme>
|
||||||
|
</component>
|
||||||
5
.idea/codeStyles/codeStyleConfig.xml
Normal file
5
.idea/codeStyles/codeStyleConfig.xml
Normal file
|
|
@ -0,0 +1,5 @@
|
||||||
|
<component name="ProjectCodeStyleConfiguration">
|
||||||
|
<state>
|
||||||
|
<option name="PREFERRED_PROJECT_CODE_STYLE" value="Default" />
|
||||||
|
</state>
|
||||||
|
</component>
|
||||||
6
.idea/compiler.xml
Normal file
6
.idea/compiler.xml
Normal file
|
|
@ -0,0 +1,6 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="CompilerConfiguration">
|
||||||
|
<bytecodeTargetLevel target="17" />
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
18
.idea/gradle.xml
Normal file
18
.idea/gradle.xml
Normal file
|
|
@ -0,0 +1,18 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="GradleMigrationSettings" migrationVersion="1" />
|
||||||
|
<component name="GradleSettings">
|
||||||
|
<option name="linkedExternalProjectsSettings">
|
||||||
|
<GradleProjectSettings>
|
||||||
|
<option name="distributionType" value="WRAPPED" />
|
||||||
|
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||||
|
<option name="gradleHome" value="/usr/share/java/gradle" />
|
||||||
|
<option name="modules">
|
||||||
|
<set>
|
||||||
|
<option value="$PROJECT_DIR$" />
|
||||||
|
</set>
|
||||||
|
</option>
|
||||||
|
</GradleProjectSettings>
|
||||||
|
</option>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
20
.idea/jarRepositories.xml
Normal file
20
.idea/jarRepositories.xml
Normal file
|
|
@ -0,0 +1,20 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="RemoteRepositoriesConfiguration">
|
||||||
|
<remote-repository>
|
||||||
|
<option name="id" value="central" />
|
||||||
|
<option name="name" value="Maven Central repository" />
|
||||||
|
<option name="url" value="https://repo1.maven.org/maven2" />
|
||||||
|
</remote-repository>
|
||||||
|
<remote-repository>
|
||||||
|
<option name="id" value="jboss.community" />
|
||||||
|
<option name="name" value="JBoss Community repository" />
|
||||||
|
<option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
|
||||||
|
</remote-repository>
|
||||||
|
<remote-repository>
|
||||||
|
<option name="id" value="MavenRepo" />
|
||||||
|
<option name="name" value="MavenRepo" />
|
||||||
|
<option name="url" value="https://repo.maven.apache.org/maven2/" />
|
||||||
|
</remote-repository>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
65
.idea/libraries-with-intellij-classes.xml
Normal file
65
.idea/libraries-with-intellij-classes.xml
Normal file
|
|
@ -0,0 +1,65 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="libraries-with-intellij-classes">
|
||||||
|
<option name="intellijApiContainingLibraries">
|
||||||
|
<list>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="ideaIU" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.idea" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="ideaIU" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="ideaIC" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.idea" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="ideaIC" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="pycharmPY" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.pycharm" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="pycharmPY" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="pycharmPC" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.pycharm" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="pycharmPC" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="clion" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.clion" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="clion" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="riderRD" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.rider" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="riderRD" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="goland" />
|
||||||
|
<option name="groupId" value="com.jetbrains.intellij.goland" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
<LibraryCoordinatesState>
|
||||||
|
<option name="artifactId" value="goland" />
|
||||||
|
<option name="groupId" value="com.jetbrains" />
|
||||||
|
</LibraryCoordinatesState>
|
||||||
|
</list>
|
||||||
|
</option>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
10
.idea/misc.xml
Normal file
10
.idea/misc.xml
Normal file
|
|
@ -0,0 +1,10 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
||||||
|
<component name="FrameworkDetectionExcludesConfiguration">
|
||||||
|
<file type="web" url="file://$PROJECT_DIR$" />
|
||||||
|
</component>
|
||||||
|
<component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="17" project-jdk-type="JavaSDK">
|
||||||
|
<output url="file://$PROJECT_DIR$/out" />
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
124
.idea/uiDesigner.xml
Normal file
124
.idea/uiDesigner.xml
Normal file
|
|
@ -0,0 +1,124 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="Palette2">
|
||||||
|
<group name="Swing">
|
||||||
|
<item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="1" hsize-policy="6" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="com.intellij.uiDesigner.VSpacer" tooltip-text="Vertical Spacer" icon="/com/intellij/uiDesigner/icons/vspacer.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="1" anchor="0" fill="2" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JPanel" icon="/com/intellij/uiDesigner/icons/panel.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JScrollPane" icon="/com/intellij/uiDesigner/icons/scrollPane.png" removable="false" auto-create-binding="false" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="7" hsize-policy="7" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JButton" icon="/com/intellij/uiDesigner/icons/button.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="0" fill="1" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="Button" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="RadioButton" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JCheckBox" icon="/com/intellij/uiDesigner/icons/checkBox.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="CheckBox" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JLabel" icon="/com/intellij/uiDesigner/icons/label.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="0" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="Label" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextField" icon="/com/intellij/uiDesigner/icons/textField.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JPasswordField" icon="/com/intellij/uiDesigner/icons/passwordField.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JFormattedTextField" icon="/com/intellij/uiDesigner/icons/formattedTextField.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextArea" icon="/com/intellij/uiDesigner/icons/textArea.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextPane" icon="/com/intellij/uiDesigner/icons/textPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JEditorPane" icon="/com/intellij/uiDesigner/icons/editorPane.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JComboBox" icon="/com/intellij/uiDesigner/icons/comboBox.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="2" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTable" icon="/com/intellij/uiDesigner/icons/table.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JList" icon="/com/intellij/uiDesigner/icons/list.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="2" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTree" icon="/com/intellij/uiDesigner/icons/tree.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTabbedPane" icon="/com/intellij/uiDesigner/icons/tabbedPane.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
|
||||||
|
<preferred-size width="200" height="200" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSplitPane" icon="/com/intellij/uiDesigner/icons/splitPane.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
|
||||||
|
<preferred-size width="200" height="200" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSpinner" icon="/com/intellij/uiDesigner/icons/spinner.png" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSeparator" icon="/com/intellij/uiDesigner/icons/separator.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1">
|
||||||
|
<preferred-size width="-1" height="20" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.png" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.png" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
|
||||||
|
</item>
|
||||||
|
</group>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
35
build.gradle.kts
Normal file
35
build.gradle.kts
Normal file
|
|
@ -0,0 +1,35 @@
|
||||||
|
import org.jetbrains.kotlin.gradle.tasks.KotlinCompile
|
||||||
|
|
||||||
|
plugins {
|
||||||
|
kotlin("jvm") version "1.6.10"
|
||||||
|
application
|
||||||
|
}
|
||||||
|
|
||||||
|
group = "network.rs485.ben"
|
||||||
|
version = "1.0-SNAPSHOT"
|
||||||
|
|
||||||
|
repositories {
|
||||||
|
mavenCentral()
|
||||||
|
}
|
||||||
|
|
||||||
|
dependencies {
|
||||||
|
implementation("org.jetbrains.kotlinx:kotlinx-coroutines-core:1.6.0")
|
||||||
|
implementation("org.jetbrains.kotlinx:kotlinx-coroutines-swing:1.6.0")
|
||||||
|
implementation("org.jetbrains.kotlin:kotlin-annotations-jvm:1.6.10")
|
||||||
|
implementation("io.ktor:ktor-io:1.6.7")
|
||||||
|
implementation(files("/usr/share/java/opencv.jar")) // provided by the OS (Arch Linux) after installation
|
||||||
|
testImplementation(kotlin("test"))
|
||||||
|
}
|
||||||
|
|
||||||
|
tasks.test {
|
||||||
|
useJUnitPlatform()
|
||||||
|
}
|
||||||
|
|
||||||
|
tasks.withType<KotlinCompile>() {
|
||||||
|
kotlinOptions.jvmTarget = "17"
|
||||||
|
kotlinOptions.freeCompilerArgs += "-Xopt-in=kotlin.RequiresOptIn"
|
||||||
|
}
|
||||||
|
|
||||||
|
application {
|
||||||
|
mainClass.set("network.rs485.ben.computervision.MainKt")
|
||||||
|
}
|
||||||
1
gradle.properties
Normal file
1
gradle.properties
Normal file
|
|
@ -0,0 +1 @@
|
||||||
|
kotlin.code.style=official
|
||||||
BIN
gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
BIN
gradle/wrapper/gradle-wrapper.jar
vendored
Normal file
Binary file not shown.
5
gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
5
gradle/wrapper/gradle-wrapper.properties
vendored
Normal file
|
|
@ -0,0 +1,5 @@
|
||||||
|
distributionBase=GRADLE_USER_HOME
|
||||||
|
distributionPath=wrapper/dists
|
||||||
|
distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.1-bin.zip
|
||||||
|
zipStoreBase=GRADLE_USER_HOME
|
||||||
|
zipStorePath=wrapper/dists
|
||||||
185
gradlew
vendored
Executable file
185
gradlew
vendored
Executable file
|
|
@ -0,0 +1,185 @@
|
||||||
|
#!/usr/bin/env sh
|
||||||
|
|
||||||
|
#
|
||||||
|
# Copyright 2015 the original author or authors.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
|
||||||
|
##############################################################################
|
||||||
|
##
|
||||||
|
## Gradle start up script for UN*X
|
||||||
|
##
|
||||||
|
##############################################################################
|
||||||
|
|
||||||
|
# Attempt to set APP_HOME
|
||||||
|
# Resolve links: $0 may be a link
|
||||||
|
PRG="$0"
|
||||||
|
# Need this for relative symlinks.
|
||||||
|
while [ -h "$PRG" ] ; do
|
||||||
|
ls=`ls -ld "$PRG"`
|
||||||
|
link=`expr "$ls" : '.*-> \(.*\)$'`
|
||||||
|
if expr "$link" : '/.*' > /dev/null; then
|
||||||
|
PRG="$link"
|
||||||
|
else
|
||||||
|
PRG=`dirname "$PRG"`"/$link"
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
SAVED="`pwd`"
|
||||||
|
cd "`dirname \"$PRG\"`/" >/dev/null
|
||||||
|
APP_HOME="`pwd -P`"
|
||||||
|
cd "$SAVED" >/dev/null
|
||||||
|
|
||||||
|
APP_NAME="Gradle"
|
||||||
|
APP_BASE_NAME=`basename "$0"`
|
||||||
|
|
||||||
|
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||||
|
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
|
||||||
|
|
||||||
|
# Use the maximum available, or set MAX_FD != -1 to use that value.
|
||||||
|
MAX_FD="maximum"
|
||||||
|
|
||||||
|
warn () {
|
||||||
|
echo "$*"
|
||||||
|
}
|
||||||
|
|
||||||
|
die () {
|
||||||
|
echo
|
||||||
|
echo "$*"
|
||||||
|
echo
|
||||||
|
exit 1
|
||||||
|
}
|
||||||
|
|
||||||
|
# OS specific support (must be 'true' or 'false').
|
||||||
|
cygwin=false
|
||||||
|
msys=false
|
||||||
|
darwin=false
|
||||||
|
nonstop=false
|
||||||
|
case "`uname`" in
|
||||||
|
CYGWIN* )
|
||||||
|
cygwin=true
|
||||||
|
;;
|
||||||
|
Darwin* )
|
||||||
|
darwin=true
|
||||||
|
;;
|
||||||
|
MINGW* )
|
||||||
|
msys=true
|
||||||
|
;;
|
||||||
|
NONSTOP* )
|
||||||
|
nonstop=true
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
|
||||||
|
|
||||||
|
|
||||||
|
# Determine the Java command to use to start the JVM.
|
||||||
|
if [ -n "$JAVA_HOME" ] ; then
|
||||||
|
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
|
||||||
|
# IBM's JDK on AIX uses strange locations for the executables
|
||||||
|
JAVACMD="$JAVA_HOME/jre/sh/java"
|
||||||
|
else
|
||||||
|
JAVACMD="$JAVA_HOME/bin/java"
|
||||||
|
fi
|
||||||
|
if [ ! -x "$JAVACMD" ] ; then
|
||||||
|
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
|
||||||
|
|
||||||
|
Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
location of your Java installation."
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
JAVACMD="java"
|
||||||
|
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||||
|
|
||||||
|
Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
location of your Java installation."
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Increase the maximum file descriptors if we can.
|
||||||
|
if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
|
||||||
|
MAX_FD_LIMIT=`ulimit -H -n`
|
||||||
|
if [ $? -eq 0 ] ; then
|
||||||
|
if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
|
||||||
|
MAX_FD="$MAX_FD_LIMIT"
|
||||||
|
fi
|
||||||
|
ulimit -n $MAX_FD
|
||||||
|
if [ $? -ne 0 ] ; then
|
||||||
|
warn "Could not set maximum file descriptor limit: $MAX_FD"
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Darwin, add options to specify how the application appears in the dock
|
||||||
|
if $darwin; then
|
||||||
|
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Cygwin or MSYS, switch paths to Windows format before running java
|
||||||
|
if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
|
||||||
|
APP_HOME=`cygpath --path --mixed "$APP_HOME"`
|
||||||
|
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
|
||||||
|
|
||||||
|
JAVACMD=`cygpath --unix "$JAVACMD"`
|
||||||
|
|
||||||
|
# We build the pattern for arguments to be converted via cygpath
|
||||||
|
ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
|
||||||
|
SEP=""
|
||||||
|
for dir in $ROOTDIRSRAW ; do
|
||||||
|
ROOTDIRS="$ROOTDIRS$SEP$dir"
|
||||||
|
SEP="|"
|
||||||
|
done
|
||||||
|
OURCYGPATTERN="(^($ROOTDIRS))"
|
||||||
|
# Add a user-defined pattern to the cygpath arguments
|
||||||
|
if [ "$GRADLE_CYGPATTERN" != "" ] ; then
|
||||||
|
OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
|
||||||
|
fi
|
||||||
|
# Now convert the arguments - kludge to limit ourselves to /bin/sh
|
||||||
|
i=0
|
||||||
|
for arg in "$@" ; do
|
||||||
|
CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
|
||||||
|
CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
|
||||||
|
|
||||||
|
if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
|
||||||
|
eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
|
||||||
|
else
|
||||||
|
eval `echo args$i`="\"$arg\""
|
||||||
|
fi
|
||||||
|
i=`expr $i + 1`
|
||||||
|
done
|
||||||
|
case $i in
|
||||||
|
0) set -- ;;
|
||||||
|
1) set -- "$args0" ;;
|
||||||
|
2) set -- "$args0" "$args1" ;;
|
||||||
|
3) set -- "$args0" "$args1" "$args2" ;;
|
||||||
|
4) set -- "$args0" "$args1" "$args2" "$args3" ;;
|
||||||
|
5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
|
||||||
|
6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
|
||||||
|
7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
|
||||||
|
8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
|
||||||
|
9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
|
||||||
|
esac
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Escape application args
|
||||||
|
save () {
|
||||||
|
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
|
||||||
|
echo " "
|
||||||
|
}
|
||||||
|
APP_ARGS=`save "$@"`
|
||||||
|
|
||||||
|
# Collect all arguments for the java command, following the shell quoting and substitution rules
|
||||||
|
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
|
||||||
|
|
||||||
|
exec "$JAVACMD" "$@"
|
||||||
89
gradlew.bat
vendored
Normal file
89
gradlew.bat
vendored
Normal file
|
|
@ -0,0 +1,89 @@
|
||||||
|
@rem
|
||||||
|
@rem Copyright 2015 the original author or authors.
|
||||||
|
@rem
|
||||||
|
@rem Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
@rem you may not use this file except in compliance with the License.
|
||||||
|
@rem You may obtain a copy of the License at
|
||||||
|
@rem
|
||||||
|
@rem https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
@rem
|
||||||
|
@rem Unless required by applicable law or agreed to in writing, software
|
||||||
|
@rem distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
@rem See the License for the specific language governing permissions and
|
||||||
|
@rem limitations under the License.
|
||||||
|
@rem
|
||||||
|
|
||||||
|
@if "%DEBUG%" == "" @echo off
|
||||||
|
@rem ##########################################################################
|
||||||
|
@rem
|
||||||
|
@rem Gradle startup script for Windows
|
||||||
|
@rem
|
||||||
|
@rem ##########################################################################
|
||||||
|
|
||||||
|
@rem Set local scope for the variables with windows NT shell
|
||||||
|
if "%OS%"=="Windows_NT" setlocal
|
||||||
|
|
||||||
|
set DIRNAME=%~dp0
|
||||||
|
if "%DIRNAME%" == "" set DIRNAME=.
|
||||||
|
set APP_BASE_NAME=%~n0
|
||||||
|
set APP_HOME=%DIRNAME%
|
||||||
|
|
||||||
|
@rem Resolve any "." and ".." in APP_HOME to make it shorter.
|
||||||
|
for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
|
||||||
|
|
||||||
|
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
|
||||||
|
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
|
||||||
|
|
||||||
|
@rem Find java.exe
|
||||||
|
if defined JAVA_HOME goto findJavaFromJavaHome
|
||||||
|
|
||||||
|
set JAVA_EXE=java.exe
|
||||||
|
%JAVA_EXE% -version >NUL 2>&1
|
||||||
|
if "%ERRORLEVEL%" == "0" goto execute
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
|
||||||
|
echo.
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
echo location of your Java installation.
|
||||||
|
|
||||||
|
goto fail
|
||||||
|
|
||||||
|
:findJavaFromJavaHome
|
||||||
|
set JAVA_HOME=%JAVA_HOME:"=%
|
||||||
|
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
|
||||||
|
|
||||||
|
if exist "%JAVA_EXE%" goto execute
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
|
||||||
|
echo.
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the
|
||||||
|
echo location of your Java installation.
|
||||||
|
|
||||||
|
goto fail
|
||||||
|
|
||||||
|
:execute
|
||||||
|
@rem Setup the command line
|
||||||
|
|
||||||
|
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
|
||||||
|
|
||||||
|
|
||||||
|
@rem Execute Gradle
|
||||||
|
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
|
||||||
|
|
||||||
|
:end
|
||||||
|
@rem End local scope for the variables with windows NT shell
|
||||||
|
if "%ERRORLEVEL%"=="0" goto mainEnd
|
||||||
|
|
||||||
|
:fail
|
||||||
|
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
|
||||||
|
rem the _cmd.exe /c_ return code!
|
||||||
|
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
|
||||||
|
exit /b 1
|
||||||
|
|
||||||
|
:mainEnd
|
||||||
|
if "%OS%"=="Windows_NT" endlocal
|
||||||
|
|
||||||
|
:omega
|
||||||
3
settings.gradle.kts
Normal file
3
settings.gradle.kts
Normal file
|
|
@ -0,0 +1,3 @@
|
||||||
|
|
||||||
|
rootProject.name = "computer-vision"
|
||||||
|
|
||||||
37
src/main/kotlin/network/rs485/ben/computervision/Color.kt
Normal file
37
src/main/kotlin/network/rs485/ben/computervision/Color.kt
Normal file
|
|
@ -0,0 +1,37 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import network.rs485.ben.computervision.CvContext.withMat
|
||||||
|
import org.opencv.core.CvType
|
||||||
|
import org.opencv.core.Mat
|
||||||
|
import org.opencv.core.Scalar
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
|
||||||
|
internal val COLOR_BLACK = Scalar(0.0, 0.0, 0.0, 255.0)
|
||||||
|
internal val COLOR_WHITE = Scalar(255.0, 255.0, 255.0, 255.0)
|
||||||
|
internal val COLOR_RED = Scalar(0.0, 0.0, 180.0, 255.0)
|
||||||
|
internal val COLOR_GREEN = Scalar(0.0, 255.0, 0.0, 255.0)
|
||||||
|
internal val COLOR_BLUE = Scalar(255.0, 0.0, 0.0, 255.0)
|
||||||
|
internal val COLOR_YELLOW = Scalar(0.0, 240.0, 255.0, 255.0)
|
||||||
|
|
||||||
|
internal operator fun Scalar.plus(other: Scalar): Scalar =
|
||||||
|
Scalar((0..3).map { `val`[it] + other.`val`[it] }.toDoubleArray())
|
||||||
|
|
||||||
|
internal operator fun Scalar.minus(other: Scalar): Scalar =
|
||||||
|
Scalar((0..3).map { `val`[it] - other.`val`[it] }.toDoubleArray())
|
||||||
|
|
||||||
|
internal operator fun Scalar.times(factor: Double): Scalar =
|
||||||
|
Scalar((0..3).map { `val`[it] * factor }.toDoubleArray())
|
||||||
|
|
||||||
|
internal operator fun Scalar.div(divider: Double): Scalar =
|
||||||
|
Scalar((0..3).map { (`val`[it] / divider) }.toDoubleArray())
|
||||||
|
|
||||||
|
internal fun Scalar.asArray(length: Int = 4): DoubleArray {
|
||||||
|
assert(length > 0)
|
||||||
|
return (0 until length).map { `val`.getOrElse(it) { 0.0 } }.toDoubleArray()
|
||||||
|
}
|
||||||
|
|
||||||
|
internal fun Mat.copyToColor(image: Mat) = withMat(MatInfo.from(image, CvType.CV_8U)) { tmp ->
|
||||||
|
convertTo(tmp, CvType.CV_8U)
|
||||||
|
Imgproc.cvtColor(tmp, image, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
image
|
||||||
|
}
|
||||||
110
src/main/kotlin/network/rs485/ben/computervision/CvContext.kt
Normal file
110
src/main/kotlin/network/rs485/ben/computervision/CvContext.kt
Normal file
|
|
@ -0,0 +1,110 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import io.ktor.utils.io.pool.*
|
||||||
|
import kotlinx.coroutines.Dispatchers
|
||||||
|
import kotlinx.coroutines.withContext
|
||||||
|
import org.opencv.core.*
|
||||||
|
import org.opencv.imgcodecs.Imgcodecs
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
import java.nio.file.Path
|
||||||
|
|
||||||
|
data class MatInfo(val rows: Int, val cols: Int, val type: Int) {
|
||||||
|
companion object {
|
||||||
|
fun from(mat: Mat) = MatInfo(mat.rows(), mat.cols(), mat.type())
|
||||||
|
fun from(mat: Mat, type: Int) = MatInfo(mat.rows(), mat.cols(), type)
|
||||||
|
}
|
||||||
|
fun create(): Mat = Mat(rows, cols, type)
|
||||||
|
}
|
||||||
|
|
||||||
|
private val histMatInfo = MatInfo(256, 1, CvType.CV_32FC1)
|
||||||
|
private val predefinedChannels = listOf(16, 24, 64, 128)
|
||||||
|
private val matPoolsToCreate = listOf(
|
||||||
|
MatInfo(32, 32, CvType.CV_8UC1) to Runtime.getRuntime().availableProcessors() * 4,
|
||||||
|
histMatInfo to Runtime.getRuntime().availableProcessors() * 4,
|
||||||
|
) + predefinedChannels.map {
|
||||||
|
MatInfo(it, it, CvType.CV_8UC1) to Runtime.getRuntime().availableProcessors() * 2
|
||||||
|
}
|
||||||
|
|
||||||
|
object CvContext {
|
||||||
|
lateinit var gaussianKernel: Mat
|
||||||
|
lateinit var histChannelPar: MatOfInt
|
||||||
|
lateinit var histSizePar: MatOfInt
|
||||||
|
lateinit var histRangesPar: MatOfFloat
|
||||||
|
lateinit var matPools: HashMap<MatInfo, MatPool>
|
||||||
|
|
||||||
|
fun initialize() {
|
||||||
|
System.loadLibrary(Core.NATIVE_LIBRARY_NAME)
|
||||||
|
this.gaussianKernel = Imgproc.getGaussianKernel(GAUSSIAN_KERNEL_SIZE, -1.0)
|
||||||
|
this.histChannelPar = MatOfInt(0)
|
||||||
|
this.histSizePar = MatOfInt(HIST_SIZE)
|
||||||
|
this.histRangesPar = MatOfFloat(0f, 255f)
|
||||||
|
this.matPools = matPoolsToCreate.associateTo(HashMap()) { (matInfo, capacity) ->
|
||||||
|
matInfo to MatPool(matInfo, capacity)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> withGrayCalcHist(image: Mat, mask: Mat, block: (Mat) -> T): T = withMat(histMatInfo) { hist ->
|
||||||
|
Imgproc.calcHist(
|
||||||
|
/* images = */ listOf(image),
|
||||||
|
/* channels = */ histChannelPar,
|
||||||
|
/* mask = */ mask,
|
||||||
|
/* hist = */ hist,
|
||||||
|
/* histSize = */ histSizePar,
|
||||||
|
/* ranges = */ histRangesPar,
|
||||||
|
)
|
||||||
|
block(hist)
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> withRotationMatrix(angle: Double, center: Point, block: (Mat) -> T): T =
|
||||||
|
Imgproc.getRotationMatrix2D(
|
||||||
|
/* center = */ center,
|
||||||
|
/* angle = */ Math.toDegrees(angle),
|
||||||
|
/* scale = */ 1.0,
|
||||||
|
).letAutoclean(block)
|
||||||
|
|
||||||
|
class MatPool(
|
||||||
|
private val info: MatInfo,
|
||||||
|
capacity: Int,
|
||||||
|
) : DefaultPool<Mat>(capacity) {
|
||||||
|
override fun produceInstance(): Mat = info.create()
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> withMat(matInfo: MatInfo, block: (Mat) -> T): T {
|
||||||
|
val upperMatInfo = if (matInfo.type == CvType.CV_8UC1) {
|
||||||
|
predefinedChannels.find { matInfo.rows <= it && matInfo.cols <= it }
|
||||||
|
?.let { MatInfo(it, it, CvType.CV_8UC1) }
|
||||||
|
?: matInfo
|
||||||
|
} else matInfo
|
||||||
|
return if (matPools.containsKey(upperMatInfo)) {
|
||||||
|
val pool = matPools[upperMatInfo]!!
|
||||||
|
val mat = pool.borrow()
|
||||||
|
autoclean(mat, { pool.recycle(mat) }, block)
|
||||||
|
} else {
|
||||||
|
println("Not pooled: $matInfo")
|
||||||
|
matInfo.create().letAutoclean(block)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal fun recycle(image: Mat) = matPools[MatInfo.from(image)]?.recycle(image) ?: image.release()
|
||||||
|
|
||||||
|
internal suspend fun readAndConvertImage(imagePath: Path): Pair<Mat, Mat> {
|
||||||
|
val displayImage = withContext(Dispatchers.IO) {
|
||||||
|
Imgcodecs.imread(imagePath.toString())
|
||||||
|
} ?: throw RuntimeException("Could not load image from $imagePath")
|
||||||
|
println("Loaded image $imagePath as $displayImage")
|
||||||
|
val matInfo = MatInfo(displayImage.rows(), displayImage.cols(), CvType.CV_8UC1)
|
||||||
|
val image = matPools.computeIfAbsent(matInfo) {
|
||||||
|
MatPool(matInfo, Runtime.getRuntime().availableProcessors())
|
||||||
|
}.borrow()
|
||||||
|
Imgproc.cvtColor(displayImage, image, Imgproc.COLOR_BGR2GRAY)
|
||||||
|
return displayImage to image
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <V, T> autoclean(obj: V, release: () -> Unit, block: (V) -> T): T =
|
||||||
|
runCatching { block(obj) }.also { release() }.getOrThrow()
|
||||||
|
|
||||||
|
internal inline fun <T> Mat.letAutoclean(block: (Mat) -> T): T =
|
||||||
|
autoclean(this, this::release, block)
|
||||||
|
|
||||||
|
internal inline fun <T> withTmpMat(block: (tmp: Mat) -> T): T = Mat().letAutoclean(block)
|
||||||
|
|
@ -0,0 +1,24 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import org.opencv.core.Mat
|
||||||
|
|
||||||
|
interface DimensionProvider {
|
||||||
|
val minX: Int
|
||||||
|
val maxX: Int
|
||||||
|
val minY: Int
|
||||||
|
val maxY: Int
|
||||||
|
}
|
||||||
|
|
||||||
|
class CroppingDimensionProvider(lines: List<Line>) : DimensionProvider {
|
||||||
|
override val minX: Int = lines.minOf { it.first.x }
|
||||||
|
override val maxX: Int = lines.maxOf { it.second.x }
|
||||||
|
override val minY: Int = lines.first().first.y
|
||||||
|
override val maxY: Int = lines.last().first.y
|
||||||
|
}
|
||||||
|
|
||||||
|
class ImageDimensionProvider(image: Mat) : DimensionProvider {
|
||||||
|
override val minX: Int = 0
|
||||||
|
override val maxX: Int = image.cols() - 1
|
||||||
|
override val minY: Int = 0
|
||||||
|
override val maxY: Int = image.rows() - 1
|
||||||
|
}
|
||||||
73
src/main/kotlin/network/rs485/ben/computervision/Entity.kt
Normal file
73
src/main/kotlin/network/rs485/ben/computervision/Entity.kt
Normal file
|
|
@ -0,0 +1,73 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlinx.coroutines.coroutineScope
|
||||||
|
import kotlinx.coroutines.delay
|
||||||
|
import kotlinx.coroutines.launch
|
||||||
|
import org.opencv.core.Mat
|
||||||
|
import org.opencv.core.Scalar
|
||||||
|
import java.util.*
|
||||||
|
|
||||||
|
class Entity {
|
||||||
|
val lines: TreeSet<Line> = sortedSetOf(comparator = LineComparator)
|
||||||
|
|
||||||
|
fun color(color: Scalar, image: Mat) {
|
||||||
|
lines.forEach {
|
||||||
|
image.drawLine(it, color)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fun merge(other: Entity) {
|
||||||
|
lines.addAll(other.lines)
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun equals(other: Any?): Boolean {
|
||||||
|
return this === other || other is Entity && lines == other.lines
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun hashCode(): Int {
|
||||||
|
return lines.hashCode()
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun toString(): String {
|
||||||
|
return "Entity(${lines.joinToString(limit = 3) { "${it.first} -- ${it.second}" }})"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fun MutableList<Entity>.merge(entity: Entity) {
|
||||||
|
val toMerge = mutableSetOf<Entity>()
|
||||||
|
entity.lines.forEach { line ->
|
||||||
|
toMerge.addAll(this.filter { otherEntity ->
|
||||||
|
otherEntity.lines.any(line::intersects)
|
||||||
|
})
|
||||||
|
}
|
||||||
|
if (toMerge.size == 0) {
|
||||||
|
add(entity)
|
||||||
|
} else {
|
||||||
|
val retainedEntity = toMerge.first()
|
||||||
|
retainedEntity.merge(entity)
|
||||||
|
toMerge.forEach {
|
||||||
|
if (it !== retainedEntity) {
|
||||||
|
this.remove(it)
|
||||||
|
retainedEntity.merge(it)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
suspend fun MutableList<Entity>.colorRanged(
|
||||||
|
start: Scalar,
|
||||||
|
end: Scalar,
|
||||||
|
image: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
) = coroutineScope {
|
||||||
|
if (size == 0) return@coroutineScope
|
||||||
|
if (size == 1) get(0).color(start, image)
|
||||||
|
val direction = (end - start) * (1.0 / (size - 1))
|
||||||
|
forEachIndexed { index, entity ->
|
||||||
|
entity.color(start + (direction * index.toDouble()), image)
|
||||||
|
launch {
|
||||||
|
windowMgr.updateImage(image)
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,194 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlinx.coroutines.ExperimentalCoroutinesApi
|
||||||
|
import kotlinx.coroutines.coroutineScope
|
||||||
|
import kotlinx.coroutines.delay
|
||||||
|
import kotlinx.coroutines.flow.*
|
||||||
|
import kotlinx.coroutines.launch
|
||||||
|
import kotlinx.coroutines.sync.Mutex
|
||||||
|
import kotlinx.coroutines.sync.withLock
|
||||||
|
import org.opencv.core.Mat
|
||||||
|
|
||||||
|
class EntityScanner(private val animate: Boolean, private val scanBarSpacing: Int, private val foregroundThreshold: Float) {
|
||||||
|
|
||||||
|
private fun Mat.isValid(row: Int, column: Int): Boolean =
|
||||||
|
(this[row, column]?.getOrNull(0) ?: 255.0) < foregroundThreshold
|
||||||
|
|
||||||
|
private fun Mat.isValid(point: Pixel): Boolean =
|
||||||
|
(this[point]?.getOrNull(0) ?: 255.0) < foregroundThreshold
|
||||||
|
|
||||||
|
suspend fun scanImage(image: Mat, displayImage: Mat, windowMgr: IWindowManager) = coroutineScope {
|
||||||
|
val entities = mutableListOf<Entity>()
|
||||||
|
val mergeMutex = Mutex()
|
||||||
|
lineScan(image, displayImage, windowMgr)
|
||||||
|
.map { line ->
|
||||||
|
lineGrowToEntityDown(line, image, displayImage, windowMgr).also { entity ->
|
||||||
|
// add missing upper parts of all entities
|
||||||
|
lineGrowToEntityUp(line, image, displayImage, windowMgr, entity)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
.collect {
|
||||||
|
mergeMutex.withLock {
|
||||||
|
entities.merge(it)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
entities.removeIf { it.lines.size < 6 }
|
||||||
|
if (animate) {
|
||||||
|
entities.colorRanged(COLOR_GREEN, COLOR_RED, displayImage, windowMgr)
|
||||||
|
windowMgr.updateImage(displayImage)
|
||||||
|
}
|
||||||
|
return@coroutineScope entities
|
||||||
|
}
|
||||||
|
|
||||||
|
@OptIn(ExperimentalCoroutinesApi::class)
|
||||||
|
private suspend fun lineScan(
|
||||||
|
image: Mat,
|
||||||
|
displayImage: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
) = channelFlow {
|
||||||
|
coroutineScope {
|
||||||
|
for (i in 0 until image.height().div(scanBarSpacing)) {
|
||||||
|
launch {
|
||||||
|
val lineNumber = i * scanBarSpacing
|
||||||
|
var start = Pixel(0, lineNumber)
|
||||||
|
var end = Pixel(image.width() - 1, lineNumber)
|
||||||
|
if (animate) {
|
||||||
|
displayImage.drawLine(Line(start, end), COLOR_RED)
|
||||||
|
launch {
|
||||||
|
windowMgr.updateImage(displayImage)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
var onEntity = false
|
||||||
|
for (x in 0 until image.width()) {
|
||||||
|
val color = if (image.isValid(lineNumber, x)) {
|
||||||
|
COLOR_GREEN.also {
|
||||||
|
if (!onEntity) {
|
||||||
|
onEntity = true
|
||||||
|
start = Pixel(x, start.y)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
COLOR_BLUE.also {
|
||||||
|
if (onEntity) {
|
||||||
|
onEntity = false
|
||||||
|
send(start to Pixel(x, start.y))
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
end = Pixel(x, end.y)
|
||||||
|
if (animate) {
|
||||||
|
// color the current dot on the line
|
||||||
|
displayImage.put(lineNumber, x, *color.asArray(3))
|
||||||
|
launch {
|
||||||
|
windowMgr.updateImage(displayImage)
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (onEntity) {
|
||||||
|
send(start to Pixel(image.width() - 1, start.y))
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private suspend fun lineGrowToEntityDown(
|
||||||
|
line: Line,
|
||||||
|
image: Mat,
|
||||||
|
displayImage: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
entity: Entity = Entity(),
|
||||||
|
) = lineGrowToEntity(
|
||||||
|
line = line,
|
||||||
|
image = image,
|
||||||
|
displayImage = displayImage,
|
||||||
|
windowMgr = windowMgr,
|
||||||
|
entity = entity,
|
||||||
|
last = (line.first.y + scanBarSpacing - 1).coerceIn(0, image.height() - 1),
|
||||||
|
step = 1,
|
||||||
|
)
|
||||||
|
|
||||||
|
private suspend fun lineGrowToEntityUp(
|
||||||
|
line: Line,
|
||||||
|
image: Mat,
|
||||||
|
displayImage: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
entity: Entity = Entity(),
|
||||||
|
) = lineGrowToEntity(
|
||||||
|
line = line,
|
||||||
|
image = image,
|
||||||
|
displayImage = displayImage,
|
||||||
|
windowMgr = windowMgr,
|
||||||
|
entity = entity,
|
||||||
|
last = (line.first.y - scanBarSpacing + 1).coerceIn(0, image.height() - 1),
|
||||||
|
step = -1,
|
||||||
|
)
|
||||||
|
|
||||||
|
private suspend fun lineGrowToEntity(
|
||||||
|
line: Line,
|
||||||
|
image: Mat,
|
||||||
|
displayImage: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
entity: Entity,
|
||||||
|
last: Int,
|
||||||
|
step: Int,
|
||||||
|
): Entity = coroutineScope {
|
||||||
|
assert(step != 0)
|
||||||
|
|
||||||
|
suspend fun lineFound(foundLine: Line) {
|
||||||
|
assert(foundLine.first.x >= 0)
|
||||||
|
assert(foundLine.first.y >= 0)
|
||||||
|
assert(foundLine.first.x <= foundLine.second.x)
|
||||||
|
assert(foundLine.first.y == foundLine.second.y)
|
||||||
|
entity.lines.add(foundLine)
|
||||||
|
if (animate) {
|
||||||
|
displayImage.drawLine(foundLine, COLOR_YELLOW)
|
||||||
|
launch {
|
||||||
|
windowMgr.updateImage(displayImage)
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
lineFound(line)
|
||||||
|
|
||||||
|
suspend fun lineGrowRecursion(foundLine: Line) {
|
||||||
|
lineFound(foundLine)
|
||||||
|
if (step > 0 && foundLine.first.y <= last || step < 0 && foundLine.first.y >= last) {
|
||||||
|
lineGrowToEntity(
|
||||||
|
line = foundLine,
|
||||||
|
image = image,
|
||||||
|
displayImage = displayImage,
|
||||||
|
windowMgr = windowMgr,
|
||||||
|
entity = entity,
|
||||||
|
last = last,
|
||||||
|
step = step,
|
||||||
|
)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
var start = Pixel(line.first.x, line.first.y + step)
|
||||||
|
if (start.y < 0 || start.y >= image.height()) return@coroutineScope entity
|
||||||
|
val row = start.y
|
||||||
|
fun IntProgression.lastValid() = takeWhile { image.isValid(row, it) }.last()
|
||||||
|
var end = start
|
||||||
|
if (image.isValid(start)) {
|
||||||
|
start = Pixel(line.first.x.downTo(0).lastValid(), start.y)
|
||||||
|
end = Pixel(line.first.x.until(image.width()).lastValid(), end.y)
|
||||||
|
lineGrowRecursion(start to end)
|
||||||
|
}
|
||||||
|
var next = end.x + 2
|
||||||
|
while (next <= line.second.x) {
|
||||||
|
if (image.isValid(row, next)) {
|
||||||
|
start = Pixel(end.x + 2, start.y)
|
||||||
|
end = Pixel(next.until(image.width()).lastValid(), start.y)
|
||||||
|
lineGrowRecursion(start to end)
|
||||||
|
next = end.x + 2
|
||||||
|
} else {
|
||||||
|
++next
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return@coroutineScope entity
|
||||||
|
}
|
||||||
|
}
|
||||||
120
src/main/kotlin/network/rs485/ben/computervision/Golden.kt
Normal file
120
src/main/kotlin/network/rs485/ben/computervision/Golden.kt
Normal file
|
|
@ -0,0 +1,120 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlinx.coroutines.CoroutineScope
|
||||||
|
import kotlinx.coroutines.launch
|
||||||
|
import org.opencv.core.*
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
import java.nio.file.Path
|
||||||
|
import kotlin.math.roundToInt
|
||||||
|
|
||||||
|
internal const val DISTANCE_DEVIATION: Double = 1.0
|
||||||
|
internal const val DISTANCE_STEP = 0.5
|
||||||
|
internal const val DILATION_SIZE = 1.0
|
||||||
|
|
||||||
|
fun interface DeviationFunction {
|
||||||
|
fun calculate(level: Int, value: Double): Double
|
||||||
|
}
|
||||||
|
|
||||||
|
data class DeviationParameters(val deviationMin: Int, val deviationFunc: DeviationFunction, val maximumDeviation: Double) {
|
||||||
|
val deviationRange = deviationMin until HIST_SIZE
|
||||||
|
}
|
||||||
|
|
||||||
|
class Golden(
|
||||||
|
val goldenName: String,
|
||||||
|
val goldenColor: Scalar,
|
||||||
|
entity: Entity,
|
||||||
|
val image: Mat,
|
||||||
|
val displayImage: Mat,
|
||||||
|
val windowManager: IWindowManager,
|
||||||
|
val deviationParameters: DeviationParameters,
|
||||||
|
) : IdentifiableEntity(entity, ImageDimensionProvider(image)) {
|
||||||
|
companion object {
|
||||||
|
suspend fun createGolden(
|
||||||
|
parentScope: CoroutineScope,
|
||||||
|
scanner: EntityScanner,
|
||||||
|
goldenName: String,
|
||||||
|
goldenPath: Path,
|
||||||
|
goldenColor: Scalar,
|
||||||
|
deviationParameters: DeviationParameters,
|
||||||
|
): Golden {
|
||||||
|
val windowMgr = WINDOW_MANAGER_FACTORY.createWindowManager(goldenName)
|
||||||
|
val (displayImage, image) = CvContext.readAndConvertImage(goldenPath)
|
||||||
|
parentScope.launch {
|
||||||
|
windowMgr.display(displayImage)
|
||||||
|
}
|
||||||
|
windowMgr.setDimension(256, 256)
|
||||||
|
val entity =
|
||||||
|
scanner.scanImage(image, displayImage, windowMgr)
|
||||||
|
.takeIf { it.size == 1 }
|
||||||
|
?.get(0)
|
||||||
|
?: throw RuntimeException("Cannot find $goldenName in golden image")
|
||||||
|
val golden = Golden(
|
||||||
|
goldenName = goldenName,
|
||||||
|
goldenColor = goldenColor,
|
||||||
|
entity = entity,
|
||||||
|
image = image,
|
||||||
|
displayImage = displayImage,
|
||||||
|
windowManager = windowMgr,
|
||||||
|
deviationParameters = deviationParameters,
|
||||||
|
)
|
||||||
|
golden.distanceMat.copyToColor(displayImage)
|
||||||
|
parentScope.launch {
|
||||||
|
golden.updateImage()
|
||||||
|
}
|
||||||
|
return golden
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
val orientation: Line = run {
|
||||||
|
val midX = minMaxDistance.maxLoc.x.roundToInt()
|
||||||
|
val midY = minMaxDistance.maxLoc.y.roundToInt()
|
||||||
|
val midRounded = Pixel(midX, midY)
|
||||||
|
if (minMaxDistance.maxLoc != midRounded.vec2D()) println("${minMaxDistance.maxLoc} != ${midRounded.vec2D()}")
|
||||||
|
transformedLines.filter { it.first.y >= midY }
|
||||||
|
.flatMap { (first, second) -> listOf(first, second) }
|
||||||
|
.map { startPixel ->
|
||||||
|
val endPixel = entityMask.searchGreatest(
|
||||||
|
center = midRounded,
|
||||||
|
direction = (midRounded - startPixel).vec2D().normalize(),
|
||||||
|
searchRange = (0..(cols + rows)) // use distance step?
|
||||||
|
) ?: throw RuntimeException(
|
||||||
|
"Could not find any border for $goldenName center $midRounded in $entityMask:\n" +
|
||||||
|
entityMask.dump()
|
||||||
|
)
|
||||||
|
startPixel to endPixel
|
||||||
|
}
|
||||||
|
.maxByOrNull { it.vec2D().magnitude }
|
||||||
|
?: throw IllegalStateException("Could not find orientation for $goldenName")
|
||||||
|
}
|
||||||
|
|
||||||
|
val orientationRadius = orientation.vec2D().magnitude / 2.0
|
||||||
|
|
||||||
|
val entityMaskDilated: Mat = Mat(rows, cols, entityMask.type()).also { dest ->
|
||||||
|
val dilationKernel = Imgproc.getStructuringElement(
|
||||||
|
/* shape = */ Imgproc.MORPH_ELLIPSE,
|
||||||
|
/* ksize = */ Size(2 * DILATION_SIZE + 1, 2 * DILATION_SIZE + 1),
|
||||||
|
)
|
||||||
|
Imgproc.dilate(entityMask, dest, dilationKernel)
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> withCentrumMask(identity: IdentifiableEntity, block: (Mat) -> T): T =
|
||||||
|
CvContext.withMat(MatInfo(identity.rows, identity.cols, CvType.CV_8UC1)) { maskMat ->
|
||||||
|
Core.inRange(
|
||||||
|
/* src = */ identity.distanceMat,
|
||||||
|
/* lowerb = */ Scalar(minMaxDistance.maxVal.minus(DISTANCE_DEVIATION)),
|
||||||
|
/* upperb = */ Scalar(minMaxDistance.maxVal.plus(DISTANCE_DEVIATION)),
|
||||||
|
/* dst = */ maskMat,
|
||||||
|
)
|
||||||
|
block(maskMat)
|
||||||
|
}
|
||||||
|
|
||||||
|
suspend fun updateImage() = windowManager.updateImage(displayImage)
|
||||||
|
|
||||||
|
override fun release() {
|
||||||
|
super.release()
|
||||||
|
entityMaskDilated.release()
|
||||||
|
windowManager.dispose()
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun toString(): String = "Golden($goldenName)"
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,55 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import org.opencv.core.*
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
|
||||||
|
open class IdentifiableEntity(
|
||||||
|
entity: Entity,
|
||||||
|
private val dimensionProvider: DimensionProvider = CroppingDimensionProvider(entity.lines.toList()),
|
||||||
|
) {
|
||||||
|
companion object {
|
||||||
|
const val DIST_TRANSFORM_MASK_SIZE: Int = 3
|
||||||
|
|
||||||
|
// DIST_L2 is the simple euclidean distances
|
||||||
|
const val DIST_TRANSFORM_FUNC = Imgproc.DIST_L2
|
||||||
|
}
|
||||||
|
|
||||||
|
val rows: Int = dimensionProvider.maxY - dimensionProvider.minY + 1
|
||||||
|
val cols: Int = dimensionProvider.maxX - dimensionProvider.minX + 1
|
||||||
|
val rect: Rect
|
||||||
|
get() = Rect(dimensionProvider.minX, dimensionProvider.minY, cols, rows)
|
||||||
|
val lines = entity.lines.toList()
|
||||||
|
val transformedLines = lines.map {
|
||||||
|
transformPixel(it.first) to transformPixel(it.second)
|
||||||
|
}
|
||||||
|
val entityMask: Mat = Mat(rows, cols, CvType.CV_8UC1).also { maskMat ->
|
||||||
|
maskMat.setTo(COLOR_BLACK)
|
||||||
|
transformedColor(COLOR_WHITE, maskMat)
|
||||||
|
}
|
||||||
|
val distanceMat: Mat = Mat(rows, cols, CvType.CV_32FC1).also { distanceMat ->
|
||||||
|
Imgproc.distanceTransform(entityMask, distanceMat, DIST_TRANSFORM_FUNC, DIST_TRANSFORM_MASK_SIZE)
|
||||||
|
}
|
||||||
|
val minMaxDistance: Core.MinMaxLocResult by lazy { Core.minMaxLoc(distanceMat, entityMask) }
|
||||||
|
|
||||||
|
fun transformedColor(color: Scalar, image: Mat) {
|
||||||
|
transformedLines.forEach {
|
||||||
|
image.drawLine(it, color)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fun transformPixel(pixel: Pixel) = Pixel(pixel.x - dimensionProvider.minX, pixel.y - dimensionProvider.minY)
|
||||||
|
|
||||||
|
open fun release() {
|
||||||
|
entityMask.release()
|
||||||
|
distanceMat.release()
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun toString(): String {
|
||||||
|
return "IdentifiableEntity($rect)"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> withIdEntity(entity: Entity, block: (identity: IdentifiableEntity) -> T): T =
|
||||||
|
IdentifiableEntity(entity).let { identity ->
|
||||||
|
autoclean(identity, identity::release, block)
|
||||||
|
}
|
||||||
111
src/main/kotlin/network/rs485/ben/computervision/Math2D.kt
Normal file
111
src/main/kotlin/network/rs485/ben/computervision/Math2D.kt
Normal file
|
|
@ -0,0 +1,111 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import org.opencv.core.*
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
import kotlin.math.pow
|
||||||
|
import kotlin.math.roundToInt
|
||||||
|
import kotlin.math.sqrt
|
||||||
|
|
||||||
|
internal typealias Pixel = Pair<Int, Int>
|
||||||
|
internal typealias Line = Pair<Pixel, Pixel>
|
||||||
|
|
||||||
|
internal val Pixel.x: Int
|
||||||
|
get() = first
|
||||||
|
|
||||||
|
internal val Pixel.y: Int
|
||||||
|
get() = second
|
||||||
|
|
||||||
|
internal operator fun Pixel.plus(other: Pixel): Pixel = Pixel(x + other.x, y + other.y)
|
||||||
|
|
||||||
|
internal operator fun Pixel.minus(other: Pixel): Pixel = Pixel(x - other.x, y - other.y)
|
||||||
|
|
||||||
|
internal operator fun Mat.get(pixel: Pixel): DoubleArray? =
|
||||||
|
get(/* row = */ pixel.y, /* col = */ pixel.x)
|
||||||
|
|
||||||
|
fun Point.rounded(): Pixel = x.roundToInt() to y.roundToInt()
|
||||||
|
|
||||||
|
internal operator fun Mat.get(point: Point): DoubleArray? =
|
||||||
|
get(/* row = */ point.y.toInt(), /* col = */ point.x.toInt())
|
||||||
|
|
||||||
|
class Vector2D(x: Double, y: Double) : Point(x, y) {
|
||||||
|
val magnitude: Double
|
||||||
|
get() = sqrt(x.pow(2.0) + y.pow(2.0))
|
||||||
|
|
||||||
|
constructor(other: Point) : this(other.x, other.y)
|
||||||
|
|
||||||
|
fun normalize() = apply {
|
||||||
|
magnitude.let {
|
||||||
|
x /= it
|
||||||
|
y /= it
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
operator fun times(factor: Double): Vector2D = Vector2D(x * factor, y * factor)
|
||||||
|
|
||||||
|
operator fun div(divider: Double): Vector2D = Vector2D(x / divider, y / divider)
|
||||||
|
|
||||||
|
operator fun plus(point: Point) = Vector2D(x + point.x, y + point.y)
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
@JvmName("pixelToVec2D")
|
||||||
|
internal fun Pixel.vec2D(): Vector2D = Vector2D(x.toDouble(), y.toDouble())
|
||||||
|
|
||||||
|
@JvmName("lineToVec2D")
|
||||||
|
internal fun Line.vec2D(): Vector2D = Vector2D((second.x - first.x).toDouble(), (second.y - first.y).toDouble())
|
||||||
|
|
||||||
|
internal object LineComparator : Comparator<Line> {
|
||||||
|
override fun compare(line1: Line, line2: Line): Int {
|
||||||
|
assert(line1.first.y == line1.second.y)
|
||||||
|
assert(line2.first.y == line2.second.y)
|
||||||
|
val rowCompare = line1.first.y.compareTo(line2.first.y)
|
||||||
|
if (rowCompare != 0) return rowCompare
|
||||||
|
val lineStartCompare = line1.first.x.compareTo(line2.first.x)
|
||||||
|
if (lineStartCompare != 0) return lineStartCompare
|
||||||
|
return line1.second.x.compareTo(line2.second.x)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal fun Line.intersects(other: Line): Boolean {
|
||||||
|
assert(first.y == second.y)
|
||||||
|
assert(other.first.y == other.second.y)
|
||||||
|
if (first.y != other.first.y) return false
|
||||||
|
if (first.x == other.first.x) return true
|
||||||
|
return if (first.x < other.first.x) {
|
||||||
|
second.x >= other.first.x
|
||||||
|
} else {
|
||||||
|
other.second.x >= first.x
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal fun Mat.drawLine(line: Line, color: Scalar) = Imgproc.line(
|
||||||
|
/* img = */ this,
|
||||||
|
/* pt1 = */ line.first.vec2D(),
|
||||||
|
/* pt2 = */ line.second.vec2D(),
|
||||||
|
/* color = */ color,
|
||||||
|
)
|
||||||
|
|
||||||
|
internal fun Mat.filterPixels(filterFunc: (value: DoubleArray) -> Boolean): List<Pixel> =
|
||||||
|
(0 until rows()).flatMap { row ->
|
||||||
|
(0 until cols())
|
||||||
|
.filter { col -> filterFunc(get(row, col)) }
|
||||||
|
.map { col -> Pixel(col, row) }
|
||||||
|
}
|
||||||
|
|
||||||
|
internal fun Mat.sumOfHist(
|
||||||
|
indices: IntRange,
|
||||||
|
maximum: Double,
|
||||||
|
mapFunc: (level: Int, value: Double) -> Double,
|
||||||
|
): Double {
|
||||||
|
var sum: Double = 0.toDouble()
|
||||||
|
for (idx in indices) {
|
||||||
|
sum += mapFunc(idx, get(idx, 0)[0])
|
||||||
|
if (sum > maximum) break
|
||||||
|
}
|
||||||
|
return sum
|
||||||
|
}
|
||||||
|
|
||||||
|
fun <T : Number> Mat.searchGreatest(center: Pixel, direction: Vector2D, searchRange: Iterable<T>): Pixel? =
|
||||||
|
searchRange.map { factor: Number -> (direction * factor.toDouble()).rounded() + center }
|
||||||
|
.filter { it.x in (0 until width()) && it.y in (0 until height()) }
|
||||||
|
.lastOrNull { pixel -> get(pixel)?.let { it[0] > 0 } ?: false }
|
||||||
|
|
@ -0,0 +1,129 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlinx.coroutines.*
|
||||||
|
import org.opencv.core.Mat
|
||||||
|
import org.opencv.highgui.HighGui
|
||||||
|
import org.opencv.highgui.ImageWindow
|
||||||
|
import java.awt.event.KeyEvent
|
||||||
|
import java.awt.event.KeyListener
|
||||||
|
import java.awt.event.WindowAdapter
|
||||||
|
import java.awt.event.WindowEvent
|
||||||
|
import java.awt.image.BufferedImage
|
||||||
|
import java.util.concurrent.atomic.AtomicInteger
|
||||||
|
import javax.swing.ImageIcon
|
||||||
|
import javax.swing.JLabel
|
||||||
|
import kotlin.system.exitProcess
|
||||||
|
|
||||||
|
val DEFAULT_WINDOW_MANAGER_FACTORY = WindowManagerFactory(::WindowManager)
|
||||||
|
val NOOP_WINDOW_MANAGER_FACTORY = WindowManagerFactory { NoopWindowManager }
|
||||||
|
|
||||||
|
fun interface WindowManagerFactory {
|
||||||
|
fun createWindowManager(windowName: String): IWindowManager
|
||||||
|
}
|
||||||
|
|
||||||
|
interface IWindowManager {
|
||||||
|
suspend fun display(img: Mat)
|
||||||
|
suspend fun updateImage(img: Mat)
|
||||||
|
fun dispose()
|
||||||
|
fun setDimension(width: Int, height: Int)
|
||||||
|
}
|
||||||
|
|
||||||
|
private object NoopWindowManager : IWindowManager {
|
||||||
|
override suspend fun display(img: Mat) = Unit
|
||||||
|
override suspend fun updateImage(img: Mat) = Unit
|
||||||
|
override fun dispose() = Unit
|
||||||
|
override fun setDimension(width: Int, height: Int) = Unit
|
||||||
|
}
|
||||||
|
|
||||||
|
private class WindowManager(windowName: String) : IWindowManager {
|
||||||
|
private var updateState: AtomicInteger = AtomicInteger(2)
|
||||||
|
private var disposeDeferred: CompletableDeferred<Unit>? = null
|
||||||
|
private val window: ImageWindow = ImageWindow(windowName, 0)
|
||||||
|
|
||||||
|
override suspend fun display(img: Mat) = withContext(Dispatchers.Main) {
|
||||||
|
if (disposeDeferred != null) {
|
||||||
|
throw IllegalStateException("A window is already shown")
|
||||||
|
}
|
||||||
|
window.setMat(img)
|
||||||
|
window.show()
|
||||||
|
updateState.set(0)
|
||||||
|
val deferred = CompletableDeferred<Unit>()
|
||||||
|
disposeDeferred = deferred
|
||||||
|
try {
|
||||||
|
window.frame.addWindowListener(object : WindowAdapter() {
|
||||||
|
override fun windowClosed(e: WindowEvent?) {
|
||||||
|
deferred.cancel("Window closed")
|
||||||
|
}
|
||||||
|
})
|
||||||
|
window.frame.addKeyListener(object : KeyListener {
|
||||||
|
override fun keyTyped(e: KeyEvent) {}
|
||||||
|
|
||||||
|
override fun keyPressed(e: KeyEvent) {}
|
||||||
|
|
||||||
|
override fun keyReleased(e: KeyEvent) {
|
||||||
|
if (e.keyCode == KeyEvent.VK_ESCAPE) {
|
||||||
|
deferred.cancel("Escape pressed")
|
||||||
|
}
|
||||||
|
}
|
||||||
|
})
|
||||||
|
deferred.await()
|
||||||
|
} finally {
|
||||||
|
disposeDeferred = null
|
||||||
|
window.dispose()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
override suspend fun updateImage(img: Mat) {
|
||||||
|
window.setMat(img)
|
||||||
|
val state = updateState.getAndUpdate { it.plus(1).coerceAtMost(3) }
|
||||||
|
if (state == 3) return
|
||||||
|
withContext(Dispatchers.Main) {
|
||||||
|
updateState.updateAndGet { it.minus(1).coerceAtLeast(0) }
|
||||||
|
window.show()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun dispose() {
|
||||||
|
disposeDeferred?.complete(Unit)
|
||||||
|
}
|
||||||
|
|
||||||
|
override fun setDimension(width: Int, height: Int) = window.setNewDimension(width, height)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @see org.opencv.highgui.HighGui.waitKey(Int)
|
||||||
|
*/
|
||||||
|
private fun ImageWindow.show() {
|
||||||
|
if (img != null) {
|
||||||
|
val bufferedImage = try {
|
||||||
|
HighGui.toBufferedImage(img)
|
||||||
|
} catch (error: UnsupportedOperationException) {
|
||||||
|
System.err.println("Cannot show image ($img) in window ${window.name}: ${error.message}")
|
||||||
|
BufferedImage(img.width(), img.height(), BufferedImage.TYPE_INT_RGB).also {
|
||||||
|
for (y in 0 until it.height) {
|
||||||
|
if (y % 2 == 1) {
|
||||||
|
for (x in 0 until it.width) {
|
||||||
|
it.setRGB(x, y, 0xff00ff)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
val imageIcon = ImageIcon(bufferedImage)
|
||||||
|
if (lbl == null) {
|
||||||
|
val frame = HighGui.createJFrame(name, flag)
|
||||||
|
val lbl = JLabel(imageIcon)
|
||||||
|
setFrameLabelVisible(frame, lbl)
|
||||||
|
} else {
|
||||||
|
lbl.icon = imageIcon
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
System.err.println("Error: no imshow associated with namedWindow: \"$name\"")
|
||||||
|
exitProcess(-1)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private fun ImageWindow.dispose() {
|
||||||
|
frame.dispose()
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
481
src/main/kotlin/network/rs485/ben/computervision/main.kt
Normal file
481
src/main/kotlin/network/rs485/ben/computervision/main.kt
Normal file
|
|
@ -0,0 +1,481 @@
|
||||||
|
@file:OptIn(FlowPreview::class, ExperimentalCoroutinesApi::class)
|
||||||
|
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlinx.coroutines.*
|
||||||
|
import kotlinx.coroutines.channels.Channel
|
||||||
|
import kotlinx.coroutines.channels.ProducerScope
|
||||||
|
import kotlinx.coroutines.flow.*
|
||||||
|
import org.opencv.core.*
|
||||||
|
import org.opencv.imgproc.Imgproc
|
||||||
|
import java.io.FileNotFoundException
|
||||||
|
import java.nio.file.FileSystemNotFoundException
|
||||||
|
import java.nio.file.Path
|
||||||
|
import java.nio.file.Paths
|
||||||
|
import java.util.concurrent.ConcurrentHashMap
|
||||||
|
import java.util.concurrent.Executors
|
||||||
|
import java.util.concurrent.atomic.AtomicBoolean
|
||||||
|
import java.util.concurrent.atomic.AtomicInteger
|
||||||
|
import kotlin.io.path.*
|
||||||
|
import kotlin.math.acos
|
||||||
|
import kotlin.system.exitProcess
|
||||||
|
import kotlin.time.Duration
|
||||||
|
import kotlin.time.Duration.Companion.seconds
|
||||||
|
|
||||||
|
internal const val HIST_SIZE = 256
|
||||||
|
internal const val FOREGROUND_THRESHOLD = 120.0f
|
||||||
|
internal const val GAUSSIAN_KERNEL_SIZE = 3
|
||||||
|
internal val COROUTINE_BUFFER_SIZE = System.getProperties().getProperty("cv.coroutines.buffer.size", "4").toInt()
|
||||||
|
internal val MAXIMUM_PARALLEL_IMAGES = System.getProperties().getProperty("cv.images.buffer.size", "1").toInt()
|
||||||
|
//internal val ANIMATION_DELAY: Duration = 100.milliseconds
|
||||||
|
internal val ANIMATION_DELAY: Duration = Duration.ZERO
|
||||||
|
//internal val WINDOW_MANAGER_FACTORY = DEFAULT_WINDOW_MANAGER_FACTORY
|
||||||
|
internal val WINDOW_MANAGER_FACTORY = NOOP_WINDOW_MANAGER_FACTORY
|
||||||
|
private val SINGLE_DISPATCHER = Executors.newSingleThreadExecutor().asCoroutineDispatcher()
|
||||||
|
|
||||||
|
internal object Resource {
|
||||||
|
fun getPath(name: String): Path {
|
||||||
|
val path = try {
|
||||||
|
javaClass.getResource("/$name")?.toURI()?.let(Paths::get)
|
||||||
|
} catch (error: FileSystemNotFoundException) {
|
||||||
|
System.err.println("Could not read resource $name, error:\n $error\n using fallback..")
|
||||||
|
null
|
||||||
|
} ?: Paths.get(name).apply {
|
||||||
|
if (!exists()) {
|
||||||
|
throw FileNotFoundException("Cannot find $this on filesystem $fileSystem")
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return path
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
typealias Candidate = Triple<Pixel, Vector2D, Double>
|
||||||
|
|
||||||
|
private suspend fun findGoldenPoI(
|
||||||
|
image: Mat,
|
||||||
|
identity: IdentifiableEntity,
|
||||||
|
golden: Golden,
|
||||||
|
centrumMask: Mat,
|
||||||
|
): List<Pair<Golden, Pair<Pixel, Candidate>>> {
|
||||||
|
val goldenOrientation = golden.orientation.vec2D()
|
||||||
|
val goldenDirection = Vector2D(goldenOrientation).normalize()
|
||||||
|
val searchMag = golden.orientationRadius
|
||||||
|
.let { (it - DISTANCE_DEVIATION..it + DISTANCE_DEVIATION) }
|
||||||
|
val bestCenters = channelFlow bestCenters@{
|
||||||
|
for (center in centrumMask.filterPixels { it[0] > 0.0 }) {
|
||||||
|
launch findCenterDeviation@{
|
||||||
|
val intoGoldSpace = golden.minMaxDistance.maxLoc.rounded() - center
|
||||||
|
val rect = golden.rect.apply {
|
||||||
|
x += identity.rect.x - intoGoldSpace.x
|
||||||
|
y += identity.rect.y - intoGoldSpace.y
|
||||||
|
}
|
||||||
|
if (
|
||||||
|
rect.x < 0 ||
|
||||||
|
rect.y < 0 ||
|
||||||
|
rect.x + rect.width >= image.width() ||
|
||||||
|
rect.y + rect.height >= image.height()
|
||||||
|
) {
|
||||||
|
if (ANIMATION_DELAY.isPositive()) println("Not considering $center for $identity on $golden")
|
||||||
|
return@findCenterDeviation
|
||||||
|
}
|
||||||
|
image.withSubmatSafe(rect) { subImage ->
|
||||||
|
val deviationFlow = channelFlow {
|
||||||
|
suspend fun ProducerScope<Candidate>.emitDeviation(startPixel: Pixel) {
|
||||||
|
val centerStart = center - startPixel
|
||||||
|
if (centerStart == Pixel(0, 0)) return
|
||||||
|
val dirVec = centerStart.vec2D().normalize()
|
||||||
|
val endpix = try {
|
||||||
|
identity.entityMask.searchGreatest(
|
||||||
|
center = center,
|
||||||
|
direction = dirVec,
|
||||||
|
searchRange = searchMag.progression(step = DISTANCE_STEP)
|
||||||
|
)
|
||||||
|
} catch (error: IllegalArgumentException) {
|
||||||
|
System.err.println(
|
||||||
|
"Error when finding greatest magnitude of $center for $identity.\n" +
|
||||||
|
" Values: center = $center, dir = $dirVec, searchMag = $searchMag\n" +
|
||||||
|
" $error"
|
||||||
|
)
|
||||||
|
null
|
||||||
|
} ?: return
|
||||||
|
val angle = acos(dirVec.dot(goldenDirection))
|
||||||
|
val deviation = CvContext.withMat(MatInfo.from(subImage)) { tmp ->
|
||||||
|
subImage.copyTo(tmp)
|
||||||
|
CvContext.withRotationMatrix(
|
||||||
|
angle = angle,
|
||||||
|
center = golden.minMaxDistance.maxLoc,
|
||||||
|
) { intoGoldSpaceRot ->
|
||||||
|
Imgproc.warpAffine(tmp, tmp, intoGoldSpaceRot, tmp.size())
|
||||||
|
}
|
||||||
|
Core.absdiff(golden.image, tmp, tmp)
|
||||||
|
Imgproc.filter2D(tmp, tmp, -1, CvContext.gaussianKernel)
|
||||||
|
CvContext.withGrayCalcHist(
|
||||||
|
image = tmp,
|
||||||
|
mask = golden.entityMaskDilated,
|
||||||
|
) { hist ->
|
||||||
|
hist.sumOfHist(
|
||||||
|
indices = golden.deviationParameters.deviationRange,
|
||||||
|
maximum = golden.deviationParameters.maximumDeviation,
|
||||||
|
mapFunc = golden.deviationParameters.deviationFunc::calculate,
|
||||||
|
)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (deviation <= golden.deviationParameters.maximumDeviation) {
|
||||||
|
send(Candidate(endpix, dirVec, deviation))
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
identity.transformedLines.forEach {
|
||||||
|
launch {
|
||||||
|
emitDeviation(it.first)
|
||||||
|
}
|
||||||
|
launch {
|
||||||
|
emitDeviation(it.second)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
deviationFlow.buffer(COROUTINE_BUFFER_SIZE)
|
||||||
|
.fold(null) { prev: Candidate?, other: Candidate ->
|
||||||
|
when {
|
||||||
|
prev === null -> other
|
||||||
|
prev.third > other.third -> other
|
||||||
|
else -> prev
|
||||||
|
}
|
||||||
|
}
|
||||||
|
?.also { this@bestCenters.send(center to it) }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}.toList().sortedBy { (_, candidate) -> candidate.third }
|
||||||
|
|
||||||
|
// filter all candidates that are too close to each other
|
||||||
|
return bestCenters
|
||||||
|
.filterIndexed { index, (center, _) ->
|
||||||
|
(0 until index).map { bestCenters[it] }
|
||||||
|
.none { (betterCenter, _) ->
|
||||||
|
(betterCenter - center).vec2D().magnitude < golden.orientationRadius
|
||||||
|
}
|
||||||
|
}.map { golden to it }
|
||||||
|
}
|
||||||
|
|
||||||
|
private suspend fun findGoldenPoIAnimate(
|
||||||
|
golden: Golden,
|
||||||
|
distanceMultiplier: Scalar,
|
||||||
|
identity: IdentifiableEntity,
|
||||||
|
centrumMask: Mat,
|
||||||
|
image: Mat,
|
||||||
|
displayImage: Mat,
|
||||||
|
windowMgr: IWindowManager,
|
||||||
|
parentScope: CoroutineScope,
|
||||||
|
): List<Pair<Golden, Pair<Pixel, Candidate>>> {
|
||||||
|
withTmpMat { tmp ->
|
||||||
|
identity.distanceMat.convertTo(tmp, CvType.CV_8U)
|
||||||
|
Core.multiply(tmp, distanceMultiplier, tmp)
|
||||||
|
displayImage.withSubmatSafe(identity.rect) { target ->
|
||||||
|
Imgproc.cvtColor(tmp, tmp, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
tmp.copyTo(target, identity.entityMask)
|
||||||
|
tmp.setTo(COLOR_BLACK)
|
||||||
|
tmp.copyTo(target, centrumMask)
|
||||||
|
Imgproc.cvtColor(centrumMask, tmp, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
Core.multiply(tmp, golden.goldenColor, tmp, 1.0)
|
||||||
|
Core.add(tmp, target, target, centrumMask, CvType.CV_8UC3)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
windowMgr.updateImage(displayImage)
|
||||||
|
delay(ANIMATION_DELAY)
|
||||||
|
return findGoldenPoI(
|
||||||
|
image = image,
|
||||||
|
identity = identity,
|
||||||
|
golden = golden,
|
||||||
|
centrumMask = centrumMask
|
||||||
|
).also { goldenCandidates ->
|
||||||
|
val goldenDirection = Vector2D(golden.orientation.vec2D()).normalize()
|
||||||
|
withContext(SINGLE_DISPATCHER) {
|
||||||
|
withTmpMat { tmp ->
|
||||||
|
withTmpMat { displayTmp ->
|
||||||
|
goldenCandidates.forEach { (golden, centerToCandidate) ->
|
||||||
|
val (center, candidate) = centerToCandidate
|
||||||
|
val intoGoldSpace = golden.minMaxDistance.maxLoc.rounded() - center
|
||||||
|
val rect = golden.rect.apply {
|
||||||
|
x += identity.rect.x - intoGoldSpace.x
|
||||||
|
y += identity.rect.y - intoGoldSpace.y
|
||||||
|
}
|
||||||
|
image.withSubmatSafe(rect) { subImage ->
|
||||||
|
subImage.copyTo(displayTmp)
|
||||||
|
val (endpix, dirVec, deviation) = candidate
|
||||||
|
val wmg = WINDOW_MANAGER_FACTORY.createWindowManager("$golden on ${identity.rect} with $deviation")
|
||||||
|
wmg.setDimension(HIST_SIZE, HIST_SIZE)
|
||||||
|
parentScope.launch {
|
||||||
|
wmg.display(displayTmp)
|
||||||
|
}
|
||||||
|
val angle = acos(dirVec.dot(goldenDirection))
|
||||||
|
subImage.copyTo(tmp)
|
||||||
|
Imgproc.cvtColor(tmp, displayTmp, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
displayTmp.drawLine(
|
||||||
|
golden.minMaxDistance.maxLoc.rounded() to intoGoldSpace + endpix,
|
||||||
|
COLOR_GREEN,
|
||||||
|
)
|
||||||
|
launch {
|
||||||
|
wmg.updateImage(displayTmp)
|
||||||
|
}
|
||||||
|
delay(ANIMATION_DELAY * 1000)
|
||||||
|
CvContext.withRotationMatrix(
|
||||||
|
angle = angle,
|
||||||
|
center = golden.minMaxDistance.maxLoc,
|
||||||
|
) { intoGoldSpaceRot ->
|
||||||
|
Imgproc.warpAffine(tmp, tmp, intoGoldSpaceRot, tmp.size())
|
||||||
|
}
|
||||||
|
Imgproc.cvtColor(tmp, displayTmp, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
displayTmp.drawLine(
|
||||||
|
golden.orientation,
|
||||||
|
COLOR_YELLOW,
|
||||||
|
)
|
||||||
|
launch {
|
||||||
|
wmg.updateImage(displayTmp)
|
||||||
|
}
|
||||||
|
delay(ANIMATION_DELAY * 1000)
|
||||||
|
Core.absdiff(golden.image, tmp, tmp)
|
||||||
|
Imgproc.filter2D(tmp, displayTmp, -1, CvContext.gaussianKernel)
|
||||||
|
launch {
|
||||||
|
wmg.updateImage(displayTmp)
|
||||||
|
}
|
||||||
|
delay(ANIMATION_DELAY)
|
||||||
|
wmg.updateImage(displayTmp)
|
||||||
|
delay(10.seconds)
|
||||||
|
wmg.dispose()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
suspend fun main(args: Array<String>) {
|
||||||
|
CvContext.initialize()
|
||||||
|
val imageDirectory = Path(args.getOrElse(0) { "." })
|
||||||
|
val comparisonData = imageDirectory.resolve("export_data.csv").bufferedReader().lineSequence().drop(1)
|
||||||
|
.map { line -> line.trimEnd().split(",") }
|
||||||
|
.groupingBy { parts -> parts[0] }
|
||||||
|
.aggregateTo(ConcurrentHashMap()) { _, accumulator: MutableList<Pair<String, Rect>>?, parts, _ ->
|
||||||
|
val descriptionToRect = parts[5] to Rect(
|
||||||
|
parts[1].toInt(),
|
||||||
|
parts[2].toInt(),
|
||||||
|
parts[3].toInt() - parts[1].toInt() + 1,
|
||||||
|
parts[4].toInt() - parts[2].toInt() + 1,
|
||||||
|
)
|
||||||
|
(accumulator ?: mutableListOf()).apply { add(descriptionToRect) }
|
||||||
|
}
|
||||||
|
val hits = AtomicInteger(0)
|
||||||
|
val falseHit = AtomicInteger(0)
|
||||||
|
val count = AtomicInteger(0)
|
||||||
|
val imagePaths = imageDirectory.listDirectoryEntries("*.bmp")
|
||||||
|
val perImageWindow = WINDOW_MANAGER_FACTORY.createWindowManager("Current Image")
|
||||||
|
val scanner = EntityScanner(animate = false, scanBarSpacing = 6, foregroundThreshold = FOREGROUND_THRESHOLD)
|
||||||
|
|
||||||
|
coroutineScope {
|
||||||
|
val chaetomium = Golden.createGolden(
|
||||||
|
parentScope = this,
|
||||||
|
scanner = scanner,
|
||||||
|
goldenName = "Chaetomium",
|
||||||
|
goldenColor = COLOR_GREEN,
|
||||||
|
goldenPath = Resource.getPath("single_chaetomium.bmp"),
|
||||||
|
deviationParameters = DeviationParameters(
|
||||||
|
deviationMin = 40,
|
||||||
|
deviationFunc = { level, value ->
|
||||||
|
level * (value / 40f)
|
||||||
|
},
|
||||||
|
maximumDeviation = 100.0
|
||||||
|
),
|
||||||
|
)
|
||||||
|
val stachybotry = Golden.createGolden(
|
||||||
|
parentScope = this,
|
||||||
|
scanner = scanner,
|
||||||
|
goldenName = "Stachybotrys",
|
||||||
|
goldenPath = Resource.getPath("single_stachybotry.bmp"),
|
||||||
|
goldenColor = COLOR_RED,
|
||||||
|
deviationParameters = DeviationParameters(
|
||||||
|
deviationMin = 20,
|
||||||
|
deviationFunc = { level, value ->
|
||||||
|
level * (value / 12f)
|
||||||
|
},
|
||||||
|
maximumDeviation = 200.0
|
||||||
|
),
|
||||||
|
)
|
||||||
|
val goldenList = listOf(chaetomium, stachybotry)
|
||||||
|
val localBufferInfo = when (COROUTINE_BUFFER_SIZE) {
|
||||||
|
Channel.RENDEZVOUS -> "RENDEZVOUS"
|
||||||
|
Channel.CONFLATED -> "CONFLATED"
|
||||||
|
Channel.BUFFERED -> "BUFFERED"
|
||||||
|
Channel.UNLIMITED -> "UNLIMITED"
|
||||||
|
else -> toString()
|
||||||
|
}
|
||||||
|
println("Coroutine buffer: $localBufferInfo, Parallel images: $MAXIMUM_PARALLEL_IMAGES")
|
||||||
|
val deferred = async {
|
||||||
|
val maxDistance = goldenList.maxOf { it.minMaxDistance.maxVal }
|
||||||
|
val distanceMultiplier = COLOR_WHITE / maxDistance
|
||||||
|
if (ANIMATION_DELAY.isPositive()) {
|
||||||
|
goldenList.forEach {
|
||||||
|
Core.multiply(it.displayImage, distanceMultiplier, it.displayImage)
|
||||||
|
launch {
|
||||||
|
it.updateImage()
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
Imgproc.cvtColor(it.image, it.displayImage, Imgproc.COLOR_GRAY2BGR)
|
||||||
|
it.displayImage.drawLine(it.orientation, COLOR_YELLOW)
|
||||||
|
it.updateImage()
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
val windowInitialized = AtomicBoolean(false)
|
||||||
|
val imageFlow = flow {
|
||||||
|
for (imagePath in imagePaths.shuffled()) {
|
||||||
|
try {
|
||||||
|
val (displayImage, image) = CvContext.readAndConvertImage(imagePath)
|
||||||
|
if (!windowInitialized.getAndSet(true) && ANIMATION_DELAY.isPositive()) {
|
||||||
|
this@coroutineScope.launch {
|
||||||
|
try {
|
||||||
|
perImageWindow.display(displayImage)
|
||||||
|
} catch (e: CancellationException) {
|
||||||
|
this@async.cancel("Window was closed", e)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
val comparisonSet: MutableList<Pair<String, Rect>> = comparisonData[imagePath.name] ?: mutableListOf()
|
||||||
|
emit(Triple(displayImage, image, comparisonSet))
|
||||||
|
} catch (error: CvException) {
|
||||||
|
System.err.println("Cannot read $imagePath: ${error.message}")
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
imageFlow
|
||||||
|
.buffer(if (ANIMATION_DELAY.isPositive()) Channel.RENDEZVOUS else MAXIMUM_PARALLEL_IMAGES)
|
||||||
|
.collect { (displayImage, image, comparison) ->
|
||||||
|
scanner.scanImage(image, displayImage, perImageWindow).asFlow()
|
||||||
|
.buffer(COROUTINE_BUFFER_SIZE)
|
||||||
|
.mapNotNull entityMatching@{ entity ->
|
||||||
|
withIdEntity(entity) { identity ->
|
||||||
|
var goldenCandidates = goldenList.flatMap { golden ->
|
||||||
|
golden.withCentrumMask(identity) { centrumMask ->
|
||||||
|
if (ANIMATION_DELAY.isPositive()) {
|
||||||
|
findGoldenPoIAnimate(
|
||||||
|
golden = golden,
|
||||||
|
distanceMultiplier = distanceMultiplier,
|
||||||
|
identity = identity,
|
||||||
|
centrumMask = centrumMask,
|
||||||
|
image = image,
|
||||||
|
displayImage = displayImage,
|
||||||
|
windowMgr = perImageWindow,
|
||||||
|
parentScope = this@coroutineScope,
|
||||||
|
)
|
||||||
|
} else {
|
||||||
|
findGoldenPoI(
|
||||||
|
image = image,
|
||||||
|
identity = identity,
|
||||||
|
golden = golden,
|
||||||
|
centrumMask = centrumMask,
|
||||||
|
)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}.sortedBy { it.second.second.third } // deviation
|
||||||
|
goldenCandidates = goldenCandidates
|
||||||
|
.filterIndexed { index, (_, it) ->
|
||||||
|
val (center, _) = it
|
||||||
|
(0 until index).map { goldenCandidates[it] }
|
||||||
|
.none { (betterGold, other) ->
|
||||||
|
(other.first - center).vec2D().magnitude < betterGold.orientationRadius
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) {
|
||||||
|
goldenCandidates = goldenCandidates.onEach { (gold, it) ->
|
||||||
|
val (center, candidate) = it
|
||||||
|
val (_, _, deviation) = candidate
|
||||||
|
println("Found minimum for ${identity.rect} on $gold: $center (deviation: $deviation)")
|
||||||
|
Imgproc.drawMarker(
|
||||||
|
/* img = */ displayImage,
|
||||||
|
/* position = */ center.vec2D() + identity.rect.tl(),
|
||||||
|
/* color = */ gold.goldenColor,
|
||||||
|
/* markerType = */ Imgproc.MARKER_CROSS,
|
||||||
|
/* markerSize = */ 3,
|
||||||
|
/* thickness = */ 3,
|
||||||
|
)
|
||||||
|
Imgproc.rectangle(displayImage, identity.rect, gold.goldenColor)
|
||||||
|
perImageWindow.updateImage(displayImage)
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return@entityMatching goldenCandidates.groupingBy { (gold, _) -> gold.goldenName }
|
||||||
|
.eachCount()
|
||||||
|
.maxByOrNull { it.value }
|
||||||
|
?.let { goldenAmount ->
|
||||||
|
val description = if (goldenAmount.value > 1) {
|
||||||
|
"${goldenAmount.key}_Agglomerate_Candidate"
|
||||||
|
} else {
|
||||||
|
"${goldenAmount.key}_Einzelspore_Candidate"
|
||||||
|
}
|
||||||
|
Triple(description, identity.rect, comparison)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
.collect { result ->
|
||||||
|
count.incrementAndGet()
|
||||||
|
val matchingResults = result.third.filter { (description, comparisonRect) ->
|
||||||
|
description == result.first &&
|
||||||
|
(comparisonRect.contains(result.second.tl()) &&
|
||||||
|
comparisonRect.contains(result.second.br())) ||
|
||||||
|
(result.second.contains(comparisonRect.tl()) &&
|
||||||
|
result.second.contains(comparisonRect.br()))
|
||||||
|
}
|
||||||
|
result.third.removeAll(matchingResults)
|
||||||
|
when (matchingResults.size) {
|
||||||
|
0 -> falseHit.incrementAndGet().also { println("False hit ${result.first}") }
|
||||||
|
1 -> hits.incrementAndGet().also { println("Hit ${result.first}") }
|
||||||
|
else -> falseHit.incrementAndGet().also { println("Hit too many ${result.first}") }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (ANIMATION_DELAY.isPositive()) delay(ANIMATION_DELAY * 2000)
|
||||||
|
println("Releasing image $displayImage\n and $image")
|
||||||
|
displayImage.release()
|
||||||
|
CvContext.recycle(image)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
deferred.invokeOnCompletion {
|
||||||
|
perImageWindow.dispose()
|
||||||
|
goldenList.forEach { it.release() }
|
||||||
|
if (deferred.isCancelled) {
|
||||||
|
val error = deferred.getCompletionExceptionOrNull()!!
|
||||||
|
if (error is CancellationException) {
|
||||||
|
val cause = error.cause?.takeIf { it.message != error.message }?.let { ". Cause: ".plus(it.message) }.orEmpty()
|
||||||
|
System.err.println("Cancelled program. Cause: ${error.message}" + cause)
|
||||||
|
} else {
|
||||||
|
error.printStackTrace()
|
||||||
|
}
|
||||||
|
exitProcess(1)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
deferred.join()
|
||||||
|
val misses = comparisonData.values.sumOf { it.size }
|
||||||
|
println("Hits ${hits.get()}, False-hits ${falseHit.get()}, Total ${count.get()}, Misses $misses")
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
internal inline fun <T> Mat.withSubmatSafe(rect: Rect, block: (mat: Mat) -> T): T? {
|
||||||
|
val submat = try {
|
||||||
|
submat(rect)
|
||||||
|
} catch (error: CvException) {
|
||||||
|
System.err.println("Cannot create submatrix for $this, rect $rect, error:\n $error")
|
||||||
|
null
|
||||||
|
}
|
||||||
|
return submat?.let { mat ->
|
||||||
|
kotlin.runCatching { block(mat) }.also { mat.release() }.getOrThrow()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private fun ClosedFloatingPointRange<Double>.progression(step: Number): List<Double> = sequence {
|
||||||
|
var x = start
|
||||||
|
while (lessThanOrEquals(x, endInclusive)) {
|
||||||
|
yield(x)
|
||||||
|
x += step.toDouble()
|
||||||
|
}
|
||||||
|
}.toList()
|
||||||
41
src/test/kotlin/network/rs485/ben/computervision/LineTest.kt
Normal file
41
src/test/kotlin/network/rs485/ben/computervision/LineTest.kt
Normal file
|
|
@ -0,0 +1,41 @@
|
||||||
|
package network.rs485.ben.computervision
|
||||||
|
|
||||||
|
import kotlin.test.Test
|
||||||
|
import kotlin.test.assertFalse
|
||||||
|
import kotlin.test.assertTrue
|
||||||
|
|
||||||
|
internal class LineTest {
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `line intersect fails for lines on different y`() {
|
||||||
|
val a = Pixel(0, 0) to Pixel(1, 0)
|
||||||
|
val b = Pixel(0, 1) to Pixel(1, 1)
|
||||||
|
assertFalse { a.intersects(b) }
|
||||||
|
assertFalse { b.intersects(a) }
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `line intersect fails for unconnected lines`() {
|
||||||
|
val a = Pixel(0, 0) to Pixel(1, 0)
|
||||||
|
val b = Pixel(2, 0) to Pixel(3, 0)
|
||||||
|
assertFalse { a.intersects(b) }
|
||||||
|
assertFalse { b.intersects(a) }
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `line intersect succeeds for connected lines`() {
|
||||||
|
val a = Pixel(0, 0) to Pixel(2, 0)
|
||||||
|
val b = Pixel(1, 0) to Pixel(3, 0)
|
||||||
|
assertTrue { a.intersects(b) }
|
||||||
|
assertTrue { b.intersects(a) }
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `line intersect succeeds for stacked lines`() {
|
||||||
|
val a = Pixel(0, 0) to Pixel(3, 0)
|
||||||
|
val b = Pixel(1, 0) to Pixel(2, 0)
|
||||||
|
assertTrue { a.intersects(b) }
|
||||||
|
assertTrue { b.intersects(a) }
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
Reference in a new issue