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package edu.wpi.first.wpijavacv;
import java.util.ArrayList;
import static com.googlecode.javacv.cpp.opencv_imgproc.*;
import static com.googlecode.javacv.cpp.opencv_core.*;
/**
* A {@link WPIBinaryImage} object is a black and white image.
*
* @author Greg Granito
*/
public class WPIBinaryImage extends WPIImage {
/**
* Instantiates a {@link WPIBinaryImage} from the given {@link IplImage}.
* The resulting image will be directly wrapped around the given image, and so any modifications
* to the {@link WPIBinaryImage} will reflect on the given image.
* @param image the image to wrap
*/
protected WPIBinaryImage(IplImage image) {
super(image);
}
/**
* Returns the result of "and-ing" the given image with the calling image. Every pixel in the image
* will be "and-ed" with the corresponding pixel in the other image to form a new image. The result
* of and-ing two pixels is pictured in the table below.
*
*
* |
* White |
* Black |
*
* | White |
* White |
* Black |
*
* | Black |
* Black |
* Black |
*
*
* @param image2 a second {@link WPIBinaryImage}
* @return an image that is the pixel-wise and of the two images.
*/
public WPIBinaryImage getAnd(WPIBinaryImage image2) {
validateDisposed();
IplImage result = IplImage.create(image.cvSize(), image.depth(), 1);
cvAnd(image, image2.image, result, null);
return new WPIBinaryImage(result);
}
/**
* "and-s" this image with the given image. Every pixel in this image
* will be "and-ed" with the corresponding pixel in the other image. The result
* of and-ing two pixels is pictured in the table below.
*
*
* |
* White |
* Black |
*
* | White |
* White |
* Black |
*
* | Black |
* Black |
* Black |
*
*
* This will modify the image. If you do now wish to modify the image, use {@link WPIBinaryImage#getAnd(wpijavacv.WPIBinaryImage) getAnd(...)}
* instead.
*
* @param image2 a second {@link WPIBinaryImage}
*/
public void and(WPIBinaryImage image2) {
validateDisposed();
cvAnd(image, image2.image, image, null);
}
/**
* Returns the result of "or-ing" the given image with the calling image. Every pixel in the image
* will be "or-ed" with the corresponding pixel in the other image to form a new image. The result
* of or-ing two pixels is pictured in the table below.
*
*
* |
* White |
* Black |
*
* | White |
* White |
* White |
*
* | Black |
* White |
* Black |
*
*
* @param image2 a second {@link WPIBinaryImage}
* @return an image that is the pixel-wise or of the two images.
*/
public WPIBinaryImage getOr(WPIBinaryImage image2) {
validateDisposed();
IplImage result = IplImage.create(image.cvSize(), image.depth(), 1);
cvOr(image, image2.image, result, null);
return new WPIBinaryImage(result);
}
/**
* "or-s" this image with the given image. Every pixel in this image
* will be "or-ed" with the corresponding pixel in the other image. The result
* of or-ing two pixels is pictured in the table below. This will modify the image.
*
*
* |
* White |
* Black |
*
* | White |
* White |
* White |
*
* | Black |
* White |
* Black |
*
*
* This will modify the image. If you do now wish to modify the image, use {@link WPIBinaryImage#getOr(wpijavacv.WPIBinaryImage) getOr(...)}
* instead.
*
* @param image2 a second {@link WPIBinaryImage}
*/
public void or(WPIBinaryImage image2) {
validateDisposed();
cvOr(image, image2.image, image, null);
}
/**
* Inverts this image. Everything which was white will now be black and
* everything which was black will now be white.
* This will modify the image. If you do now wish to modify the image, use {@link WPIBinaryImage#getInverse() getInverse()} instead.
* instead.
*/
public void invert() {
validateDisposed();
cvInv(image, image);
}
/**
* Returns an image that is the inverse of the calling one. In other words, it returns a copy of this image except
* that the copy will replace every black pixel with white one and every white pixel with a black one.
* @return a new {@link WPIBinaryImage} that is the inverse of the image
*/
public WPIBinaryImage getInverse() {
validateDisposed();
IplImage result = IplImage.create(image.cvSize(), image.depth(), 1);
cvInv(image, result);
return new WPIBinaryImage(result);
}
/**
* Dilates the image the specified number of times. Every time the image is dilated, every pixel which borders a white pixel
* will itself become white. The effect is that white pixels in the image begin to spread.
* This is useful if you wish to remove small "holes" from the image.
*
* This will modify the image. If you do now wish to modify the image, use {@link WPIBinaryImage#getDilated(int) getDilated(...)} instead.
* instead.
*
* @param iterations the number of times to perform the dilation. For example, if this is 3, then every pixel within three
* spaces of a white pixel will become white.
*/
public void dilate(int iterations) {
validateDisposed();
cvDilate(image, image, null, iterations);
}
/**
* Returns an image that is the result of dilating the specified number of times. Every time an image is dilated, every pixel which borders a white pixel
* will itself become white. The effect is that white pixels in the image begin to spread.
* This is useful if you wish to remove small "holes" from the image.
*
* @param iterations the number of times to perform the dilation. For example, if this is 3, then every pixel within three
* @return returns a new {@link WPIBinaryImage} in which the surrounding pixels to each white pixel
* are changed to white
*/
public WPIBinaryImage getDilated(int iterations) {
validateDisposed();
IplImage result = IplImage.create(image.cvSize(), image.depth(), 1);
cvDilate(image, result, null, iterations);
return new WPIBinaryImage(result);
}
/**
* Erodes the image the specified number of times. Every time the image is eroded, every pixel which borders a black pixel
* will itself become black. The effect is that black pixels in the image begin to spread.
* This is useful if you wish to shrink or remove white blobs from an image.
*
* This will modify the image. If you do now wish to modify the image, use {@link WPIBinaryImage#getEroded(int) getEroded(...)} instead.
* instead.
*
* @param iterations the number of times to perform the erosion. For example, if this is 3, then every pixel within three
* spaces of a black pixel will become black.
*/
public void erode(int iterations) {
validateDisposed();
cvErode(image, image, null, iterations);
}
/**
* Returns an image that is the result of eroding the specified number of times. Every time the image is eroded, every pixel which borders a black pixel
* will itself become black. The effect is that black pixels in the image begin to spread.
* This is useful if you wish to shrink or remove white blobs from an image.
*
* @param iterations the number of times to perform the erosion. For example, if this is 3, then every pixel within three
* spaces of a black pixel will become black.
* @return a new {@link WPIBinaryImage} in which the surrounding pixels to each black pixel
* are changed to black
*/
public WPIBinaryImage getEroded(int iterations) {
validateDisposed();
IplImage result = IplImage.create(image.cvSize(), image.depth(), 1);
cvErode(image, result, null, iterations);
return new WPIBinaryImage(result);
}
/**
* Finds all the "contours" in the image. A contour is basically an outline.
* @return an array of {@link WpiContour} that is all of the edges in the image
*/
public WPIContour[] findContours() {
validateDisposed();
IplImage tempImage = IplImage.create(image.cvSize(), image.depth(), 1);
cvCopy(image, tempImage);
final CvMemStorage storage = CvMemStorage.create();
WPIMemoryPool pool = new WPIMemoryPool() {
@Override
protected void disposed() {
cvClearMemStorage(storage);
storage.release();
}
};
CvSeq contours = new CvSeq();
cvFindContours(tempImage, storage, contours, 256, CV_RETR_LIST, CV_CHAIN_APPROX_TC89_KCOS);
ArrayList results = new ArrayList();
while (!isNull(contours)) {
WPIContour contour = new WPIContour(cvCloneSeq(contours, storage));
results.add(contour);
pool.addToPool(contour);
contours = contours.h_next();
}
tempImage.release();
WPIContour[] array = new WPIContour[results.size()];
return results.toArray(array);
}
}