Created FoundationDetector

DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/skystone/FoundationDetector

@@ -0,0 +1,120 @@
+package com.disnodeteam.dogecv.detectors.skystone;
+
+import com.disnodeteam.dogecv.DogeCV;
+import com.disnodeteam.dogecv.detectors.DogeCVDetector;
+import com.disnodeteam.dogecv.filters.DogeCVColorFilter;
+import com.disnodeteam.dogecv.filters.LeviColorFilter;
+import com.disnodeteam.dogecv.scoring.MaxAreaScorer;
+import com.disnodeteam.dogecv.scoring.PerfectAreaScorer;
+import com.disnodeteam.dogecv.scoring.RatioScorer;
+
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfPoint;
+import org.opencv.core.Point;
+import org.opencv.core.Rect;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class RedFoundationDetector extends DogeCVDetector {
+    public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Setting to decide to use MaxAreaScorer or PerfectAreaScorer
+
+    //Create the default filters and scorers
+    public MaxAreaScorer maxAreaScorer = new MaxAreaScorer(6);                    // Used to find largest objects
+    public DogeCVColorFilter redFilter = new LeviColorFilter(LeviColorFilter.ColorPreset.RED, 164);  
+    public DogeCVColorFilter blueFilter = new LeviColorFilter(LeviColorFilter.ColorPreset.BLUE, 145);
+
+    public boolean found = false;
+    private Point screenPosition = new Point();
+    private Rect foundRect = new Rect(); // Found rect
+
+    private Mat rawImage = new Mat();
+    private Mat workingMat = new Mat();
+    private Mat displayMat = new Mat();
+    private Mat mask = new Mat();
+    private Mat hierarchy  = new Mat();
+
+    private Alliance alliance = Alliance.RED;
+
+    //which color foundation should be detected?
+    public enum Alliance{
+      RED,
+      BLUE
+    }
+
+    public FoundationDetector(Alliance alliance) {
+        detectorName = "Foundation Detector";
+        this.alliance = alliance;
+        addScorer(maxAreaScorer);
+    }
+
+    @Override
+    public Mat process(Mat input) {
+        input.copyTo(rawImage);
+        input.copyTo(workingMat);
+        input.copyTo(displayMat);
+        input.copyTo(mask);
+
+        // Imgproc.GaussianBlur(workingMat,workingMat,new Size(5,5),0);
+        switch(alliance){
+          case RED:
+            redFilter.process(workingMat.clone(), mask);
+            break;
+          case BLUE:
+            blueFilter.process(workingMat.clone(), mask);
+            break;
+        }
+
+        List<MatOfPoint> contours = new ArrayList<>();
+        Imgproc.findContours(mask, contours, hierarchy, Imgproc.RETR_TREE, Imgproc.CHAIN_APPROX_SIMPLE);
+        Imgproc.drawContours(displayMat,contours,-1,new Scalar(230,70,70),2);
+
+        // Current result
+        Rect bestRect = null;
+        double bestDifference = Double.MAX_VALUE; // MAX_VALUE since less difference = better
+
+        // Loop through the contours and score them, searching for the best result
+        for(MatOfPoint cont : contours){
+            double score = calculateScore(cont); // Get the difference score using the scoring API
+
+            // Get bounding rect of contour
+            Rect rect = Imgproc.boundingRect(cont);
+            Imgproc.rectangle(displayMat, rect.tl(), rect.br(), new Scalar(0,0,255),2); // Draw rect
+
+            // If the result is better then the previously tracked one, set this rect as the new best
+            if(score < bestDifference){
+                bestDifference = score;
+                bestRect = rect;
+            }
+        }
+
+        if(bestRect != null) {
+            // Show chosen result
+            Imgproc.rectangle(displayMat, bestRect.tl(), bestRect.br(), new Scalar(255,0,0),4);
+            Imgproc.putText(displayMat, "Chosen", bestRect.tl(),0,1,new Scalar(255,255,255));
+
+            screenPosition = new Point(bestRect.x, bestRect.y);
+            foundRect = bestRect;
+            found = true;
+        }
+        else {
+            found = false;
+        }
+
+        switch (stageToRenderToViewport) {
+            case THRESHOLD: {
+                Imgproc.cvtColor(mask, mask, Imgproc.COLOR_GRAY2BGR);
+
+                return mask;
+            }
+            case RAW_IMAGE: {
+                return rawImage;
+            }
+            default: {
+                return displayMat;
+            }
+        }
+    }
+}