Add convexity and inertia ratio to findBlobs

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

@@ -36,6 +36,10 @@ public class FindBlobsOperation implements Operation {
       .createNumberListRangeSocketHint("Circularity", 0.0, 1.0);
   private final SocketHint<Boolean> colorHint = SocketHints
       .createBooleanSocketHint("Dark Blobs", false);
+  private final SocketHint<List<Number>> convexityHint = SocketHints.Inputs
+      .createNumberListRangeSocketHint("Convexity", 0.0, 1.0);
+  private final SocketHint<List<Number>> inertiaRatioHint = SocketHints.Inputs
+      .createNumberListRangeSocketHint("Inertia Ratio", 0.0, 1.0);
 
   private final SocketHint<BlobsReport> blobsHint = new SocketHint.Builder<>(BlobsReport.class)
       .identifier("Blobs")
@@ -46,6 +50,8 @@ public class FindBlobsOperation implements Operation {
   private final InputSocket<Number> minAreaSocket;
   private final InputSocket<List<Number>> circularitySocket;
   private final InputSocket<Boolean> colorSocket;
+  private final InputSocket<List<Number>> convexitySocket;
+  private final InputSocket<List<Number>> inertiaRatioSocket;
 
   private final OutputSocket<BlobsReport> outputSocket;
 
@@ -57,6 +63,8 @@ public FindBlobsOperation(InputSocket.Factory inputSocketFactory, OutputSocket.F
     this.minAreaSocket = inputSocketFactory.create(minAreaHint);
     this.circularitySocket = inputSocketFactory.create(circularityHint);
     this.colorSocket = inputSocketFactory.create(colorHint);
+    this.convexitySocket = inputSocketFactory.create(convexityHint);
+    this.inertiaRatioSocket = inputSocketFactory.create(inertiaRatioHint);
 
     this.outputSocket = outputSocketFactory.create(blobsHint);
   }
@@ -67,7 +75,10 @@ public List<InputSocket> getInputSockets() {
         inputSocket,
         minAreaSocket,
         circularitySocket,
-        colorSocket
+        colorSocket,
+        //Sockets placed last to maintain backwards compatibility in deserialization
+        convexitySocket,
+        inertiaRatioSocket
     );
   }
 
@@ -85,7 +96,8 @@ public void perform() {
     final Number minArea = minAreaSocket.getValue().get();
     final List<Number> circularity = circularitySocket.getValue().get();
     final Boolean darkBlobs = colorSocket.getValue().get();
-
+    final List<Number> convexity = convexitySocket.getValue().get();
+    final List<Number> inertiaRatio = inertiaRatioSocket.getValue().get();
 
     final SimpleBlobDetector blobDetector = SimpleBlobDetector.create(new SimpleBlobDetector
         .Params()
@@ -98,7 +110,15 @@ public void perform() {
 
         .filterByCircularity(true)
         .minCircularity(circularity.get(0).floatValue())
-        .maxCircularity(circularity.get(1).floatValue()));
+        .maxCircularity(circularity.get(1).floatValue())
+
+        .filterByConvexity(true)
+        .minConvexity(convexity.get(0).floatValue())
+        .maxConvexity(convexity.get(1).floatValue())
+
+        .filterByInertia(true)
+        .minInertiaRatio(inertiaRatio.get(0).floatValue())
+        .maxInertiaRatio(inertiaRatio.get(1).floatValue()));
 
     // Detect the blobs and store them in the output BlobsReport
     final KeyPointVector keyPointVector = new KeyPointVector();

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/cpp/operations/Find_Blobs.vm

@@ -8,8 +8,8 @@
 	 * @param blobList The output where the MatOfKeyPoint is stored.
 	 */
 	//void $tMeth.name($step.name())(Mat *input, double *minArea, double circularity[2],
-		//bool *darkBlobs, vector<KeyPoint> *blobList) {
-	void $className::#func($step ["input", "minArea", "circularity", "darkBlobs", "blobList"]) {
+		//bool *darkBlobs, double convexity[2], double inertiaRatio[2], vector<KeyPoint> *blobList) {
+	void $className::#func($step ["input", "minArea", "circularity", "darkBlobs", "convexity", "inertiaRatio", "blobList"]) {
 		blobList.clear();
 		cv::SimpleBlobDetector::Params params;
 		params.filterByColor = 1;
@@ -21,8 +21,12 @@
 		params.filterByCircularity = true;
 		params.minCircularity = circularity[0];
 		params.maxCircularity = circularity[1];
-		params.filterByConvexity = false;
-		params.filterByInertia = false;
+		params.filterByConvexity = true;
+		params.minConvexity = convexity[0];
+		params.maxConvexity = convexity[1];
+		params.filterByInertia = true;
+		params.minInertia = inertiaRatio[0];
+		params.maxInertia = inertiaRatio[1];
 		cv::Ptr<cv::SimpleBlobDetector> detector = cv::SimpleBlobDetector::create(params);
 		detector->detect(input, blobList);
 	}

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/java/operations/Find_Blobs.vm

@@ -7,7 +7,7 @@
 	 * @param blobList The output where the MatOfKeyPoint is stored.
 	 */
 	private void $tMeth.name($step.name())(Mat input, double minArea, double[] circularity,
-		Boolean darkBlobs, MatOfKeyPoint blobList) {
+		Boolean darkBlobs, double[] convexity, double[] inertiaRatio, MatOfKeyPoint blobList) {
 		FeatureDetector blobDet = FeatureDetector.create(FeatureDetector.SIMPLEBLOB);
 		try {
 			File tempFile = File.createTempFile("config", ".xml");
@@ -40,11 +40,19 @@
 			config.append(circularity[1]);
 			config.append("</maxCircularity>\n");
 			config.append("<filterByInertia>1</filterByInertia>\n");
-			config.append("<minInertiaRatio>0.1</minInertiaRatio>\n");
-			config.append("<maxInertiaRatio>" + Integer.MAX_VALUE + "</maxInertiaRatio>\n");
+			config.append("<minInertiaRatio>");
+			config.append(inertiaRatio[0]);
+			config.append("</minInertiaRatio>\n");
+			config.append("<maxInertiaRatio>");
+			config.append(inertiaRatio[1]);
+			config.append("</maxInertiaRatio>\n");
 			config.append("<filterByConvexity>1</filterByConvexity>\n");
-			config.append("<minConvexity>0.95</minConvexity>\n");
-			config.append("<maxConvexity>" + Integer.MAX_VALUE + "</maxConvexity>\n");
+			config.append("<minConvexity>");
+			config.append(convexity[0]);
+			config.append("</minConvexity>\n");
+			config.append("<maxConvexity>");
+			config.append(convexity[1]);
+			config.append("</maxConvexity>\n");
 			config.append("</opencv_storage>\n");
 			FileWriter writer;
 			writer = new FileWriter(tempFile, false);

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/python/operations/Find_Blobs.vm

@@ -1,5 +1,5 @@
     @staticmethod
-    def $tMeth.name($step.name())(input, min_area, circularity, dark_blobs):
+    def $tMeth.name($step.name())(input, min_area, circularity, dark_blobs, convexity, inertia_ratio):
         """Detects groups of pixels in an image.
         Args:
             input: A numpy.ndarray.
@@ -19,7 +19,11 @@
         params.filterByCircularity = True
         params.minCircularity = circularity[0]
         params.maxCircularity = circularity[1]
-        params.filterByConvexity = False
-        params.filterByInertia = False
+        params.filterByConvexity = True
+        params.minConvexity = convexity[0]
+        params.maxConvexity = convexity[1]
+        params.filterByInertia = True
+        params.minInertia = inertia_ratio[0]
+        params.maxInertia = inertia_ratio[1]
         detector = cv2.SimpleBlobDetector_create(params)
         return detector.detect(input)