gistfile1.java

Core.inRange(mHsvMat, ncb.lowerBound, ncb.upperBound, mMask)

Imgproc.dilate(mMask, mDilatedMask, kernel)

val contours = ArrayList<MatOfPoint>()

Imgproc.findContours(mDilatedMask, contours, mHierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE)

// Imgproc.drawContours(rgbaImage, contours, -1,  new Scalar( 0,255, 0, 255));
// Find max contour area
var maxArea = 0.0
var each = contours.iterator()
while (each.hasNext()) {
    val wrapper = each.next()
    if (isProbablyAMarker(wrapper, -1.0)) {
        val area = Imgproc.contourArea(wrapper)
        if (area > maxArea) {
            maxArea = area
        }
    }
}
each = contours.iterator()
while (each.hasNext()) {
    val contour = each.next()
    if (isProbablyAMarker(contour, maxArea)) {
        Core.multiply(contour, Scalar(2.0, 2.0), contour)

        val area = Imgproc.contourArea(contour)
        Timber.i("AREA", ncb.id + "AREA " + area)
        mContours.add(contour)
        val mu = Imgproc.moments(contour, false)
        ncb.centroid.x = x + mu._m10 / mu._m00
        ncb.centroid.y = y + mu._m01 / mu._m00
        if (detected.contains(ncb))
            detected.remove(ncb)
        detected.add(ncb)
    }
}