# thresholding

public Mat [] thresholding(img){
Mat frame = img.rgba();
//Imgproc.cvtColor(frame, frame, Imgproc.COLOR_RGBA2GRAY);
//Imgproc.Canny(frame, frame, 100, 80);
//RGB灰化

//Mat copyImg = new Mat();
//frame.copyTo(copyImg, img);
Imgproc.cvtColor(frame, frame,Imgproc.COLOR_BGR2GRAY);

Mat kernel =new Mat (5,5, CvType.CV_32F);
kernel.put(0, 0, new float[]{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1});

//平滑處理
Imgproc.GaussianBlur(frame, frame, new Size(5, 5),0, 0, Core.BORDER_DEFAULT);

//輪廓
//使用Canny檢測邊緣
double lowThresh =80;//雙閥執抑制中的低閥值
double heightThresh = 100;//雙閥執抑制中的高閥值
Imgproc.Canny(frame, frame,lowThresh, heightThresh);
//回傳值imgCanny
Mat imgCanny = new Mat();
frame.copyTo(imgCanny, frame);

Mat element = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(3,3));
//膨脹
Imgproc.dilate(frame, kernel, element, new Point(-1, -1), 1);
//腐蝕
Imgproc.erode(frame, kernel, element, new Point(-1, -1), 1);

Mat imgColor = colorFilter(img);
Mat combinedImage = new Mat();
Core.bitwise_or(imgColor, frame , combinedImage);

Mat returnImg [] = new Mat [3];
returnImg[0] = combinedImage;
returnImg[1] = imgCanny;
returnImg[2] = imgColor;
return returnImg;
}
# get_hist
//不知道img怎麼寫成三圍

public double[] get_hist(Mat img){
double hist [][] = new double[img.cols()/2][img.rows()] ;
for(int i = 0 ; i < img.cols()/2 ; i++){
for(int j = 0 ; j < img.rows() ; j++){
hist[i][j] = img[i][j][0] + img[i][j][1] + img[i][j][2];
}
}
//hist[] 81600
}
# textDisplay
//沒人呼叫

public void textDisplay(int curve,Mat img){
String directionText = new String();
Imgproc.putText(img, curve+"" , ((img.rows()/2)-30, 40), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255,0,0));
//原程式碼cv2.putText(img, str(curve), ((img.shape[1]//2)-30, 40), font, 1, (255, 255, 0), 2, cv2.LINE_AA);
//cv2.putText(影像, 文字, 座標, 字型, 大小, 顏色, 線條寬度, 線條種類)

directionText=" No lane ";
if(curve > 10){
directionText="Right";
}

else if (curve < -10){
directionText="Left";
}

else if (curve <10 && curve > -10){
directionText="Straight";
}

else if (curve == -1000000){
directionText = "No Lane Found";
}
Imgproc.putText(img, directionText, ((img.rows()/2)-35,(img.cols()-20 ), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(0,200,200));
//原程式碼cv2.putText(img, directionText, ((img.shape[1]//2)-35,(img.shape[0])-20 ), font, 1, (0, 200, 200), 2, cv2.LINE_AA)

//curve的值不知道是從哪傳來的 主程式跟副程式好像沒人呼叫這個副程式
}
# pipeline
//沒人呼叫
//開始用sobel後的np.不會寫