Project implemented as a part of Programming of Autonomous Mobile Robots course at AGH University of Science and Technology.

Android 4.1+ phone with camera, bluetooth, full battery and high-performance hardware

1. Install OpenCV Manager on the device using Play Store or adb:

https://play.google.com/store/apps/details?id=org.opencv.engine&hl=en or http://sourceforge.net/projects/opencvlibrary/files/opencv-android/3.0.0/OpenCV-3.0.0-android-sdk-1.zip/download

Get device architecture:

adb shell getprop ro.product.cpu.abi

Install architecture:

<AndroidSDK>/platform-tools/adb install <OpenCVSDK>/apk/OpenCV_3.0.0_Manager(...).apk

when in doubt, see: http://docs.opencv.org/3.0.0/da/d2a/tutorial_O4A_SDK.html

2. Open the project in Android Studio.
3. Install all required SDK and tools as prompted by the IDE. Do not upgrade Gradle version in the project - this would imply a higher SDK version requirement.
4. (Unix/Windows) CTRL+Shift+A -> SDK Manager -> SDK Tools -> choose "ConstraintLayout for Android" and "Solver for ConstraintLayout"
5. Plug your device and run (Shift+F10).
6. Pairing with FIRA can be troublesome. What works (usually) is to pair manually in Settings and then again in the app. Watch your notifications bar - the robot won't usually pair directly, but it will issue its own pairing request to your device. After successful pairing you will see a popup with robot bluetooth ID.
7. Implement robot movement in pl.robolab.fira.colortracking.MainActivity#onCenterPoint or just run the example.

• VOLUME_UP - movement test enable/disable
• BACK - send stop command, exit on second
• MENU - bluetooth command. On newer devices
• touch - pick color range for tracking

Provided application follows a very simple routine. For each frame:

• 2x Imgproc.pyrDown - blurs an image and downsamples it. The function performs the downsampling step of the Gaussian pyramid construction.
• Imgproc.cvtColor - converts to HSV.
• Core.inRange - creates mask from lower to upper color bound.
• Imgproc.dilate.
• Imgproc.findContours with flags: CV_RETR_EXTERNAL retrieves only the extreme outer contours CV_CHAIN_APPROX_SIMPLE compresses horizontal, vertical, and diagonal segments and leaves only their end points. For example, an upper-right rectangular contour is encoded with 4 points.
• Sort contours by size.
• Filter to 0.1 * maxArea.
• Imgproc.convexHull - The functions find the convex hull of a 2D point set using the Sklansky’s algorithm [Sklansky82] that has O(N logN) complexity in the current implementation.
• Circle the middle point of the hull.
• Execute user provided callback (pl.robolab.fira.colortracking.MainActivity#onCenterPoint)