Package frclib.vision

Class FrcOpenCvAprilTagPipeline

java.lang.Object

frclib.vision.FrcOpenCvAprilTagPipeline

All Implemented Interfaces:

TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

public class FrcOpenCvAprilTagPipeline
extends Object
implements TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

This class implements an AprilTag pipeline using OpenCV.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FrcOpenCvAprilTagPipeline.DetectedObject	This class encapsulates info of the detected object.

Constructor Summary

Constructors

Constructor	Description
FrcOpenCvAprilTagPipeline(String tagFamily, edu.wpi.first.apriltag.AprilTagDetector.Config detectorConfig, edu.wpi.first.apriltag.AprilTagPoseEstimator.Config poseEstConfig)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
FrcOpenCvAprilTagPipeline.DetectedObject[]	getDetectedObjects()	This method returns the array of detected objects.
org.opencv.core.Mat	getIntermediateOutput(int step)	This method returns an intermediate processed frame.
org.opencv.core.Mat	getSelectedOutput()	This method returns the selected intermediate output Mat.
boolean	isAnnotateEnabled()	This method checks if image annotation is enabled.
void	printPerformanceMetrics()	This method prints the performance metrics to the trace log.
FrcOpenCvAprilTagPipeline.DetectedObject[]	process(org.opencv.core.Mat input)	This method is called to process the input image through the pipeline.
void	reset()	This method is called to reset the state of the pipeline if any.
void	setAnnotateEnabled(boolean enabled)	This method enables/disables image annotation of the detected object.
void	setNextVideoOutput()	This method cycles to the next intermediate mat of the pipeline as the video output mat.
void	setPerformanceMetricsEnabled(boolean enabled)	This method enables/disables performance metrics.
void	setVideoOutput(int intermediateStep)	This method sets the intermediate mat of the pipeline as the video output mat.
String	toString()	This method returns the tag family string.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface trclib.vision.TrcOpenCvPipeline

annotateFrame

Constructor Details

FrcOpenCvAprilTagPipeline

public FrcOpenCvAprilTagPipeline(String tagFamily,
 edu.wpi.first.apriltag.AprilTagDetector.Config detectorConfig,
 edu.wpi.first.apriltag.AprilTagPoseEstimator.Config poseEstConfig)

Constructor: Create an instance of the object.

Parameters:

tagFamily - specifies the tag family.

detectorConfig - specifies the detector configuration.

poseEstConfig - specifies the pose estimator configuration (tagSize unit is in meter).

Method Details

toString

public String toString()

This method returns the tag family string.

Overrides:

toString in class Object

Returns:

tag family string.

setPerformanceMetricsEnabled

public void setPerformanceMetricsEnabled(boolean enabled)

This method enables/disables performance metrics.

Parameters:

enabled - specifies true to enable performance metrics, false to disable.

printPerformanceMetrics

public void printPerformanceMetrics()

This method prints the performance metrics to the trace log.

reset

public void reset()

This method is called to reset the state of the pipeline if any.

Specified by:

reset in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

process

public FrcOpenCvAprilTagPipeline.DetectedObject[] process(org.opencv.core.Mat input)

This method is called to process the input image through the pipeline.

Specified by:

process in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Parameters:

input - specifies the input image to be processed.

Returns:

array of detected objects.

getDetectedObjects

public FrcOpenCvAprilTagPipeline.DetectedObject[] getDetectedObjects()

This method returns the array of detected objects.

Specified by:

getDetectedObjects in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Returns:

array of detected objects.

setAnnotateEnabled

public void setAnnotateEnabled(boolean enabled)

This method enables/disables image annotation of the detected object.

Specified by:

setAnnotateEnabled in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Parameters:

enabled - specifies true to enable annotation, false to disable.

isAnnotateEnabled

public boolean isAnnotateEnabled()

This method checks if image annotation is enabled.

Specified by:

isAnnotateEnabled in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Returns:

true if annotation is enabled, false otherwise.

setVideoOutput

public void setVideoOutput(int intermediateStep)

This method sets the intermediate mat of the pipeline as the video output mat.

Specified by:

setVideoOutput in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Parameters:

intermediateStep - specifies the intermediate mat used as video output (1 is the original mat, 0 to disable video output if supported).

setNextVideoOutput

public void setNextVideoOutput()

This method cycles to the next intermediate mat of the pipeline as the video output mat.

Specified by:

setNextVideoOutput in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

getIntermediateOutput

public org.opencv.core.Mat getIntermediateOutput(int step)

This method returns an intermediate processed frame. Typically, a pipeline processes a frame in a number of steps. It may be useful to see an intermediate frame for a step in the pipeline for tuning or debugging purposes.

Specified by:

getIntermediateOutput in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Parameters:

step - specifies the intermediate step (step 1 is the original input frame).

Returns:

processed frame of the specified step.

getSelectedOutput

public org.opencv.core.Mat getSelectedOutput()

This method returns the selected intermediate output Mat.

Specified by:

getSelectedOutput in interface TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>

Returns:

selected output mat.