Package frclib.vision

Class FrcOpenCvDetector

java.lang.Object

trclib.vision.TrcOpenCvDetector

frclib.vision.FrcOpenCvDetector

All Implemented Interfaces:

TrcVideoSource<org.opencv.core.Mat>, TrcVisionProcessor<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>>

public class FrcOpenCvDetector
extends TrcOpenCvDetector

This class implements a platform dependent OpenCV detector. It implements the TrcVisionProcessor interface which provides methods to use platform specific OpenCV to grab a frame, and output annotated frame to the output video stream.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.vision.TrcOpenCvDetector

TrcOpenCvDetector.DetectedObject<O>, TrcOpenCvDetector.FilterTarget

Field Summary

Fields inherited from class trclib.vision.TrcOpenCvDetector

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FrcOpenCvDetector(String instanceName, int numImageBuffers, TrcHomographyMapper.Rectangle cameraRect, TrcHomographyMapper.Rectangle worldRect, edu.wpi.first.cscore.CvSink cvSink, edu.wpi.first.cscore.CvSource cvSource)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
boolean	getFrame(org.opencv.core.Mat frame)	This method takes a snapshot of the video frame.
void	putFrame(org.opencv.core.Mat frame)	This method displays a frame buffer to the display surface.

Methods inherited from class trclib.vision.TrcOpenCvDetector

getDetectedTargetsInfo, getPipeline, getProcessingInterval, getSelectedOutput, processFrame, setPipeline, setProcessingInterval, toString

Methods inherited from class java.lang.Object

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

Constructor Details

FrcOpenCvDetector

public FrcOpenCvDetector(String instanceName,
 int numImageBuffers,
 TrcHomographyMapper.Rectangle cameraRect,
 TrcHomographyMapper.Rectangle worldRect,
 edu.wpi.first.cscore.CvSink cvSink,
 edu.wpi.first.cscore.CvSource cvSource)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

numImageBuffers - specifies the number of image buffers to allocate.

cameraRect - specifies the camera rectangle for Homography Mapper, can be null if not provided.

worldRect - specifies the world rectangle for Homography Mapper, can be null if not provided.

cvSink - specifies the object to capture the video frames.

cvSource - specifies the object to stream video output.

Method Details

getFrame

public boolean getFrame(org.opencv.core.Mat frame)

This method takes a snapshot of the video frame.

Parameters:

frame - specifies the frame buffer to hold the video snapshot.

Returns:

true if successful, false otherwise.

putFrame

public void putFrame(org.opencv.core.Mat frame)

This method displays a frame buffer to the display surface.

Parameters:

frame - specifies the video frame to be displayed.