Package ftclib.vision

Class FtcCameraStreamProcessor

java.lang.Object

ftclib.vision.FtcCameraStreamProcessor

All Implemented Interfaces:

org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource, org.firstinspires.ftc.vision.VisionProcessor

public class FtcCameraStreamProcessor
extends Object
implements org.firstinspires.ftc.vision.VisionProcessor, org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static class	FtcCameraStreamProcessor.RectInfo

Field Summary

Fields

Modifier and Type	Field	Description
private static final int	DEF_LINE_COLOR
private static final float	DEF_LINE_WIDTH
private static final int	DEF_TEXT_COLOR
private static final float	DEF_TEXT_SIZE
private final ArrayList<FtcCameraStreamProcessor.RectInfo>	detectedRects
private final AtomicReference<android.graphics.Bitmap>	lastFrame
private final android.graphics.Paint	linePaint
private boolean	processorEnabled
private final android.graphics.Paint	textPaint

Constructor Summary

Constructors

Constructor	Description
FtcCameraStreamProcessor()	Constructor: Create an instance of the object.
FtcCameraStreamProcessor(Integer lineColor, Float lineWidth, Integer textColor, Float textSize)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	addRectInfo(String label, org.opencv.core.Point[] vertices)	This method adds info about a detected object so that we can annotate a rectangle around the object in the video stream.
void	getFrameBitmap(org.firstinspires.ftc.robotcore.external.function.Continuation<? extends org.firstinspires.ftc.robotcore.external.function.Consumer<android.graphics.Bitmap>> continuation)	Requests a single frame bitmap.
void	init(int width, int height, org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration calibration)
boolean	isCameraStreamEnabled()	This method checks if the camera stream is enabled.
void	onDrawFrame(android.graphics.Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext)
Object	processFrame(org.opencv.core.Mat frame, long captureTimeNanos)
void	setAnnotationAttributes(Integer lineColor, Float lineWidth, Integer textColor, Float textSize)	This method sets the annotation rectangle and text attributes such as rectangle line width/color and label text color/size.
void	setCameraStreamEnabled(FtcVision vision, boolean enabled)	This method enables/disables camera stream.

Methods inherited from class java.lang.Object

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

Field Details

DEF_LINE_COLOR

private static final int DEF_LINE_COLOR

See Also:

• Constant Field Values

DEF_LINE_WIDTH

private static final float DEF_LINE_WIDTH

See Also:

• Constant Field Values

DEF_TEXT_COLOR

private static final int DEF_TEXT_COLOR

See Also:

• Constant Field Values

DEF_TEXT_SIZE

private static final float DEF_TEXT_SIZE

See Also:

• Constant Field Values

lastFrame

private final AtomicReference<android.graphics.Bitmap> lastFrame

detectedRects

private final ArrayList<FtcCameraStreamProcessor.RectInfo> detectedRects

linePaint

private final android.graphics.Paint linePaint

textPaint

private final android.graphics.Paint textPaint

processorEnabled

private boolean processorEnabled

Constructor Details

FtcCameraStreamProcessor

public FtcCameraStreamProcessor(Integer lineColor,
 Float lineWidth,
 Integer textColor,
 Float textSize)

Constructor: Create an instance of the object.

Parameters:

lineColor - specifies the line color to draw the bounding rectangle, can be null if not provided in which case default color is used.

lineWidth - specifies the line width to draw the bounding rectangle, can be null if not provided in which case default width is used.

textColor - specifies the text color to draw the label text, can be null if not provided in which case default color is used.

textSize - specifies the text size to draw the label text, can be null if not provided in which case default text size is used.

FtcCameraStreamProcessor

public FtcCameraStreamProcessor()

Constructor: Create an instance of the object.

Method Details

setAnnotationAttributes

public void setAnnotationAttributes(Integer lineColor,
 Float lineWidth,
 Integer textColor,
 Float textSize)

This method sets the annotation rectangle and text attributes such as rectangle line width/color and label text color/size.

Parameters:

lineColor - specifies the line color to draw the bounding rectangle, can be null if not provided in which case default color or previously set color is used.

lineWidth - specifies the line width to draw the bounding rectangle, can be null if not provided in which case default width or previously set width is used.

textColor - specifies the text color to draw the label text, can be null if not provided in which case default color or previously set color is used.

textSize - specifies the text size to draw the label text, can be null if not provided in which case default text size or previously set size is used.

setCameraStreamEnabled

public void setCameraStreamEnabled(FtcVision vision,
 boolean enabled)

This method enables/disables camera stream.

Parameters:

vision - specifies the FtcVision object.

enabled - specifies true to enable camera stream, false to disable.

isCameraStreamEnabled

public boolean isCameraStreamEnabled()

This method checks if the camera stream is enabled.

Returns:

true if the camera stream is enabled, false otherwise.

addRectInfo

public void addRectInfo(String label,
 org.opencv.core.Point[] vertices)

This method adds info about a detected object so that we can annotate a rectangle around the object in the video stream.

Parameters:

label - specifies the label of the object.

vertices - specifies the vertices of the rectangle around the detected object.

init

public void init(int width,
 int height,
 org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration calibration)

processFrame

public Object processFrame(org.opencv.core.Mat frame,
 long captureTimeNanos)

onDrawFrame

public void onDrawFrame(android.graphics.Canvas canvas,
 int onscreenWidth,
 int onscreenHeight,
 float scaleBmpPxToCanvasPx,
 float scaleCanvasDensity,
 Object userContext)

getFrameBitmap

public void getFrameBitmap(org.firstinspires.ftc.robotcore.external.function.Continuation<? extends org.firstinspires.ftc.robotcore.external.function.Consumer<android.graphics.Bitmap>> continuation)

Requests a single frame bitmap.

Specified by:

getFrameBitmap in interface org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource

Parameters:

continuation - frame bitmap consumer continuation