Package ftclib.vision

Class FtcRawEocvColorBlobPipeline

java.lang.Object
org.openftc.easyopencv.OpenCvPipeline
ftclib.vision.FtcRawEocvColorBlobPipeline
All Implemented Interfaces:
TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>
public class FtcRawEocvColorBlobPipeline extends org.openftc.easyopencv.OpenCvPipeline implements TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>
This class implements an EOCV color blob pipeline.

  • Field Details

  • Constructor Details

    • FtcRawEocvColorBlobPipeline

      public FtcRawEocvColorBlobPipeline(String instanceName, Integer colorConversion, double[] colorThresholds, TrcOpenCvColorBlobPipeline.FilterContourParams filterContourParams, boolean externalContourOnly)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      colorConversion - specifies color space conversion, can be null if no color space conversion. Note: FTC ECOV input Mat format is RGBA, so you need to do Imgproc.COLOR_RGBA2xxx or Imgproc.COLOR_RGB2xxx conversion.
      colorThresholds - specifies an array of color thresholds. If useHsv is false, the array contains RGB thresholds (minRed, maxRed, minGreen, maxGreen, minBlue, maxBlue). If useHsv is true, the array contains HSV thresholds (minHue, maxHue, minSat, maxSat, minValue, maxValue).
      filterContourParams - specifies the parameters for filtering contours, can be null if not provided.
      externalContourOnly - specifies true for finding external contours only, false otherwise (not applicable if filterContourParams is null).

  • Method Details

    • toString

      @NonNull public String toString()
      This method returns the pipeline instance name.
      Overrides:
      toString in class Object
      Returns:
      pipeline instance Name

    • getColorThresholds

      public double[] getColorThresholds()
      This method returns the color threshold values.
      Returns:
      array of color threshold values.

    • setColorThresholds

      public void setColorThresholds(double... colorThresholds)
      This method sets the color threshold values.
      Parameters:
      colorThresholds - specifies an array of color threshold values.

    • 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 TrcOpenCvColorBlobPipeline.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 TrcOpenCvColorBlobPipeline.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 (0 is the original input frame).

    • 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 (0 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.

    • processFrame

      public org.opencv.core.Mat processFrame(org.opencv.core.Mat input)
      This method is called by OpenCvPipeline to process an image frame.
      Specified by:
      processFrame in class org.openftc.easyopencv.OpenCvPipeline
      Parameters:
      input - specifies the image frame to be processed.
      Returns:
      the image frame to be displayed.