Package ftclib.vision

Class FtcVisionEocvColorBlob

java.lang.Object
ftclib.vision.FtcVisionEocvColorBlob
public class FtcVisionEocvColorBlob extends Object
This class encapsulates the EocvColorBlob vision processor to make all vision processors conform to our framework library. By doing so, one can switch between different vision processors and have access to a common interface.

  • Field Details

  • Constructor Details

    • FtcVisionEocvColorBlob

      public FtcVisionEocvColorBlob(String instanceName, Integer colorConversion, double[] colorThresholds, TrcOpenCvColorBlobPipeline.FilterContourParams filterContourParams, boolean externalContourOnly, TrcHomographyMapper.Rectangle cameraRect, TrcHomographyMapper.Rectangle worldRect, boolean annotate)
      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).
      cameraRect - specifies the camera rectangle for Homography Mapper, null if not provided.
      worldRect - specifies the world rectangle for Homography Mapper, null if not provided.
      annotate - specifies true to draw annotation, false otherwise.

    • FtcVisionEocvColorBlob

      public FtcVisionEocvColorBlob(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

    • getVisionProcessor

      public FtcEocvColorBlobProcessor getVisionProcessor()
      This method returns the Color Blob vision processor.
      Returns:
      ColorBlob vision processor.

    • getDetectedTargetInfo

      public TrcVisionTargetInfo<TrcOpenCvColorBlobPipeline.DetectedObject> getDetectedTargetInfo(TrcOpenCvColorBlobPipeline.DetectedObject target, double objGroundOffset, double cameraHeight)
      This method returns the target info of the given detected target.
      Parameters:
      target - specifies the detected target
      objGroundOffset - specifies the object ground offset above the floor.
      cameraHeight - specifies the height of the camera above the floor.
      Returns:
      information about the detected target.

    • getDetectedTargetsInfo

      public ArrayList<TrcVisionTargetInfo<TrcOpenCvColorBlobPipeline.DetectedObject>> getDetectedTargetsInfo(FtcVisionEocvColorBlob.FilterTarget filter, Comparator<? super TrcVisionTargetInfo<TrcOpenCvColorBlobPipeline.DetectedObject>> comparator, double objGroundOffset, double cameraHeight)
      This method returns an array list of target info on the filtered detected targets.
      Parameters:
      filter - specifies the filter to call to filter out false positive targets.
      comparator - specifies the comparator to sort the array if provided, can be null if not provided.
      objGroundOffset - specifies the object ground offset above the floor.
      cameraHeight - specifies the height of the camera above the floor.
      Returns:
      filtered target info array list.

    • getBestDetectedTargetInfo

      public TrcVisionTargetInfo<TrcOpenCvColorBlobPipeline.DetectedObject> getBestDetectedTargetInfo(FtcVisionEocvColorBlob.FilterTarget filter, Comparator<? super TrcVisionTargetInfo<TrcOpenCvColorBlobPipeline.DetectedObject>> comparator, double objGroundOffset, double cameraHeight)
      This method returns the target info of the best detected target.
      Parameters:
      filter - specifies the filter to call to filter out false positive targets.
      comparator - specifies the comparator to sort the array if provided, can be null if not provided.
      objGroundOffset - specifies the object ground offset above the floor.
      cameraHeight - specifies the height of the camera above the floor.
      Returns:
      information about the best detected target.

    • mapPoint

      public org.opencv.core.Point mapPoint(org.opencv.core.Point point)
      This method maps a camera screen point to the real world point using homography.
      Parameters:
      point - specifies the camera screen point.
      Returns:
      real world coordinate point.