Package trclib.vision

Class TrcOpenCvColorBlobPipeline

java.lang.Object
trclib.vision.TrcOpenCvColorBlobPipeline
All Implemented Interfaces:
TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>
public class TrcOpenCvColorBlobPipeline extends Object implements TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>
This class implements a generic OpenCV color blob detection pipeline.

  • Field Details

    • ANNOTATE_RECT_COLOR

      private static final org.opencv.core.Scalar ANNOTATE_RECT_COLOR

    • ANNOTATE_RECT_WHITE

      private static final org.opencv.core.Scalar ANNOTATE_RECT_WHITE

    • ANNOTATE_RECT_THICKNESS

      private static final int ANNOTATE_RECT_THICKNESS
      See Also:

    • ANNOTATE_TEXT_COLOR

      private static final org.opencv.core.Scalar ANNOTATE_TEXT_COLOR

    • ANNOTATE_FONT_SCALE

      private static final double ANNOTATE_FONT_SCALE
      See Also:

    • tracer

      public final TrcDbgTrace tracer

    • instanceName

      private final String instanceName

    • colorConversion

      private final Integer colorConversion

    • colorThresholds

      private double[] colorThresholds

    • filterContourParams

      private final TrcOpenCvColorBlobPipeline.FilterContourParams filterContourParams

    • externalContourOnly

      private final boolean externalContourOnly

    • colorConversionOutput

      private final org.opencv.core.Mat colorConversionOutput

    • colorThresholdOutput

      private final org.opencv.core.Mat colorThresholdOutput

    • morphologyOutput

      private final org.opencv.core.Mat morphologyOutput

    • hierarchy

      private final org.opencv.core.Mat hierarchy

    • intermediateMats

      private final org.opencv.core.Mat[] intermediateMats

    • detectedObjectsUpdate

      private final AtomicReference<TrcOpenCvColorBlobPipeline.DetectedObject[]> detectedObjectsUpdate

    • intermediateStep

      private int intermediateStep

    • annotateEnabled

      private boolean annotateEnabled

    • morphOp

      private int morphOp

    • kernelMat

      private org.opencv.core.Mat kernelMat

    • performanceMetrics

      private TrcVisionPerformanceMetrics performanceMetrics

  • Constructor Details

    • TrcOpenCvColorBlobPipeline

      public TrcOpenCvColorBlobPipeline(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. For FRC, the Desktop OpenCV input Mat format is BGRA, so you need to do Imgproc.COLOR_BGRAxxx or Imgproc.COLOR_BGR2xxx conversion.
      colorThresholds - specifies an array of color thresholds. If color space is RGB, the array contains RGB thresholds (minRed, maxRed, minGreen, maxGreen, minBlue, maxBlue). If color space is HSV, 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

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

    • 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.

    • 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.

    • setMorphologyOp

      public void setMorphologyOp(int morphOp, int kernelShape, org.opencv.core.Size kernelSize)
      This method enables Morphology operation in the pipeline with the specifies kernel shape and size.
      Parameters:
      morphOp - specifies the Morphology operation.
      kernelShape - specifies the kernel shape.
      kernelSize - specifies the kernel size.

    • setMorphologyOp

      public void setMorphologyOp(int morphOp)
      This method enables Morphology operation in the pipeline with default kernel shape and size.
      Parameters:
      morphOp - specifies the Morphology operation.

    • setMorphologyOp

      public void setMorphologyOp()
      This method enables Morphology operation in the pipeline with default kernel shape and size.

    • 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.

    • filterContours

      private void filterContours(List<org.opencv.core.MatOfPoint> inputContours, TrcOpenCvColorBlobPipeline.FilterContourParams filterContourParams, List<org.opencv.core.MatOfPoint> output)
      This method filters out contours that do not meet certain criteria.
      Parameters:
      inputContours - specifies the input list of contours.
      filterContourParams - specifies the filter contour parameters.
      output - specifies the the output list of contours.