Package trclib.vision

Class TrcOpenCvDetector

java.lang.Object

trclib.vision.TrcOpenCvDetector

All Implemented Interfaces:

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

Direct Known Subclasses:

TrcOpenCvFaceDetector

public abstract class TrcOpenCvDetector
extends Object
implements TrcVisionProcessor<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>>

This class implements a generic OpenCV detector. Typically, it is extended by a specific detector that provides the pipeline to process an image for detecting objects using OpenCV APIs.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrcOpenCvDetector.DetectedObject<O>	This class encapsulates info of the detected object.
static interface	TrcOpenCvDetector.FilterTarget	This interface provides a method for filtering false positive objects in the detected target list.

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcHomographyMapper	homographyMapper
protected final String	instanceName
private TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>	openCvPipeline
final TrcDbgTrace	tracer
private final TrcVisionTask<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>>	visionTask

Constructor Summary

Constructors

Constructor	Description
TrcOpenCvDetector(String instanceName, int numImageBuffers, TrcHomographyMapper.Rectangle cameraRect, TrcHomographyMapper.Rectangle worldRect)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcVisionTargetInfo<TrcOpenCvDetector.DetectedObject<?>>[]	getDetectedTargetsInfo(TrcOpenCvDetector.FilterTarget filter, Comparator<? super TrcVisionTargetInfo<TrcOpenCvDetector.DetectedObject<?>>> comparator, double objGroundOffset, double cameraHeight)	This method returns an array of detected targets from Grip vision.
TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>>	getPipeline()	This method returns the current pipeline.
long	getProcessingInterval()	This method returns the vision task processing interval.
org.opencv.core.Mat	getSelectedOutput()	This method returns the selected intermediate output Mat.
TrcOpenCvDetector.DetectedObject<?>[]	processFrame(org.opencv.core.Mat input)	This method is called to detect objects in the acquired image frame.
void	setPipeline(TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>> pipeline)	This method sets the OpenCV pipeline to be used for the detection and enables it.
void	setProcessingInterval(long interval)	This method sets the vision task processing interval.
String	toString()	This method returns the instance name.

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.vision.TrcVideoSource

getFrame, putFrame

Field Details

tracer

public final TrcDbgTrace tracer

instanceName

protected final String instanceName

homographyMapper

private final TrcHomographyMapper homographyMapper

visionTask

private final TrcVisionTask<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>> visionTask

openCvPipeline

private volatile TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>> openCvPipeline

Constructor Details

TrcOpenCvDetector

public TrcOpenCvDetector(String instanceName,
 int numImageBuffers,
 TrcHomographyMapper.Rectangle cameraRect,
 TrcHomographyMapper.Rectangle worldRect)

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.

Method Details

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

setProcessingInterval

public void setProcessingInterval(long interval)

This method sets the vision task processing interval.

Parameters:

interval - specifies the processing interval in msec. If 0, process as fast as the CPU can run.

getProcessingInterval

public long getProcessingInterval()

This method returns the vision task processing interval.

Returns:

vision task processing interval in msec.

setPipeline

public void setPipeline(TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>> pipeline)

This method sets the OpenCV pipeline to be used for the detection and enables it.

Parameters:

pipeline - specifies the pipeline to be used for detection, can be null to disable vision.

getPipeline

public TrcOpenCvPipeline<TrcOpenCvDetector.DetectedObject<?>> getPipeline()

This method returns the current pipeline.

Returns:

current pipeline, null if no set pipeline.

getDetectedTargetsInfo

public TrcVisionTargetInfo<TrcOpenCvDetector.DetectedObject<?>>[] getDetectedTargetsInfo(TrcOpenCvDetector.FilterTarget filter,
 Comparator<? super TrcVisionTargetInfo<TrcOpenCvDetector.DetectedObject<?>>> comparator,
 double objGroundOffset,
 double cameraHeight)

This method returns an array of detected targets from Grip vision.

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:

array of detected target info.

processFrame

public TrcOpenCvDetector.DetectedObject<?>[] processFrame(org.opencv.core.Mat input)

This method is called to detect objects in the acquired image frame.

Specified by:

processFrame in interface TrcVisionProcessor<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>>

Parameters:

input - specifies the image to be processed.

Returns:

detected objects, null if none detected.

getSelectedOutput

public org.opencv.core.Mat getSelectedOutput()

This method returns the selected intermediate output Mat.

Specified by:

getSelectedOutput in interface TrcVisionProcessor<org.opencv.core.Mat,TrcOpenCvDetector.DetectedObject<?>>

Returns:

selected output mat.