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Cleanup

This commit is contained in:
Scott Barnes 2024-02-19 17:58:55 -06:00
parent 2775d950a8
commit 3ed9e95ee9
42 changed files with 53 additions and 321 deletions
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#Mon Feb 19 16:57:38 CST 2024
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39
src/main/java/com/tearabite/ftctearabits/vision/BasicColorDetectionVisionProcessor.java
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@ -1,5 +1,8 @@
package com.tearabite.ftctearabits.vision;
import static com.tearabite.ftctearabits.vision.Colors.FTC_BLUE_RANGE;
import static com.tearabite.ftctearabits.vision.Colors.FTC_RED_RANGE_1;
import static com.tearabite.ftctearabits.vision.Colors.FTC_RED_RANGE_2;
import static com.tearabite.ftctearabits.vision.Colors.WHITE;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getLargestContour;
@ -17,6 +20,7 @@ import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import lombok.Getter;
import lombok.Setter;
public class BasicColorDetectionVisionProcessor implements VisionProcessor {
public static final Size BLUR_SIZE = new Size(7, 7);
@ -25,24 +29,29 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
public static final Point ANCHOR = new Point((STRUCTURING_ELEMENT.cols() / 2f), STRUCTURING_ELEMENT.rows() / 2f);
private final Mat blurred = new Mat();
private final ScalarRange[] colorRanges;
@Getter @Setter private ScalarRange[] colorRanges;
@Getter private Detection detection;
private final Mat hsv = new Mat();
private final double ignoreSmallerThan;
private final double ignoreLargerThan;
private final Mat mask = new Mat();
private final Mat tmpMask = new Mat();
public BasicColorDetectionVisionProcessor(double ignoreSmallerThan, double ignoreLargerThan, ScalarRange... colorRanges) {
this.ignoreSmallerThan = ignoreSmallerThan;
this.ignoreLargerThan = ignoreLargerThan;
public BasicColorDetectionVisionProcessor(ScalarRange... colorRanges) {
this.colorRanges = colorRanges;
}
public static BasicColorDetectionVisionProcessor Blue() {
return new BasicColorDetectionVisionProcessor(FTC_BLUE_RANGE);
}
public static BasicColorDetectionVisionProcessor Red() {
return new BasicColorDetectionVisionProcessor(FTC_RED_RANGE_1, FTC_RED_RANGE_2);
}
@Override
public void init(int width, int height, CameraCalibration calibration) {
this.detection = new Detection(new Size(width, height), ignoreSmallerThan, ignoreLargerThan);
this.detection = new Detection(new Size(width, height), 0, 0);
}
@Override
@ -76,4 +85,20 @@ public class BasicColorDetectionVisionProcessor implements VisionProcessor {
canvas.drawCircle((float) center.x, (float) center.y, 10, WHITE);
}
}
public double getIgnoreSmallerThan() {
return this.detection.getIgnoreSmallerThan();
}
public void setIgnoreSmallerThan(double ignoreSmallerThan) {
this.detection.setIgnoreSmallerThan(ignoreSmallerThan);
}
public double getIgnoreLargerThan() {
return this.detection.getIgnoreLargerThan();
}
public void setIgnoreLargerThan(double ignoreLargerThan) {
this.detection.setIgnoreLargerThan(ignoreLargerThan);
}
}

18
src/main/java/com/tearabite/ftctearabits/vision/Detection.java
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@ -8,6 +8,8 @@ import static com.tearabite.ftctearabits.vision.OpenCVUtil.getBottomLeftOfContou
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getBottomRightOfContour;
import static com.tearabite.ftctearabits.vision.OpenCVUtil.getCenterOfContour;
import android.graphics.drawable.Icon;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.Point;
@ -130,4 +132,20 @@ public class Detection {
public Point getBottomRightCornerPx() {
return bottomRightPx;
}
public void setIgnoreSmallerThan(double ignoreSmallerThan) {
this.minAreaPx = maxSizePx.area() * ignoreSmallerThan;
}
public void setIgnoreLargerThan(double ignoreLargerThan) {
this.minAreaPx = maxSizePx.area() * ignoreLargerThan;
}
public double getIgnoreSmallerThan() {
return this.minAreaPx / this.maxSizePx.area();
}
public double getIgnoreLargerThan() {
return this.maxAreaPx / this.maxSizePx.area();
}
}