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Cleanup

This commit is contained in:
Scott Barnes 2023-10-28 12:35:09 -05:00
parent 287fef6443
commit 06182dc1e9
2 changed files with 0 additions and 9 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
View File

@ -20,12 +20,10 @@ public class Camera {
private TargetingPipeline targetingPipeline; private TargetingPipeline targetingPipeline;
private boolean targetingCameraInitialized; private boolean targetingCameraInitialized;
// Constructor
public Camera(HardwareMap hardwareMap) { public Camera(HardwareMap hardwareMap) {
this.hardwareMap = hardwareMap; this.hardwareMap = hardwareMap;
} }
// Initiate the Targeting Camera
public void initTargetingCamera() { public void initTargetingCamera() {
int targetingCameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName()); int targetingCameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
this.targetingCamera = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, TARGETING_WEBCAM), targetingCameraMonitorViewId); this.targetingCamera = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, TARGETING_WEBCAM), targetingCameraMonitorViewId);
@ -45,14 +43,12 @@ public class Camera {
}); });
} }
// Close the Targeting Camera
public void stopTargetingCamera() { public void stopTargetingCamera() {
if (targetingCameraInitialized) { if (targetingCameraInitialized) {
targetingCamera.closeCameraDeviceAsync(() -> targetingCameraInitialized = false); targetingCamera.closeCameraDeviceAsync(() -> targetingCameraInitialized = false);
} }
} }
// Get the Red Goal Detection
public Detection getRed() { public Detection getRed() {
return (targetingCameraInitialized ? targetingPipeline.getRed() : INVALID_DETECTION); return (targetingCameraInitialized ? targetingPipeline.getRed() : INVALID_DETECTION);
} }

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/Detection.java
View File

@ -54,8 +54,6 @@ public class Detection {
if (isValid()) { if (isValid()) {
drawConvexHull(img, contour, color); drawConvexHull(img, contour, color);
drawPoint(img, centerPx, GREEN); drawPoint(img, centerPx, GREEN);
// drawPoint(img, bottomLeftPx, GREEN);
// drawPoint(img, bottomRightPx, GREEN);
} }
} }
@ -64,14 +62,11 @@ public class Detection {
if (isValid()) { if (isValid()) {
fillConvexHull(img, contour, color); fillConvexHull(img, contour, color);
drawPoint(img, centerPx, GREEN); drawPoint(img, centerPx, GREEN);
// drawPoint(img, bottomLeftPx, GREEN);
// drawPoint(img, bottomRightPx, GREEN);
} }
} }
// Check if the current Detection is valid // Check if the current Detection is valid
public boolean isValid() { public boolean isValid() {
// return true;
return (this.contour != null) && (this.centerPx != INVALID_POINT) && (this.areaPx != INVALID_AREA); return (this.contour != null) && (this.centerPx != INVALID_POINT) && (this.areaPx != INVALID_AREA);
} }