BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.vision.processors.centerstage/GreenPixel

GreenPixel

open class GreenPixel : ColourThreshold

Green pixel processor. These values may not be tuned for your specific camera, lighting, or field conditions, and are tuned based on our own testing. You may need to adjust these values to get the best results for your own robot.

Since

1.0.0-pre

Constructors

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constructor()
Create a new Green Pixel detector.

Properties

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@NonNull
open var LOWER_YCRCB: Scalar
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open var MAX_AREA: Double
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open var MIN_AREA: Double
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@NonNull
open var UPPER_YCRCB: Scalar

Inherited properties

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@get:Nullable
open val cameraMatrix: Mat
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@Nullable
open var colourSpace: Supplier<ColourThreshold.ColourSpace>
The currently used Colour Space to use for lower and upper thresholds.
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protected val data: List<T>
List of all vision data detected since the last stateful update.
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open var DEFAULT_BIGGEST_CONTOUR_BORDER_THICKNESS: Int
The thickness of the border to draw around the biggest contour.
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@ColorInt
open var DEFAULT_BOX_COLOUR: Int
Default box colour.
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open var DEFAULT_CONTOUR_BORDER_THICKNESS: Int
The thickness of the border to draw around all contours.
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open var DEFAULT_MAX_AREA: Double
Maximum contour area in percentage to threshold by.
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open var DEFAULT_MIN_AREA: Double
Minimum contour area in percentage to threshold by.
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@get:NonNull
open val distCoeffs: MatOfDouble
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open var isFlipped: Boolean
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open val isRunning: Boolean
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@Nullable
open var lowerThreshold: Supplier<Scalar>
The currently used lower threshold to apply to filter out contours.
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open var PNP_AXIS_LENGTH: Double
The used global length of the axes used to display PnP projections (if enabled).
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open var PNP_AXIS_THICKNESS: Double
The used global thickness of the axes used to display PnP projections (if enabled).
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@Nullable
open var upperThreshold: Supplier<Scalar>
The currently used upper threshold to apply to filter out contours.

Functions

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@NonNull
open fun getId(): String
Unique identifier for the processor.

Inherited functions

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open fun clearData()
Manually clear the data list.
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open fun delegate(@NonNull delegateTo: Processor)
Delegate this processor to another processor.
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@NonNull
open fun getData(): ArrayList<T>
Get the list of vision data.
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open fun getFrameBitmap(@NonNull continuation: Continuation<out Consumer<Bitmap>>)
abstract fun getFrameBitmap(p: Continuation<out Consumer<Bitmap>>)
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fun init(width: Int, height: Int, @Nullable calibration: CameraCalibration)
abstract fun init(p: Int, p1: Int, p2: CameraCalibration)

open fun init(@Nullable calibration: CameraCalibration)
Optional method to implement to access the camera calibration data.
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open fun isAttached(): Boolean
Determine whether the processor is attached to a Vision instance or is initialised.
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protected open fun onAttach()
Override this method to run any additional code that will be executed when this processor is attached (via init()) by a Vision instance.
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fun onDrawFrame(@NonNull canvas: Canvas, onscreenWidth: Int, onscreenHeight: Int, scaleBmpPxToCanvasPx: Float, scaleCanvasDensity: Float, @NonNull userContext: Any)
Use onFrameDraw instead, which passes a canvas.
abstract fun onDrawFrame(p: Canvas, p1: Int, p2: Int, p3: Float, p4: Float, p5: Any)
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protected fun onFrameDraw(@NonNull canvas: Canvas)
Called by the vision system to draw on the frame.
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protected fun onProcessFrame(@NonNull frame: Mat, captureTimeNanos: Long)
Called by the vision system to process a frame.
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protected open fun onRunning()
Override this method to run any additional code that will be executed when this processor starts streaming (via start()) on a Vision instance.
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@Nullable
fun processFrame(@NonNull frame: Mat, captureTimeNanos: Long): Any
abstract fun processFrame(p: Mat, p1: Long): Any
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open fun setBiggestContourBorderThickness(staticThicknessPx: Int)
open fun setBiggestContourBorderThickness(@NonNull thicknessPx: IntSupplier)
Sets the border thickness of a detected contour that is the largest in the scene.
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open fun setBlurSize(staticBlurSizeUnnormalised: Int)
open fun setBlurSize(@NonNull blurSizeUnnormalised: IntSupplier)
Sets the size of the blur element to use during thresholding.
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open fun setBoxColour(@ColorInt staticColour: Int)
open fun setBoxColour(@NonNull colour: IntSupplier)
Sets the box colour to use for highlighting contours.
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open fun setColourSpace(@NonNull staticColourSpace: ColourThreshold.ColourSpace)
open fun setColourSpace(@NonNull colourSpace: Supplier<ColourThreshold.ColourSpace>)
Sets the colour space to use for this ColourThreshold.
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open fun setContourAreaMaxPercent(staticPercent: Double)
open fun setContourAreaMaxPercent(@NonNull percent: DoubleSupplier)
Set the upper percentage that will be used as a maximum.
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open fun setContourAreaMinPercent(staticPercent: Double)
open fun setContourAreaMinPercent(@NonNull percent: DoubleSupplier)
Set the lower percentage that will be used as a mininum.
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open fun setContourBorderThickness(staticThicknessPx: Int)
open fun setContourBorderThickness(@NonNull thicknessPx: IntSupplier)
Sets the border thickness of a detected contour that is not the largest in the scene.
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open fun setDilateSize(staticDilateSize: Double)
open fun setDilateSize(@NonNull dilateSize: DoubleSupplier)
Sets the size of the dilating element to use during thresholding.
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open fun setDistCoeffs(k1: Double, k2: Double, p1: Double, p2: Double, k3: Double)
Set the distortion coefficients for the camera.
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open fun setErodeSize(staticErodeSize: Double)
open fun setErodeSize(@NonNull erodeSize: DoubleSupplier)
Sets the size of the eroding element to use during thresholding.
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open fun setExternalContoursOnly(staticUseExternalContours: Boolean)
open fun setExternalContoursOnly(@NonNull useExternalContours: BooleanSupplier)
Filter out contours that are inside other contours.
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open fun setHighlightContourPoints(staticHighlight: Boolean)
open fun setHighlightContourPoints(@NonNull highlight: BooleanSupplier)
Sets whether to highlight the points of the contour on the canvas.
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open fun setLensIntrinsics(fx: Double, fy: Double, cx: Double, cy: Double)
Set the lens intrinsics for the camera.
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open fun setLowerThreshold(@NonNull lower: Supplier<Scalar>)
open fun setLowerThreshold(@NonNull staticLower: Scalar)
Sets the lower scalar to use for thresholding.
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open fun setPnP(@NonNull realWorldObjectWidth: Measure<Distance>, @NonNull realWorldObjectHeight: Measure<Distance>)
Sets the real world dimensions of the object(s) of the thresholded colour to be detected, measured in width and height.
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open fun setRegionOfInterest(@NonNull regionOfInterest: Supplier<ImageRegion>)
open fun setRegionOfInterest(@NonNull staticRegionOfInterest: ImageRegion)
Sets the region of interest for this colour threshold, which will only focus detections on this area.
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open fun setShowMaskedInput(staticShowMaskedInput: Boolean)
open fun setShowMaskedInput(@NonNull showMaskedInput: BooleanSupplier)
Whether to show the colour thresholding on the output mat.
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open fun setUpperThreshold(@NonNull upper: Supplier<Scalar>)
open fun setUpperThreshold(@NonNull staticUpper: Scalar)
Sets the upper scalar to use for thresholding.
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protected fun update()
Called to update new data from the vision system, which involves interpreting, collecting, or otherwise processing new vision data per frame.