BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.vision.processors/ColourLocator

ColourLocator

BunyipsLib vision pipeline wrapper for a ColorBlobLocatorProcessor.

The ColorBlobLocatorProcessor finds "blobs" of a user-specified color in the image. You can restrict the search area to a specified Region of Interest (ROI).

This processor is the SDK-provided alternative to the ColourThreshold processor. Compared to ColourThreshold, this processor is less advanced in terms of the data it provides, but does not require a new class to be extended for each new colour range.

Author

Lucas Bubner, 2024

Since

5.0.0

Constructors

ColourLocator

constructor(@NonNull regionOfInterest: ImageRegion, @NonNull targetRange: ColorRange, @NonNull generationMode: ColorBlobLocatorProcessor.ContourMode)

Construct a new ColourLocator with minimum settings.

constructor(@NonNull builder: (ColorBlobLocatorProcessor.Builder) -> ColorBlobLocatorProcessor.Builder)

Construct a new ColourLocator with extra and required settings supplied at your own discretion.

Properties

instance

@get:NonNull

val instance: ColorBlobLocatorProcessor

Inherited properties

cameraDimensions

@get:Nullable

open val cameraDimensions: Size

data

protected val data: List<T>

List of all vision data detected since the last stateful update.

isFlipped

open var isFlipped: Boolean

isRunning

open val isRunning: Boolean

Functions

addFilter

open fun addFilter(@NonNull filter: ColorBlobLocatorProcessor.BlobFilter)

Add a filter.

getId

@NonNull

open fun getId(): String

Unique identifier for the processor.

init

open fun init(@Nullable calibration: CameraCalibration)

Optional method to implement to access the camera calibration data.

onFrameDraw

protected open fun onFrameDraw(@NonNull canvas: Canvas)

Called by the vision system to draw on the frame.

onProcessFrame

protected open fun onProcessFrame(@NonNull frame: Mat, captureTimeNanos: Long)

Called by the vision system to process a frame.

removeAllFilters

open fun removeAllFilters()

Remove all filters.

removeFilter

open fun removeFilter(@NonNull filter: ColorBlobLocatorProcessor.BlobFilter)

Remove a filter.

resetForOpMode

open fun resetForOpMode()

Reset instance count for processor identification.

setSort

open fun setSort(@NonNull sortingMethod: ColorBlobLocatorProcessor.BlobSort)

Sets the list sorting method to use in the data.

update

protected open fun update()

Called to update new data from the vision system, which involves interpreting, collecting, or otherwise processing new vision data per frame.

Inherited functions

clearData

open fun clearData()

Manually clear the data list.

delegate

open fun delegate(@NonNull delegateTo: Processor)

Delegate this processor to another processor.

getData

@NonNull

open fun getData(): ArrayList<T>

Get the list of vision data.

getFrameBitmap

open fun getFrameBitmap(@NonNull continuation: Continuation<out Consumer<Bitmap>>)

abstract fun getFrameBitmap(p: Continuation<out Consumer<Bitmap>>)

init

fun init(width: Int, height: Int, @Nullable calibration: CameraCalibration)

abstract fun init(p: Int, p1: Int, p2: CameraCalibration)

isAttached

open fun isAttached(): Boolean

Determine whether the processor is attached to a Vision instance or is initialised.

onAttach

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.

onDrawFrame

fun onDrawFrame(@NonNull canvas: Canvas, onscreenWidth: Int, onscreenHeight: Int, scaleBmpPxToCanvasPx: Float, scaleCanvasDensity: Float, @NonNull userContext: Any)

Use onFrameDraw instead, which passes a canvas.