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

ColourThreshold

abstract class ColourThreshold : Processor<T>

Colour thresholding processor for a colour space, used to find colour contours in an image and to use PnP operations.

This processor serves as an advanced and more feature-rich alternative to the built-in ColourLocator processor, providing more control over the thresholding process and the ability to use PnP (Perspective-N-Point) to determine the real-world position of detected objects.

Author

Lucas Bubner, 2024

Since

6.0.0

Inheritors

Constructors

ColourThreshold

constructor()

Creates a new ColourThreshold and auto-adds this class to FtcDashboard.

Types

ColourSpace

enum ColourSpace

The colour spaces that can be used for thresholding.

Properties

cameraMatrix

@get:Nullable

open val cameraMatrix: Mat

colourSpace

@Nullable

open var colourSpace: Supplier<ColourThreshold.ColourSpace>

The currently used Colour Space to use for lower and upper thresholds.

DEFAULT_BIGGEST_CONTOUR_BORDER_THICKNESS

open var DEFAULT_BIGGEST_CONTOUR_BORDER_THICKNESS: Int

The thickness of the border to draw around the biggest contour.

DEFAULT_BOX_COLOUR

@ColorInt

open var DEFAULT_BOX_COLOUR: Int

Default box colour.

DEFAULT_CONTOUR_BORDER_THICKNESS

open var DEFAULT_CONTOUR_BORDER_THICKNESS: Int

The thickness of the border to draw around all contours.

DEFAULT_MAX_AREA

open var DEFAULT_MAX_AREA: Double

Maximum contour area in percentage to threshold by.

DEFAULT_MIN_AREA

open var DEFAULT_MIN_AREA: Double

Minimum contour area in percentage to threshold by.

distCoeffs

@get:NonNull

open val distCoeffs: MatOfDouble

lowerThreshold

@Nullable

open var lowerThreshold: Supplier<Scalar>

The currently used lower threshold to apply to filter out contours.

PNP_AXIS_LENGTH

open var PNP_AXIS_LENGTH: Double

The used global length of the axes used to display PnP projections (if enabled).

PNP_AXIS_THICKNESS

open var PNP_AXIS_THICKNESS: Double

The used global thickness of the axes used to display PnP projections (if enabled).

upperThreshold

@Nullable

open var upperThreshold: Supplier<Scalar>

The currently used upper threshold to apply to filter out contours.

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

init

open fun init(@Nullable calibration: CameraCalibration)

Optional method to implement to access the camera calibration data.

onFrameDraw

protected fun onFrameDraw(@NonNull canvas: Canvas)

Called by the vision system to draw on the frame.

onProcessFrame

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

Called by the vision system to process a frame.

setBiggestContourBorderThickness

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.

setBlurSize

open fun setBlurSize(staticBlurSizeUnnormalised: Int)

open fun setBlurSize(@NonNull blurSizeUnnormalised: IntSupplier)

Sets the size of the blur element to use during thresholding.

setBoxColour

open fun setBoxColour(@ColorInt staticColour: Int)

open fun setBoxColour(@NonNull colour: IntSupplier)

Sets the box colour to use for highlighting contours.

setColourSpace

open fun setColourSpace(@NonNull staticColourSpace: ColourThreshold.ColourSpace)

open fun setColourSpace(@NonNull colourSpace: Supplier<ColourThreshold.ColourSpace>)

Sets the colour space to use for this ColourThreshold.

setContourAreaMaxPercent

open fun setContourAreaMaxPercent(staticPercent: Double)

open fun setContourAreaMaxPercent(@NonNull percent: DoubleSupplier)

Set the upper percentage that will be used as a maximum.

setContourAreaMinPercent

open fun setContourAreaMinPercent(staticPercent: Double)

open fun setContourAreaMinPercent(@NonNull percent: DoubleSupplier)

Set the lower percentage that will be used as a mininum.

setContourBorderThickness

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.

setDilateSize

open fun setDilateSize(staticDilateSize: Double)

open fun setDilateSize(@NonNull dilateSize: DoubleSupplier)

Sets the size of the dilating element to use during thresholding.

setDistCoeffs

open fun setDistCoeffs(k1: Double, k2: Double, p1: Double, p2: Double, k3: Double)

Set the distortion coefficients for the camera.

setErodeSize

open fun setErodeSize(staticErodeSize: Double)

open fun setErodeSize(@NonNull erodeSize: DoubleSupplier)

Sets the size of the eroding element to use during thresholding.

setExternalContoursOnly

open fun setExternalContoursOnly(staticUseExternalContours: Boolean)

open fun setExternalContoursOnly(@NonNull useExternalContours: BooleanSupplier)

Filter out contours that are inside other contours.

setHighlightContourPoints

open fun setHighlightContourPoints(staticHighlight: Boolean)

open fun setHighlightContourPoints(@NonNull highlight: BooleanSupplier)

Sets whether to highlight the points of the contour on the canvas.

setLensIntrinsics

open fun setLensIntrinsics(fx: Double, fy: Double, cx: Double, cy: Double)

Set the lens intrinsics for the camera.

setLowerThreshold

open fun setLowerThreshold(@NonNull lower: Supplier<Scalar>)

open fun setLowerThreshold(@NonNull staticLower: Scalar)

Sets the lower scalar to use for thresholding.

setPnP

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.

setRegionOfInterest

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.

setShowMaskedInput

open fun setShowMaskedInput(staticShowMaskedInput: Boolean)

open fun setShowMaskedInput(@NonNull showMaskedInput: BooleanSupplier)

Whether to show the colour thresholding on the output mat.

setUpperThreshold

open fun setUpperThreshold(@NonNull upper: Supplier<Scalar>)

open fun setUpperThreshold(@NonNull staticUpper: Scalar)

Sets the upper scalar to use for thresholding.

update

protected 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>>)

getId

@NonNull

abstract fun getId(): String

Unique identifier for the processor.

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.