Package org.hyperonline.hyperlib.vision

Class ClosestTargetProcessor

java.lang.Object

org.hyperonline.hyperlib.vision.AbstractTargetProcessor<VisionResult>

org.hyperonline.hyperlib.vision.ClosestTargetProcessor

All Implemented Interfaces:

TargetProcessor

public class ClosestTargetProcessor
extends AbstractTargetProcessor<VisionResult>

Target processor class which picks out the closest target to the crosshairs.

Constructor Summary

Constructors

Constructor	Description
ClosestTargetProcessor(BasicVisionConnector connector, int xCrosshairs, int yCrosshairs)	Construct a new target processor with the given fixed crosshairs position.
ClosestTargetProcessor(BasicVisionConnector connector, java.util.function.IntSupplier xCrosshairs, java.util.function.IntSupplier yCrosshairs)	Construct a new target processor which reads crosshairs position from the given functions.

Method Summary

Modifier and Type	Method	Description
VisionResult	computeResult(java.util.List<org.opencv.core.Rect> targets)
void	writeOutput(org.opencv.core.Mat mat)	Draw overlays on the image.

Methods inherited from class org.hyperonline.hyperlib.vision.AbstractTargetProcessor

getLastResult, process

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClosestTargetProcessor

public ClosestTargetProcessor(BasicVisionConnector connector,
                              int xCrosshairs,
                              int yCrosshairs)

Construct a new target processor with the given fixed crosshairs position.

Parameters:

connector - VisionConnector for retreiving/publishing the result

xCrosshairs - X coordinate for the crosshairs

yCrosshairs - Y coordinate for the crosshairs

ClosestTargetProcessor

public ClosestTargetProcessor(BasicVisionConnector connector,
                              java.util.function.IntSupplier xCrosshairs,
                              java.util.function.IntSupplier yCrosshairs)

Construct a new target processor which reads crosshairs position from the given functions. The most common use case would be to pass IntPreference.get(). Whatever you pass must be safe to call from the vision thread, so it should not reference the internals of commands, subsystems, or other robot code. Note that preferences are safe to access from any thread.

Parameters:

connector - VisionConnector for retreiving/publishing the result

xCrosshairs - X coordinate for the crosshairs

yCrosshairs - Y coordinate for the crosshairs

Method Detail

computeResult

public VisionResult computeResult(java.util.List<org.opencv.core.Rect> targets)

Specified by:

computeResult in class AbstractTargetProcessor<VisionResult>

Parameters:

targets - list of targets to compute

Returns:

{T}

writeOutput

public void writeOutput(org.opencv.core.Mat mat)

Draw overlays on the image. This should give the user some indication of what the result of TargetProcessor.process(List) was.

Parameters:

mat - The image to draw on.