Package org.hyperonline.hyperlib.vision

Class HeightIndicatorPipeline

  • All Implemented Interfaces:
    edu.wpi.first.vision.VisionPipeline, VisionGUIPipeline
    public class HeightIndicatorPipeline
extends java.lang.Object
implements VisionGUIPipeline
    Pipeline that draws an indicator around a target, showing what the goal height should be. This is currently done by drawing two bars above and below the center of the target.

    • Constructor Summary

      Constructors 
      Constructor Description
      HeightIndicatorPipeline​(java.util.function.Supplier<? extends VisionResult> targetLocation, java.util.function.IntSupplier height, int b, int g, int r)
      Construct a new pipeline with the specified parameters.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void process​(org.opencv.core.Mat mat)
      Read an input image.
      void writeOutput​(org.opencv.core.Mat mat)
      Draw indicators onto the output image.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • HeightIndicatorPipeline

        public HeightIndicatorPipeline​(java.util.function.Supplier<? extends VisionResult> targetLocation,
                               java.util.function.IntSupplier height,
                               int b,
                               int g,
                               int r)
        Construct a new pipeline with the specified parameters.
        Parameters:
        targetLocation - Supplier of the target location, so this pipeline knows where to draw the indicator. Usually this is the getLastResult method of some pipeline which runs before this one.
        height - The goal height of the target. Usually this is a constant or the get method of a preference.
        b - Blue component of color
        g - Green component of color
        r - Red component of color

    • Method Detail

      • process

        public void process​(org.opencv.core.Mat mat)
        Read an input image. This method should extract any useful information from the input mat, and update any shared variables that the robot thread may access. It should NOT modify the image. Instead, save any information you want to print, and use it in the next call to writeOutput.
        Specified by:
        process in interface VisionGUIPipeline
        Specified by:
        process in interface edu.wpi.first.vision.VisionPipeline
        Parameters:
        mat - image to process

      • writeOutput

        public void writeOutput​(org.opencv.core.Mat mat)
        Draw indicators onto the output image.
        Specified by:
        writeOutput in interface VisionGUIPipeline
        Parameters:
        mat - image to write the indicators on