From 54de20bce13da79b8e3811aa16d4adcd6fed1de0 Mon Sep 17 00:00:00 2001
From: Titan Robotics Club <trc492@users.noreply.github.com>
Date: Sat, 12 Oct 2024 20:34:03 -0700
Subject: [PATCH] Updated ftclib. Added support to annotate detected object
 rect for the camera stream processor.

---
 TeamCode/src/main/java/ftclib                 |  2 +-
 .../vision/CameraStreamProcessor.java         | 49 -------------------
 .../src/main/java/teamcode/vision/Vision.java |  5 +-
 3 files changed, 4 insertions(+), 52 deletions(-)
 delete mode 100644 TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java

diff --git a/TeamCode/src/main/java/ftclib b/TeamCode/src/main/java/ftclib
index 4102f15..2af0213 160000
--- a/TeamCode/src/main/java/ftclib
+++ b/TeamCode/src/main/java/ftclib
@@ -1 +1 @@
-Subproject commit 4102f159adb6c171662426187402730140a7bf52
+Subproject commit 2af0213e992e5b17da8ed4e6e69f5c31ac247256
diff --git a/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java b/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java
deleted file mode 100644
index 5328693..0000000
--- a/TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java
+++ /dev/null
@@ -1,49 +0,0 @@
-package teamcode.vision;
-
-import android.graphics.Bitmap;
-import android.graphics.Canvas;
-
-import org.firstinspires.ftc.robotcore.external.function.Consumer;
-import org.firstinspires.ftc.robotcore.external.function.Continuation;
-import org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource;
-import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
-import org.firstinspires.ftc.vision.VisionProcessor;
-import org.opencv.android.Utils;
-import org.opencv.core.Mat;
-
-import java.util.concurrent.atomic.AtomicReference;
-
-public class CameraStreamProcessor implements VisionProcessor, CameraStreamSource
-{
-    private final AtomicReference<Bitmap> lastFrame =
-        new AtomicReference<>(Bitmap.createBitmap(1, 1, Bitmap.Config.RGB_565));
-
-    @Override
-    public void init(int width, int height, CameraCalibration calibration)
-    {
-        lastFrame.set(Bitmap.createBitmap(width, height, Bitmap.Config.RGB_565));
-    }
-
-    @Override
-    public Object processFrame(Mat frame, long captureTimeNanos)
-    {
-        Bitmap b = Bitmap.createBitmap(frame.width(), frame.height(), Bitmap.Config.RGB_565);
-        Utils.matToBitmap(frame, b);
-        lastFrame.set(b);
-        return null;
-    }
-
-    @Override
-    public void onDrawFrame(
-        Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity,
-        Object userContext)
-    {
-        // do nothing
-    }
-
-    @Override
-    public void getFrameBitmap(Continuation<? extends Consumer<Bitmap>> continuation)
-    {
-        continuation.dispatch(bitmapConsumer -> bitmapConsumer.accept(lastFrame.get()));
-    }
-}
diff --git a/TeamCode/src/main/java/teamcode/vision/Vision.java b/TeamCode/src/main/java/teamcode/vision/Vision.java
index 83ccb81..f7e772f 100644
--- a/TeamCode/src/main/java/teamcode/vision/Vision.java
+++ b/TeamCode/src/main/java/teamcode/vision/Vision.java
@@ -35,6 +35,7 @@ import org.openftc.easyopencv.OpenCvCameraFactory;
 import java.util.ArrayList;
 
 import ftclib.robotcore.FtcOpMode;
+import ftclib.vision.FtcCameraStreamProcessor;
 import ftclib.vision.FtcEocvColorBlobProcessor;
 import ftclib.vision.FtcLimelightVision;
 import ftclib.vision.FtcRawEocvColorBlobPipeline;
@@ -90,7 +91,7 @@ public class Vision
     private FtcRawEocvColorBlobPipeline rawColorBlobPipeline;
     public FtcRawEocvVision rawColorBlobVision;
     public FtcLimelightVision limelightVision;
-    public CameraStreamProcessor cameraStreamProcessor;
+    public FtcCameraStreamProcessor cameraStreamProcessor;
     public FtcVisionAprilTag aprilTagVision;
     private AprilTagProcessor aprilTagProcessor;
     public FtcVisionEocvColorBlob redBlobVision;
@@ -165,7 +166,7 @@ public class Vision
 
             if (RobotParams.Preferences.useCameraStreamProcessor)
             {
-                cameraStreamProcessor = new CameraStreamProcessor();
+                cameraStreamProcessor = new FtcCameraStreamProcessor();
                 visionProcessorsList.add(cameraStreamProcessor);
 //                FtcDashboard.getInstance().startCameraStream(cameraStreamProcessor, 0);
             }