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Updated ftclib.

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Added support to annotate detected object rect for the camera stream processor.
This commit is contained in:
Titan Robotics Club
2024-10-12 20:34:03 -07:00
parent 826b358193
commit 54de20bce1
3 changed files with 4 additions and 52 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 4102f159ad...2af0213e99

49
TeamCode/src/main/java/teamcode/vision/CameraStreamProcessor.java
View File

@ -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()));
}
}

5
TeamCode/src/main/java/teamcode/vision/Vision.java
View File

@ -35,6 +35,7 @@ import org.openftc.easyopencv.OpenCvCameraFactory;
import java.util.ArrayList; import java.util.ArrayList;
import ftclib.robotcore.FtcOpMode; import ftclib.robotcore.FtcOpMode;
import ftclib.vision.FtcCameraStreamProcessor;
import ftclib.vision.FtcEocvColorBlobProcessor; import ftclib.vision.FtcEocvColorBlobProcessor;
import ftclib.vision.FtcLimelightVision; import ftclib.vision.FtcLimelightVision;
import ftclib.vision.FtcRawEocvColorBlobPipeline; import ftclib.vision.FtcRawEocvColorBlobPipeline;
@ -90,7 +91,7 @@ public class Vision
private FtcRawEocvColorBlobPipeline rawColorBlobPipeline; private FtcRawEocvColorBlobPipeline rawColorBlobPipeline;
public FtcRawEocvVision rawColorBlobVision; public FtcRawEocvVision rawColorBlobVision;
public FtcLimelightVision limelightVision; public FtcLimelightVision limelightVision;
public CameraStreamProcessor cameraStreamProcessor; public FtcCameraStreamProcessor cameraStreamProcessor;
public FtcVisionAprilTag aprilTagVision; public FtcVisionAprilTag aprilTagVision;
private AprilTagProcessor aprilTagProcessor; private AprilTagProcessor aprilTagProcessor;
public FtcVisionEocvColorBlob redBlobVision; public FtcVisionEocvColorBlob redBlobVision;
@ -165,7 +166,7 @@ public class Vision
if (RobotParams.Preferences.useCameraStreamProcessor) if (RobotParams.Preferences.useCameraStreamProcessor)
{ {
cameraStreamProcessor = new CameraStreamProcessor(); cameraStreamProcessor = new FtcCameraStreamProcessor();
visionProcessorsList.add(cameraStreamProcessor); visionProcessorsList.add(cameraStreamProcessor);
// FtcDashboard.getInstance().startCameraStream(cameraStreamProcessor, 0); // FtcDashboard.getInstance().startCameraStream(cameraStreamProcessor, 0);
} }