karx/freesight
1
0
Fork 0
forked from gallant/freesight
Code Issues Pull requests Packages Projects Releases Wiki Activity

Fix rectangle colors, attempt to draw rectangle on section

Browse source
This commit is contained in:
Yash Karandikar 2023-09-29 10:25:49 -05:00
parent e0c1709867
commit adac66432c
1 changed files with 40 additions and 27 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

67
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/freesight/vision/FreeSightPipeline.java
View file

@ -97,39 +97,51 @@ public class FreeSightPipeline extends OpenCvPipeline {
Imgproc.findContours(scaledThresh, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE); Imgproc.findContours(scaledThresh, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE);
Mat threshRGB = new Mat();
int index = 0; Imgproc.cvtColor(threshold, threshRGB, Imgproc.COLOR_GRAY2BGR);
int area = 0; if (contours.size() > 0) {
for (int i = 0; i < contours.size(); i++) int index = 0;
{ int area = 0;
MatOfPoint bar = contours.get(i); for (int i = 0; i < contours.size(); i++)
int foo = bar.width() * bar.height();
if(foo > area)
{ {
index = i; MatOfPoint bar = contours.get(i);
area = foo; int foo = bar.width() * bar.height();
if(foo > area)
{
index = i;
area = foo;
}
} }
}
MatOfPoint contour = contours.get(index); MatOfPoint contour = contours.get(index);
Rect boundingRect = Imgproc.boundingRect(contour); Rect boundingRect = Imgproc.boundingRect(contour);
// center is ( x + w ) / 2 // center is ( x + w ) / 2
int point = (boundingRect.x + boundingRect.width) / 2; int point = (boundingRect.x + boundingRect.width) / 2;
Imgproc.rectangle( Imgproc.rectangle(
threshold, threshRGB,
boundingRect, boundingRect,
outline outline
); );
if(point < width / 3) int bigX;
positionState = Side.LEFT; if(point < width / 3) {
else if(point > width / 1.5) positionState = Side.LEFT;
positionState = Side.RIGHT; bigX = 0;
else }
positionState = Side.MIDDLE; else if(point > width / 1.5) {
positionState = Side.RIGHT;
bigX = width * 2 / 3;
}
else {
positionState = Side.MIDDLE;
bigX = width / 3;
}
Imgproc.rectangle(threshRGB, new Rect(bigX, 0, width / 3, height), outline);
}
//list of frames to reduce inconsistency, not too many so that it is still real-time, change the number from 5 if you want //list of frames to reduce inconsistency, not too many so that it is still real-time, change the number from 5 if you want
if (frameList.size() > 5) { if (frameList.size() > 5) {
@ -142,7 +154,8 @@ public class FreeSightPipeline extends OpenCvPipeline {
scaledMask.release(); scaledMask.release();
mat.release(); mat.release();
masked.release(); masked.release();
return threshold; threshold.release();
return threshRGB;
} }
} }