BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.vision.processors/ColourSensor

ColourSensor

BunyipsLib vision pipeline wrapper for a PredominantColorProcessor.

The PredominantColorProcessor acts like a "Color Sensor", allowing you to define a Region of Interest (ROI) of the camera stream inside which the dominant color is found. Additionally, said color is matched to one of the PredominantColorProcessor.Swatchs specified by the user as a "best guess" at the general shade of the color.

Author

Lucas Bubner, 2024

Since

5.0.0

Constructors

ColourSensor

constructor(@NonNull regionOfInterest: ImageRegion, @NonNull swatches: Array<PredominantColorProcessor.Swatch>)

Construct a new ColourSensor vision pipeline.

Properties

instance

@get:NonNull

val instance: PredominantColorProcessor

Inherited properties

cameraDimensions

@get:Nullable

open val cameraDimensions: Size

data

protected val data: List<T>

List of all vision data detected since the last stateful update.

isFlipped

open var isFlipped: Boolean

isRunning

open val isRunning: Boolean

Functions

getId

@NonNull

open fun getId(): String

Unique identifier for the processor.

init

open fun init(@Nullable calibration: CameraCalibration)

Optional method to implement to access the camera calibration data.

onFrameDraw

protected open fun onFrameDraw(@NonNull canvas: Canvas)

Called by the vision system to draw on the frame.

onProcessFrame

protected open fun onProcessFrame(@NonNull frame: Mat, captureTimeNanos: Long)

Called by the vision system to process a frame.

resetForOpMode

open fun resetForOpMode()

Reset instance count for processor identification.

update

protected open fun update()

Called to update new data from the vision system, which involves interpreting, collecting, or otherwise processing new vision data per frame.

Inherited functions

clearData

open fun clearData()

Manually clear the data list.

delegate

open fun delegate(@NonNull delegateTo: Processor)

Delegate this processor to another processor.

getData

@NonNull

open fun getData(): ArrayList<T>

Get the list of vision data.

getFrameBitmap

open fun getFrameBitmap(@NonNull continuation: Continuation<out Consumer<Bitmap>>)

abstract fun getFrameBitmap(p: Continuation<out Consumer<Bitmap>>)

init

fun init(width: Int, height: Int, @Nullable calibration: CameraCalibration)

abstract fun init(p: Int, p1: Int, p2: CameraCalibration)

isAttached

open fun isAttached(): Boolean

Determine whether the processor is attached to a Vision instance or is initialised.

onAttach

protected open fun onAttach()

Override this method to run any additional code that will be executed when this processor is attached (via init) by a Vision instance.

onDrawFrame

fun onDrawFrame(@NonNull canvas: Canvas, onscreenWidth: Int, onscreenHeight: Int, scaleBmpPxToCanvasPx: Float, scaleCanvasDensity: Float, @NonNull userContext: Any)

Use onFrameDraw instead, which passes a canvas.