Package org.photonvision.vision.pipe.impl

Class FindCirclesPipe

java.lang.Object

org.photonvision.vision.pipe.CVPipe<org.apache.commons.lang3.tuple.Pair<org.opencv.core.Mat,List<Contour>>,List<CVShape>,FindCirclesPipe.FindCirclePipeParams>

org.photonvision.vision.pipe.impl.FindCirclesPipe

public class FindCirclesPipe
extends CVPipe<org.apache.commons.lang3.tuple.Pair<org.opencv.core.Mat,List<Contour>>,List<CVShape>,FindCirclesPipe.FindCirclePipeParams>

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FindCirclesPipe.FindCirclePipeParams

Nested classes/interfaces inherited from class org.photonvision.vision.pipe.CVPipe

CVPipe.CVPipeResult<O>

Field Summary

Fields inherited from class org.photonvision.vision.pipe.CVPipe

params, result

Constructor Summary

Constructors

Constructor	Description
FindCirclesPipe()

Method Summary

Modifier and Type	Method	Description
protected List<CVShape>	process(org.apache.commons.lang3.tuple.Pair<org.opencv.core.Mat,List<Contour>> in)	Runs the process for the pipe.

Methods inherited from class org.photonvision.vision.pipe.CVPipe

getParams, run, setParams

Methods inherited from class java.lang.Object

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

Constructor Details

FindCirclesPipe

public FindCirclesPipe()

Method Details

process

protected List<CVShape> process(org.apache.commons.lang3.tuple.Pair<org.opencv.core.Mat,List<Contour>> in)

Runs the process for the pipe. The reason we need a separate pipe for circles is because if we were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides is a circle. Only issue with such approximation is that the user would no longer be able to track shapes with 10-20+ sides. And hence, in order to overcome this edge case, we can use HoughCircles which is more flexible and accurate for finding circles.

Specified by:

process in class CVPipe<org.apache.commons.lang3.tuple.Pair<org.opencv.core.Mat,List<Contour>>,List<CVShape>,FindCirclesPipe.FindCirclePipeParams>

Parameters:

in - Input for pipe processing. 8-bit, single-channel, grayscale input image.

Returns:

Result of processing.