001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.vision.pipe.impl;
019
020import java.util.List;
021import org.apache.commons.lang3.tuple.Pair;
022import org.opencv.core.Mat;
023import org.opencv.core.Scalar;
024import org.opencv.imgproc.Imgproc;
025import org.photonvision.vision.pipe.MutatingPipe;
026import org.photonvision.vision.target.TrackedTarget;
027
028public class DrawCornerDetectionPipe
029        extends MutatingPipe<Pair<Mat, List<TrackedTarget>>, DrawCornerDetectionPipe.DrawCornerParams> {
030    @Override
031    protected Void process(Pair<Mat, List<TrackedTarget>> in) {
032        Mat image = in.getLeft();
033
034        for (var target : in.getRight()) {
035            var corners = target.getTargetCorners();
036            for (var corner : corners) {
037                Imgproc.circle(image, corner, params.dotRadius, params.dotColor);
038            }
039        }
040
041        return null;
042    }
043
044    public static class DrawCornerParams {
045        int dotRadius;
046        Scalar dotColor;
047    }
048}