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.ArrayList;
021import java.util.List;
022import java.util.stream.Collectors;
023import org.opencv.core.Mat;
024import org.opencv.core.MatOfPoint;
025import org.opencv.imgproc.Imgproc;
026import org.photonvision.vision.opencv.Contour;
027import org.photonvision.vision.pipe.CVPipe;
028
029public class FindContoursPipe
030        extends CVPipe<Mat, List<Contour>, FindContoursPipe.FindContoursParams> {
031    private final List<MatOfPoint> m_foundContours = new ArrayList<>();
032
033    @Override
034    protected List<Contour> process(Mat in) {
035        for (var m : m_foundContours) {
036            m.release(); // necessary?
037        }
038        m_foundContours.clear();
039
040        Imgproc.findContours(
041                in, m_foundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_KCOS);
042
043        return m_foundContours.stream().map(Contour::new).collect(Collectors.toList());
044    }
045
046    public static class FindContoursParams {}
047}