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 org.opencv.core.Mat;
021import org.opencv.imgproc.Imgproc;
022import org.photonvision.vision.pipe.CVPipe;
023
024public class GrayscalePipe extends CVPipe<Mat, Mat, GrayscalePipe.GrayscaleParams> {
025    @Override
026    protected Mat process(Mat in) {
027        var outputMat = new Mat();
028        // We can save a copy here by sending the output of cvtcolor to outputMat directly
029        // rather than copying. Free performance!
030        Imgproc.cvtColor(in, outputMat, Imgproc.COLOR_BGR2GRAY, 3);
031
032        return outputMat;
033    }
034
035    public static class GrayscaleParams {
036        public GrayscaleParams() {}
037    }
038}