OpenCV test setup

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpenCVTest.java

@@ -0,0 +1,101 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.exception.RobotCoreException;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.imgproc.Imgproc;
+import org.openftc.easyopencv.OpenCvCamera;
+import org.openftc.easyopencv.OpenCvCameraFactory;
+import org.openftc.easyopencv.OpenCvPipeline;
+
+@Autonomous
+public class OpenCVTest extends LinearOpMode {
+    private final ElapsedTime runtime = new ElapsedTime();
+    private int renderMode = 0;
+    private Gamepad prevGamepad1 = new Gamepad();
+
+    OpenCvCamera webcam;
+
+    @Override
+    public void runOpMode() {
+        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
+        webcam = OpenCvCameraFactory.getInstance().createWebcam(hardwareMap.get(WebcamName.class, "Webcam1"), cameraMonitorViewId);
+        webcam.openCameraDeviceAsync(new OpenCvCamera.AsyncCameraOpenListener()
+        {
+            @Override
+            public void onOpened()
+            {
+                webcam.setViewportRenderer(OpenCvCamera.ViewportRenderer.GPU_ACCELERATED);
+                webcam.startStreaming(640, 480);
+                webcam.setPipeline(new ChannelSwitchingPipeline());
+
+                waitForStart();
+
+                while (opModeIsActive()) {
+
+                    if (gamepad1.left_bumper && !prevGamepad1.left_bumper) {
+                        renderMode--;
+                    }
+                    if (gamepad1.right_bumper && !prevGamepad1.right_bumper) {
+                        renderMode++;
+                    }
+
+                    if (renderMode < 0) {
+                        renderMode = 6;
+                    }
+                    else if (renderMode > 6) {
+                        renderMode = 0;
+                    }
+
+                    try { prevGamepad1.copy(gamepad1); } catch (RobotCoreException ignored) {}
+                    telemetry.addData("Time:", runtime);
+                    telemetry.addData("Render mode:", renderMode);
+                    telemetry.update();
+                    sleep(20);
+                }
+            }
+            @Override
+            public void onError(int errorCode)
+            {
+                telemetry.addData("Error opening camera. Code:", errorCode);
+                telemetry.update();
+            }
+        });
+    }
+
+    class ChannelSwitchingPipeline extends OpenCvPipeline {
+        Mat redMat = new Mat();
+        Mat greenMat = new Mat();
+        Mat blueMat = new Mat();
+        Mat redThreshMat = new Mat();
+        Mat greenThreshMat = new Mat();
+        Mat blueThreshMat = new Mat();
+
+        @Override
+        public Mat processFrame(Mat input) {
+            Core.extractChannel(input, redMat, 0);
+            Core.extractChannel(input, greenMat, 1);
+            Core.extractChannel(input, blueMat, 2);
+
+            Imgproc.threshold(redMat, redThreshMat, 100, 255, Imgproc.THRESH_BINARY_INV);
+            Imgproc.threshold(greenMat, greenThreshMat, 100, 255, Imgproc.THRESH_BINARY_INV);
+            Imgproc.threshold(blueMat, blueThreshMat, 100, 255, Imgproc.THRESH_BINARY_INV);
+
+            switch (renderMode) {
+                case 1: { return redMat; }
+                case 2: { return greenMat; }
+                case 3: { return blueMat; }
+                case 4: { return redThreshMat; }
+                case 5: { return greenThreshMat; }
+                case 6: { return blueThreshMat; }
+                default: { return input; }
+            }
+        }
+    }
+}