wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/vision/package-summary.html
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<h1 title="Package" class="title">Package edu.wpi.first.wpilibj.vision</h1>
<div class="docSummary">
<div class="block">Classes in the <code>edu.wpi.first.wpilibj.vision</code> package are designed to
simplify using OpenCV vision processing code from a robot program.</div>
</div>
<p>See: <a href="#package.description">Description</a></p>
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<caption><span>Interface Summary</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Interface</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a></td>
<td class="colLast">
<div class="block">A vision pipeline is responsible for running a group of
OpenCV algorithms to extract data from an image.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html" title="interface in edu.wpi.first.wpilibj.vision">VisionRunner.Listener</a><P extends <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a>></td>
<td class="colLast">
<div class="block">Listener interface for a callback that should run after a pipeline has processed its input.</div>
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<th class="colFirst" scope="col">Class</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.html" title="class in edu.wpi.first.wpilibj.vision">VisionRunner</a><P extends <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision">VisionPipeline</a>></td>
<td class="colLast">
<div class="block">A vision runner is a convenient wrapper object to make it easy to run vision pipelines
from robot code.</div>
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<td class="colFirst"><a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision">VisionThread</a></td>
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<div class="block">A vision thread is a special thread that runs a vision pipeline.</div>
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<h2 title="Package edu.wpi.first.wpilibj.vision Description">Package edu.wpi.first.wpilibj.vision Description</h2>
<div class="block">Classes in the <code>edu.wpi.first.wpilibj.vision</code> package are designed to
simplify using OpenCV vision processing code from a robot program.
<p>An example use case for grabbing a yellow tote from 2015 in autonomous:
<br>
<pre><code>
public class Robot extends IterativeRobot
implements VisionRunner.Listener<MyFindTotePipeline> {
// A USB camera connected to the roboRIO.
private <a href="../../../../../edu/wpi/cscore/VideoSource.html" title="class in edu.wpi.cscore"><code>VideoSource</code></a> usbCamera;
// A vision pipeline. This could be handwritten or generated by GRIP.
// This has to implement <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionPipeline.html" title="interface in edu.wpi.first.wpilibj.vision"><code>VisionPipeline</code></a>.
// For this example, assume that it's perfect and will always see the tote.
private MyFindTotePipeline findTotePipeline;
private <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionThread.html" title="class in edu.wpi.first.wpilibj.vision"><code>VisionThread</code></a> findToteThread;
// The object to synchronize on to make sure the vision thread doesn't
// write to variables the main thread is using.
private final Object visionLock = new Object();
// The pipeline outputs we want
private boolean pipelineRan = false; // lets us know when the pipeline has actually run
private double angleToTote = 0;
private double distanceToTote = 0;
@Override
public void <a href="../../../../../edu/wpi/first/wpilibj/vision/VisionRunner.Listener.html#copyPipelineOutputs-P-"><code>copyPipelineOutputs(MyFindTotePipeline pipeline)</code></a> {
synchronized (visionLock) {
// Take a snapshot of the pipeline's output because
// it may have changed the next time this method is called!
this.pipelineRan = true;
this.angleToTote = pipeline.getAngleToTote();
this.distanceToTote = pipeline.getDistanceToTote();
}
}
@Override
public void robotInit() {
usbCamera = CameraServer.getInstance().startAutomaticCapture(0);
findTotePipeline = new MyFindTotePipeline();
findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
}
@Override
public void autonomousInit() {
findToteThread.start();
}
@Override
public void autonomousPeriodic() {
double angle;
double distance;
synchronized (visionLock) {
if (!pipelineRan) {
// Wait until the pipeline has run
return;
}
// Copy the outputs to make sure they're all from the same run
angle = this.angleToTote;
distance = this.distanceToTote;
}
if (!aimedAtTote()) {
turnToAngle(angle);
} else if (!droveToTote()) {
driveDistance(distance);
} else if (!grabbedTote()) {
grabTote();
} else {
// Tote was grabbed and we're done!
return;
}
}
}
</code></pre></div>
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