Replace tabs with spaces.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4131 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/971CV/src/org/frc971/Recognizer2013.java b/971CV/src/org/frc971/Recognizer2013.java
index e560f1e..ff34fda 100644
--- a/971CV/src/org/frc971/Recognizer2013.java
+++ b/971CV/src/org/frc971/Recognizer2013.java
@@ -59,7 +59,7 @@
// Data to reuse for each frame.
private final DaisyExtensions daisyExtensions = new DaisyExtensions();
private final IplConvKernel morphKernel = IplConvKernel.create(3, 3, 1, 1,
- opencv_imgproc.CV_SHAPE_RECT, null);
+ opencv_imgproc.CV_SHAPE_RECT, null);
private final ArrayList<WPIPolygon> polygons = new ArrayList<WPIPolygon>();
// Frame-size-dependent data to reuse for each frame.
@@ -74,15 +74,15 @@
private WPIPoint linePt1, linePt2; // crosshair endpoints
public Recognizer2013() {
- setHSVRange(70, 106, 137, 27);
+ setHSVRange(70, 106, 137, 27);
}
@Override
public void setHSVRange(int minHue, int maxHue, int minSat, int minVal) {
- min1Hue = minHue - 1; // - 1 because cvThreshold() does > instead of >=
- max1Hue = maxHue + 1;
- min1Sat = minSat - 1;
- min1Val = minVal - 1;
+ min1Hue = minHue - 1; // - 1 because cvThreshold() does > instead of >=
+ max1Hue = maxHue + 1;
+ min1Sat = minSat - 1;
+ min1Val = minVal - 1;
}
@Override
public int getHueMin() { return min1Hue + 1; }
@@ -95,14 +95,14 @@
@Override
public WPIImage processImage(WPIColorImage cameraImage) {
- // (Re)allocate the intermediate images if the input is a different
- // size than the previous image.
+ // (Re)allocate the intermediate images if the input is a different
+ // size than the previous image.
if (size == null || size.width() != cameraImage.getWidth()
- || size.height() != cameraImage.getHeight()) {
+ || size.height() != cameraImage.getHeight()) {
size = opencv_core.cvSize(cameraImage.getWidth(),
- cameraImage.getHeight());
+ cameraImage.getHeight());
rawImage = DaisyExtensions.makeWPIColorImage(
- DaisyExtensions.getIplImage(cameraImage));
+ DaisyExtensions.getIplImage(cameraImage));
bin = IplImage.create(size, 8, 1);
hsv = IplImage.create(size, 8, 3);
hue = IplImage.create(size, 8, 1);
@@ -111,14 +111,14 @@
minWidth = (kMinWidthAt320 * cameraImage.getWidth() + 319) / 320;
int horizontalOffsetPixels = (int)Math.round(
- kShooterOffsetDeg * size.width() / kHorizontalFOVDeg);
+ kShooterOffsetDeg * size.width() / kHorizontalFOVDeg);
int x = size.width() / 2 + horizontalOffsetPixels;
linePt1 = new WPIPoint(x, size.height() - 1);
linePt2 = new WPIPoint(x, 0);
} else {
// Copy the camera image so it's safe to draw on.
opencv_core.cvCopy(DaisyExtensions.getIplImage(cameraImage),
- DaisyExtensions.getIplImage(rawImage));
+ DaisyExtensions.getIplImage(rawImage));
}
IplImage input = DaisyExtensions.getIplImage(rawImage);
@@ -146,7 +146,7 @@
// Fill in gaps using binary morphology.
opencv_imgproc.cvMorphologyEx(bin, bin, null, morphKernel,
- opencv_imgproc.CV_MOP_CLOSE, kHoleClosingIterations);
+ opencv_imgproc.CV_MOP_CLOSE, kHoleClosingIterations);
morphedCanvas.showImage(bin);
@@ -168,13 +168,13 @@
polygons.clear();
for (WPIContour c : contours) {
if (c.getWidth() >= minWidth) {
- double ratio = ((double) c.getHeight()) / c.getWidth();
- if (ratio >= kMinAspect && ratio <= kMaxAspect) {
- polygons.add(c.approxPolygon(kPolygonPercentFit));
-// System.out.println(" Accepted aspect ratio " + ratio);
- } else {
-// System.out.println(" Rejected aspect ratio " + ratio);
- }
+ double ratio = ((double) c.getHeight()) / c.getWidth();
+ if (ratio >= kMinAspect && ratio <= kMaxAspect) {
+ polygons.add(c.approxPolygon(kPolygonPercentFit));
+ // System.out.println(" Accepted aspect ratio " + ratio);
+ } else {
+ // System.out.println(" Rejected aspect ratio " + ratio);
+ }
}
}
@@ -212,7 +212,7 @@
int pCenterY = p.getY() + p.getHeight() / 2;
rawImage.drawPoint(new WPIPoint(pCenterX, pCenterY),
- targetColor, 2);
+ targetColor, 2);
if (pCenterY < highestY) {
bestTarget = p;
highestY = pCenterY;
@@ -234,7 +234,7 @@
rawImage.drawPolygon(bestTarget, targetColor, 2);
System.out.println("Best target at (" + x + ", " + y + ") size "
- + w + " x " + h);
+ + w + " x " + h);
} else {
System.out.println("No target found");
}
diff --git a/971CV/src/org/frc971/VisionTuner.java b/971CV/src/org/frc971/VisionTuner.java
index 98ccb41..663b2f1 100644
--- a/971CV/src/org/frc971/VisionTuner.java
+++ b/971CV/src/org/frc971/VisionTuner.java
@@ -52,8 +52,8 @@
private static int totalFrames;
private static double totalMsec;
-// private static double minMsec = Double.MAX_VALUE;
-// private static double maxMsec;
+ // private static double minMsec = Double.MAX_VALUE;
+ // private static double maxMsec;
public VisionTuner(String[] imageFilenames) {
cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
@@ -65,17 +65,17 @@
ChangeListener sliderListener = new ChangeListener() {
@Override
- public void stateChanged(ChangeEvent e) {
- System.out.println("New HSV range ["
- + hueMinSlider.getValue() + " .. "
- + hueMaxSlider.getValue() + "], ["
- + satMinSlider.getValue() + " .. 255], ["
- + valMinSlider.getValue() + " .. 255]");
- recognizer.setHSVRange(
- hueMinSlider.getValue(), hueMaxSlider.getValue(),
- satMinSlider.getValue(),
- valMinSlider.getValue());
- processCurrentImage();
+ public void stateChanged(ChangeEvent e) {
+ System.out.println("New HSV range ["
+ + hueMinSlider.getValue() + " .. "
+ + hueMaxSlider.getValue() + "], ["
+ + satMinSlider.getValue() + " .. 255], ["
+ + valMinSlider.getValue() + " .. 255]");
+ recognizer.setHSVRange(
+ hueMinSlider.getValue(), hueMaxSlider.getValue(),
+ satMinSlider.getValue(),
+ valMinSlider.getValue());
+ processCurrentImage();
}
};
@@ -110,26 +110,26 @@
* Sets testImageFilenames and testImages.
*/
private void loadTestImages(String[] imageFilenames) {
- testImageFilenames = imageFilenames;
- testImages = new WPIColorImage[testImageFilenames.length];
- currentIndex = 0;
+ testImageFilenames = imageFilenames;
+ testImages = new WPIColorImage[testImageFilenames.length];
+ currentIndex = 0;
- for (int i = 0; i < testImageFilenames.length; i++) {
+ for (int i = 0; i < testImageFilenames.length; i++) {
String imageFilename = testImageFilenames[i];
System.out.println("Loading image file: " + imageFilename);
WPIColorImage rawImage = null;
try {
rawImage = new WPIColorImage(ImageIO.read(
- new File(imageFilename)));
+ new File(imageFilename)));
} catch (IOException e) {
System.err.println("Couldn't load image file: " + imageFilename
- + ": " + e.getMessage());
+ + ": " + e.getMessage());
System.exit(1);
return;
}
testImages[i] = rawImage;
- }
+ }
}
private void processCurrentImage() {
@@ -145,44 +145,44 @@
double milliseconds = (endTime - startTime) / 1e6;
++totalFrames;
totalMsec += milliseconds;
-// minMsec = Math.min(minMsec, milliseconds);
-// maxMsec = Math.max(maxMsec, milliseconds);
+ // minMsec = Math.min(minMsec, milliseconds);
+ // maxMsec = Math.max(maxMsec, milliseconds);
System.out.format("Processing took %.2f ms, %.2f fps, %.2f avg%n",
- milliseconds, 1000 / milliseconds,
- 1000 * totalFrames / totalMsec);
+ milliseconds, 1000 / milliseconds,
+ 1000 * totalFrames / totalMsec);
}
private void previousImage() {
- if (currentIndex > 0) {
- --currentIndex;
- }
- processCurrentImage();
+ if (currentIndex > 0) {
+ --currentIndex;
+ }
+ processCurrentImage();
}
private void nextImage() {
- if (currentIndex + 1 < testImages.length) {
- ++currentIndex;
- }
- processCurrentImage();
+ if (currentIndex + 1 < testImages.length) {
+ ++currentIndex;
+ }
+ processCurrentImage();
}
private void processEvents() {
- KeyEvent e = cameraFrame.waitKey();
+ KeyEvent e = cameraFrame.waitKey();
- switch (e.getKeyCode()) {
- case KeyEvent.VK_LEFT:
- previousImage();
- break;
- case KeyEvent.VK_RIGHT:
- nextImage();
- break;
- }
+ switch (e.getKeyCode()) {
+ case KeyEvent.VK_LEFT:
+ previousImage();
+ break;
+ case KeyEvent.VK_RIGHT:
+ nextImage();
+ break;
+ }
}
public static void main(final String[] args) {
if (args.length == 0) {
System.err.println("Usage: " + VisionTuner.class.getName()
- + " test image filenames...");
+ + " test image filenames...");
System.exit(1);
}