commit dda6013af0e71a77586fe95646ceef24ffb461c7
author jerrym <jerrym@f308d9b7-e957-4cde-b6ac-9a88185e7312> Mon Feb 18 09:25:03 2013 +0000
committer jerrym <jerrym@f308d9b7-e957-4cde-b6ac-9a88185e7312> Mon Feb 18 09:25:03 2013 +0000
tree 95023e07be6a3608e6c5bd2eabe5a73f117ec2aa
parent a1cd68d2a19e9a767c5f2c1c4474dac3088a7374

Replace tabs with spaces.

git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4131 f308d9b7-e957-4cde-b6ac-9a88185e7312

971CV/src/org/frc971/Recognizer2013.java

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");

         }