RedCrab: Added TODO file, added SpikeMark line detector VisionProcessor

TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/SpikeMarkDetectorVisionProcessor.java

@@ -0,0 +1,111 @@
+package dev.cyberarm.minibots.red_crab;
+
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.Typeface;
+
+import org.firstinspires.ftc.robotcore.internal.camera.calibration.CameraCalibration;
+import org.firstinspires.ftc.vision.VisionProcessor;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.Rect;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+
+public class SpikeMarkDetectorVisionProcessor implements VisionProcessor {
+    public enum Selection {
+        NONE,
+        LINE
+    }
+
+    private enum NamedColorPart {
+        HUE,
+        SATURATION,
+        VALUE
+    }
+
+    private Selection selection = Selection.NONE;
+
+    /// NOTE: Rect defined with a 480x640 (WxH) frame size assumed
+    private Rect rect = new Rect(1, 1, 479, 639);
+    private Mat subMat = new Mat();
+    private Mat rotatedMat = new Mat();
+    private Mat hsvMat = new Mat();
+
+    @Override
+    public void init(int width, int height, CameraCalibration calibration) {
+    }
+
+    @Override
+    public Object processFrame(Mat frame, long captureTimeNanos) {
+        Core.rotate(frame, rotatedMat,Core.ROTATE_90_CLOCKWISE);
+        Imgproc.cvtColor(rotatedMat, hsvMat, Imgproc.COLOR_RGB2HSV);
+
+        double saturation = averageSaturation(hsvMat, rect);
+
+        // TODO: Tune this value or do more processing
+        if (saturation > 0.5) {
+            selection = Selection.LINE;
+        } else {
+            selection = Selection.NONE;
+        }
+
+        return selection;
+    }
+
+    @Override
+    public void onDrawFrame(Canvas canvas, int onscreenWidth, int onscreenHeight, float scaleBmpPxToCanvasPx, float scaleCanvasDensity, Object userContext) {
+        Paint selectedPaint = new Paint();
+        selectedPaint.setColor(Color.GREEN);
+        selectedPaint.setStyle(Paint.Style.STROKE);
+        selectedPaint.setStrokeWidth(scaleCanvasDensity * 4);
+        selectedPaint.setTextSize(scaleCanvasDensity * 28);
+        selectedPaint.setTextAlign(Paint.Align.CENTER);
+        selectedPaint.setTypeface(Typeface.MONOSPACE);
+
+        Paint notSelectedPaint = new Paint();
+        notSelectedPaint.setColor(Color.WHITE);
+        notSelectedPaint.setStyle(Paint.Style.STROKE);
+        notSelectedPaint.setStrokeWidth(scaleCanvasDensity * 4);
+        selectedPaint.setTextSize(scaleCanvasDensity * 28);
+        selectedPaint.setTextAlign(Paint.Align.CENTER);
+        selectedPaint.setTypeface(Typeface.MONOSPACE);
+
+        android.graphics.Rect drawRect = makeDrawableRect(rect, scaleBmpPxToCanvasPx);
+
+        float textYOffset = selectedPaint.getTextSize() + selectedPaint.getStrokeWidth();
+
+        switch ((Selection) userContext) {
+            case LINE:
+                canvas.drawRect(drawRect, notSelectedPaint);
+
+                canvas.drawText("LINE!", drawRect.centerX(), drawRect.bottom - textYOffset, selectedPaint);
+                break;
+            case NONE:
+                canvas.drawRect(drawRect, notSelectedPaint);
+                break;
+        }
+    }
+
+    private double averageSaturation(Mat input, Rect rect) {
+        // NOTE: Check whether this submat Mat leaks memory
+        subMat = input.submat(rect);
+        Scalar color = Core.mean(subMat);
+
+        return color.val[NamedColorPart.SATURATION.ordinal()];
+    }
+
+    public Selection getSelection() {
+        return selection;
+    }
+
+    private android.graphics.Rect makeDrawableRect(Rect rect, float scaleBmpPxToCanvasPx) {
+        int left = Math.round(rect.x * scaleBmpPxToCanvasPx);
+        int top = Math.round(rect.y * scaleBmpPxToCanvasPx);
+        int right = left + Math.round(rect.width * scaleBmpPxToCanvasPx);
+        int bottom = top + Math.round(rect.height * scaleBmpPxToCanvasPx);
+
+        return new android.graphics.Rect(left, top, right, bottom);
+    }
+}

TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/TODO.md

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+# Red Crab / Copy Bot
+## TODO LIST
+- [ ] Verify drivetrain motor gearbox modules are with highest gear reduction closest to the motor.
+- [ ] Tune ClawArm PIDF
+- [ ] Test and tune TeamProp and SpikeMark VisionProcessor