/**
* An {@link edu.wpi.grip.core.Operation} that converts a color image into a binary image based on
* the HSL threshold ranges
*/
public class HSLThresholdOperation extends ThresholdOperation {
private static final Logger logger = Logger.getLogger(HSLThresholdOperation.class.getName());
private final SocketHint<Mat> inputHint = SocketHints.Inputs.createMatSocketHint("Input", false);
private final SocketHint<List> hueHint =
SocketHints.Inputs.createNumberListRangeSocketHint("Hue", 0.0, 180.0);
private final SocketHint<List> saturationHint =
SocketHints.Inputs.createNumberListRangeSocketHint("Saturation", 0.0, 255.0);
private final SocketHint<List> luminanceHint =
SocketHints.Inputs.createNumberListRangeSocketHint("Luminance", 0.0, 255.0);
private final SocketHint<Mat> outputHint = SocketHints.Outputs.createMatSocketHint("Output");
@Override
public String getName() {
return "HSL Threshold";
}
@Override
public String getDescription() {
return "Segment an image based on hue, saturation, and luminance ranges.";
}
@Override
public InputSocket<?>[] createInputSockets(EventBus eventBus) {
return new InputSocket<?>[] {
new InputSocket<>(eventBus, inputHint),
new InputSocket<>(eventBus, hueHint),
new InputSocket<>(eventBus, saturationHint),
new InputSocket<>(eventBus, luminanceHint),
};
}
@Override
public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
return new OutputSocket<?>[] {new OutputSocket<>(eventBus, outputHint)};
}
@Override
public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs, Optional<?> data) {
final Mat[] dataArray =
(Mat[]) data.orElseThrow(() -> new IllegalStateException("Data was not provided"));
final Mat input = ((InputSocket<Mat>) inputs[0]).getValue().get();
final List<Number> channel1 = ((InputSocket<List<Number>>) inputs[1]).getValue().get();
final List<Number> channel2 = ((InputSocket<List<Number>>) inputs[2]).getValue().get();
final List<Number> channel3 = ((InputSocket<List<Number>>) inputs[3]).getValue().get();
final OutputSocket<Mat> outputSocket = (OutputSocket<Mat>) outputs[0];
final Mat output = outputSocket.getValue().get();
// Intentionally 1, 3, 2. This maps to the HLS open cv expects
final Scalar lowScalar =
new Scalar(
channel1.get(0).doubleValue(),
channel3.get(0).doubleValue(),
channel2.get(0).doubleValue(),
0);
final Scalar highScalar =
new Scalar(
channel1.get(1).doubleValue(),
channel3.get(1).doubleValue(),
channel2.get(1).doubleValue(),
0);
final Mat low = reallocateMatIfInputSizeOrWidthChanged(dataArray, 0, lowScalar, input);
final Mat high = reallocateMatIfInputSizeOrWidthChanged(dataArray, 1, highScalar, input);
final Mat hls = dataArray[2];
try {
cvtColor(input, hls, COLOR_BGR2HLS);
inRange(hls, low, high, output);
outputSocket.setValue(output);
} catch (RuntimeException e) {
logger.log(Level.WARNING, e.getMessage(), e);
}
}
}