public Mat frame(VisionOpMode opmode, Mat rgba, Mat gray) {
try {
// Get screen orientation data
ScreenOrientation orientation =
ScreenOrientation.getFromAngle(VisionOpMode.rotation.getRotationCompensationAngle());
// Get color analysis
this.analysis = beacon.analyzeFrame(rgba, gray, orientation);
} catch (Exception e) {
e.printStackTrace();
}
return rgba;
}
/** Enable debug drawing. Use this on testing apps only, not the robot controller. */
public void enableDebug() {
beacon.enableDebug();
}
/** Disable debug drawing (default). Use this on the robot controller. */
public void disableDebug() {
beacon.disableDebug();
}
/**
* Set analysis bounds Areas of the image outside of the bounded area will not be processed
*
* @param bounds A rectangle containing the boundary
*/
public void setAnalysisBounds(Rectangle bounds) {
beacon.setAnalysisBounds(bounds);
}
/**
* Set color tolerance for blue beacon detector
*
* @param tolerance A color tolerance value from -1 to 1, where 0 is unmodified, 1 is maximum
* tolerance (more colors detect as blue), -1 is minimum (fery vew colors detect as blue)
*/
public void setColorToleranceBlue(double tolerance) {
beacon.setColorToleranceBlue(tolerance);
}
/**
* Set color tolerance for red beacon detector
*
* @param tolerance A color tolerance value from -1 to 1, where 0 is unmodified, 1 is maximum
* tolerance (more colors detect as red), -1 is minimum (fery vew colors detect as red)
*/
public void setColorToleranceRed(double tolerance) {
beacon.setColorToleranceRed(tolerance);
}
/**
* Set the analysis method to use for beacon analysis
*
* @param method Analysis method to use
*/
public void setAnalysisMethod(Beacon.AnalysisMethod method) {
beacon.setAnalysisMethod(method);
}
/**
* Get the currently used analysis method
*
* @return Analysis method
*/
public Beacon.AnalysisMethod getAnalysisMethod() {
return beacon.getAnalysisMethod();
}