Fixed color density maybe

tysuh66 · Feb 15, 2022 · 63f4068 · 63f4068
1 parent b16be98
commit 63f4068
Showing 1 changed file with 22 additions and 22 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ColorDensity.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ColorDensity.java
@@ -10,10 +10,15 @@
 import org.opencv.core.Rect;
 import org.opencv.core.Scalar;
 import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
 import org.openftc.easyopencv.OpenCvCamera;
 import org.openftc.easyopencv.OpenCvCameraFactory;
 import org.openftc.easyopencv.OpenCvCameraRotation;
 import org.openftc.easyopencv.OpenCvPipeline;
+import org.tensorflow.lite.Interpreter;
+
+import java.util.ArrayList;
+import java.util.Arrays;
 
 @Autonomous(name = "Color Density", group = "Concept")
 
@@ -77,6 +82,7 @@ class ColorDensityPipeline extends OpenCvPipeline
     // Constants
     private final int threshold = 30;
     private final int levelCount = 3;
+    private final double thresholdConfirm = 0.7;
     // Instance Variables
     private Telemetry telemetry;
 
@@ -102,37 +108,31 @@ public Mat processFrame(Mat input)
         // Get image size for splitting the image later.
         Size imageSize = thresholdMat.size();
 
-        // TO DO: COMBINE BRIGHTNESS DETECTION AND HIGHEST BRIGHTNESS
+        double brightestValue = 0;
+        int brightestLevel = 2;
+        double sum = 0;
 
-        //Split the image into 3 parts, and get their brightnesses.
-        double[] levelBrightnesses = new double[levelCount];
         for (int level = 0; level < levelCount; level++) {
-            Rect rectCrop = new Rect((int)(imageSize.width/levelCount) * level, 0, (int)(imageSize.width/levelCount), (int)imageSize.height);
+            Rect rectCrop = new Rect((int)(imageSize.width/levelCount) * level, 0, (int)(imageSize.width/levelCount) * (level + 1), (int)imageSize.height);
             Mat matCropped = new Mat(thresholdMat, rectCrop);
             double brightness = Core.mean(matCropped).val[0];
-            levelBrightnesses[level] = brightness;
-        }
-        telemetry.update();
 
-        // Get which one is brightest and how bright.
-        double brightestValue = 0;
-        int brightestLevel = 2;
-        for (int level = 0; level < levelCount; level++) {
-            if (levelBrightnesses[level] > brightestValue) {
-                brightestValue = levelBrightnesses[level];
+            sum += brightness;
+            if (brightness > brightestValue) {
+                brightestValue = brightness;
                 brightestLevel = level;
             }
-        }
-
-        telemetry.addData("HIGHEST BRIGHTNESS: ", brightestValue);
-        telemetry.addData("RESULT: ", brightestLevel);
-        telemetry.addData("Memory: ",(Runtime.getRuntime().freeMemory())/1048576);
 
+        }
 
-        // print data
-        telemetry.addData("Max Color: ", max);
-        telemetry.addData("Min Color: ", min);
-        telemetry.addData("Mean Color: ", meanColor);
+        if (sum * thresholdConfirm < brightestValue) {
+            telemetry.addData("RESULT: ", brightestLevel);
+        } else {
+            telemetry.addData("Failed, with sum:", sum);
+            telemetry.addData("Failed, with brightest value of:", brightestValue);
+            telemetry.addData("Failed, brightest level: ", brightestLevel);
+        }
+        telemetry.update();
 
         telemetry.update();
         System.out.println("Exiting Pipeline");