org.openpnp.vision.pipeline

Class CvPipeline

java.lang.Object

org.openpnp.vision.pipeline.CvPipeline

All Implemented Interfaces:

java.lang.AutoCloseable

public class CvPipeline
extends java.lang.Object
implements java.lang.AutoCloseable

A CvPipeline performs computer vision operations on a working image by processing in series a list of CvStage instances. Each CvStage instance can modify the working image and return a new image along with data extracted from the image. After processing the image callers can get access to the images and models from each stage. CvPipeline is serializable using toXmlString and fromXmlString. This makes it easy to export pipelines and exchange them with others. This work takes inspiration from several existing projects: FireSight by Karl Lew and Šimon Fojtů: https://github.com/firepick1/FireSight RoboRealm: http://www.roborealm.com/ TODO: Add measuring to image window. TODO: Add info showing pixel coordinates when mouse is in image window.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	CvPipeline.PipelineShot

Constructor Summary

Constructors

Constructor and Description
CvPipeline()
CvPipeline(java.lang.String xmlPipeline)

Method Summary

Modifier and Type	Method and Description
void	add(CvStage stage) Add the given CvStage to the end of the pipeline.
void	add(java.lang.String name, CvStage stage) Add the given CvStage to the end of the pipeline using the given name.
void	addProperties(java.util.Map<java.lang.String,java.lang.Object> pipelineParameterAssignments)
CvPipeline	clone()
void	close()
boolean	equals(java.lang.Object other)
protected void	finalize()
void	fromXmlString(java.lang.String s) Parse the pipeline in the given String and replace the current pipeline with the results.
CvPipeline.PipelineShot	getCurrentPipelineShot()
CvStage.Result	getExpectedResult(java.lang.String name) Get the Result returned by the CvStage with the given name, expected to be defined in the pipeline and to return a non-null model.
java.awt.image.BufferedImage	getLastCapturedImage()
java.util.List<CvAbstractParameterStage>	getParameterStages()
CvPipeline.PipelineShot	getPipelineShot(int i)
java.util.List<CvPipeline.PipelineShot>	getPipelineShots()
int	getPipelineShotsCount()
java.lang.Object	getProperty(java.lang.String name)
CvStage.Result	getResult(CvStage stage) Get the Result returned by give CvStage.
CvStage.Result	getResult(java.lang.String name) Get the Result returned by the CvStage with the given name.
CvStage	getStage(java.lang.String name)
java.util.List<CvStage>	getStages()
long	getTotalProcessingTimeNs()
FluentCv.ColorSpace	getWorkingColorSpace()
Mat	getWorkingImage() Get the current working image.
java.lang.Object	getWorkingModel()
void	insert(CvStage stage, int index)
void	insert(java.lang.String name, CvStage stage, int index)
void	process()
void	release() Release any temporary resources associated with the processing of the pipeline.
void	remove(CvStage stage)
void	remove(java.lang.String name)
void	resetReusedPipeline()
void	resetToDefaults() Reset all the modified parameters to default values (we do not want the parameters to permanently modify the pipeline).
void	setLastCapturedImage(java.awt.image.BufferedImage lastCapturedImage)
void	setProperty(java.lang.String name, java.lang.Object value)
void	setTotalProcessingTimeNs(long totalProcessingTimeNs)
void	setWorkingColorSpace(FluentCv.ColorSpace colorSpace)
void	stepToNextPipelineShot()
java.lang.String	toXmlString() Convert the pipeline to an XML string that can be read back in with #fromXmlString.

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CvPipeline

public CvPipeline()

CvPipeline

public CvPipeline(java.lang.String xmlPipeline)

Method Detail

add

public void add(java.lang.String name,
                CvStage stage)

Add the given CvStage to the end of the pipeline using the given name. If name is null a unique one will be generated and set on the stage.

Parameters:

name -

stage -

add

public void add(CvStage stage)

Add the given CvStage to the end of the pipeline. If the stage does not have a name a unique one will be generated and set on the stage.

Parameters:

stage -

insert

public void insert(java.lang.String name,
                   CvStage stage,
                   int index)

insert

public void insert(CvStage stage,
                   int index)

remove

public void remove(java.lang.String name)

remove

public void remove(CvStage stage)

getStages

public java.util.List<CvStage> getStages()

getStage

public CvStage getStage(java.lang.String name)

getParameterStages

public java.util.List<CvAbstractParameterStage> getParameterStages()

Returns:

Active parameter stages used to control select pipeline stage properties.

getResult

public CvStage.Result getResult(java.lang.String name)

Get the Result returned by the CvStage with the given name. May return null if the stage did not return a result.

Parameters:

name -

Returns:

getExpectedResult

public CvStage.Result getExpectedResult(java.lang.String name)
                                 throws java.lang.Exception

Get the Result returned by the CvStage with the given name, expected to be defined in the pipeline and to return a non-null model.

Parameters:

name -

Returns:

Throws:

java.lang.Exception - when the stage name is undefined or the stage is missing in the pipeline.

getResult

public CvStage.Result getResult(CvStage stage)

Get the Result returned by give CvStage. May return null if the stage did not return a result.

Parameters:

stage -

Returns:

getWorkingImage

public Mat getWorkingImage()

Get the current working image. Primarily intended to be called from CvStage implementations.

Returns:

getWorkingModel

public java.lang.Object getWorkingModel()

getWorkingColorSpace

public FluentCv.ColorSpace getWorkingColorSpace()

setWorkingColorSpace

public void setWorkingColorSpace(FluentCv.ColorSpace colorSpace)

getTotalProcessingTimeNs

public long getTotalProcessingTimeNs()

setTotalProcessingTimeNs

public void setTotalProcessingTimeNs(long totalProcessingTimeNs)

process

public void process()
             throws java.lang.Exception

Throws:

java.lang.Exception

resetToDefaults

public void resetToDefaults()

Reset all the modified parameters to default values (we do not want the parameters to permanently modify the pipeline).

release

public void release()

Release any temporary resources associated with the processing of the pipeline. Should be called when the pipeline is no longer needed. This is primarily to release retained native resources from OpenCV.

close

public void close()
           throws java.io.IOException

Specified by:

close in interface java.lang.AutoCloseable

Throws:

java.io.IOException

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable

toXmlString

public java.lang.String toXmlString()
                             throws java.lang.Exception

Convert the pipeline to an XML string that can be read back in with #fromXmlString.

Returns:

Throws:

java.lang.Exception

fromXmlString

public void fromXmlString(java.lang.String s)
                   throws java.lang.Exception

Parse the pipeline in the given String and replace the current pipeline with the results.

Parameters:

s -

Throws:

java.lang.Exception

equals

public boolean equals(java.lang.Object other)

Overrides:

equals in class java.lang.Object

clone

public CvPipeline clone()
                 throws java.lang.CloneNotSupportedException

Overrides:

clone in class java.lang.Object

Throws:

java.lang.CloneNotSupportedException

getProperty

public java.lang.Object getProperty(java.lang.String name)

setProperty

public void setProperty(java.lang.String name,
                        java.lang.Object value)

addProperties

public void addProperties(java.util.Map<java.lang.String,java.lang.Object> pipelineParameterAssignments)

resetReusedPipeline

public void resetReusedPipeline()

getLastCapturedImage

public java.awt.image.BufferedImage getLastCapturedImage()

setLastCapturedImage

public void setLastCapturedImage(java.awt.image.BufferedImage lastCapturedImage)

getPipelineShots

public java.util.List<CvPipeline.PipelineShot> getPipelineShots()

getCurrentPipelineShot

public CvPipeline.PipelineShot getCurrentPipelineShot()

getPipelineShot

public CvPipeline.PipelineShot getPipelineShot(int i)

getPipelineShotsCount

public int getPipelineShotsCount()

stepToNextPipelineShot

public void stepToNextPipelineShot()
                            throws java.lang.Exception

Throws:

java.lang.Exception