GripPipeline.hpp

#pragma once

#include "vision/VisionPipeline.h"

#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d.hpp>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <map>
#include <vector>
#include <string>
#include <math.h>

namespace grip {

	/**
	* GripPipeline class
	* An OpenCV pipeline generated by GRIP
	*/
	class GripPipeline : public frc::VisionPipeline {
		private:
			cv::Mat rgbThresholdOutput;
			std::vector<std::vector<cv::Point> > findContoursOutput;
			std::vector<std::vector<cv::Point> > filterContoursOutput;
			void rgbThreshold(cv::Mat &, double [], double [], double [], cv::Mat &);
			void findContours(cv::Mat &, const bool , std::vector<std::vector<cv::Point> > &);
			void filterContours(std::vector<std::vector<cv::Point> > &, double , double , double , double , double , double , double [], double , double , double , double , std::vector<std::vector<cv::Point> > &);

		public:
			GripPipeline();
			void Process(cv::Mat& source0) override;
			cv::Mat* GetRgbThresholdOutput();
			std::vector<std::vector<cv::Point> >* GetFindContoursOutput();
			std::vector<std::vector<cv::Point> >* GetFilterContoursOutput();
	};


} // end namespace grip