content: /*
   * Copyright (c) 2024 Phil Malone
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   */
  
  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import android.util.Size;
  
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import com.qualcomm.robotcore.util.SortOrder;
  
  import org.firstinspires.ftc.robotcore.external.Telemetry;
  import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
  import org.firstinspires.ftc.vision.VisionPortal;
  import org.firstinspires.ftc.vision.opencv.ColorBlobLocatorProcessor;
  import org.firstinspires.ftc.vision.opencv.ColorRange;
  import org.firstinspires.ftc.vision.opencv.ImageRegion;
  import org.opencv.core.RotatedRect;
  
  import java.util.List;
  
  /*
   * This OpMode illustrates how to use a video source (camera) to locate specifically colored regions
   *
   * Unlike a "color sensor" which determines the color of nearby object, this "color locator"
   * will search the Region Of Interest (ROI) in a camera image, and find any "blobs" of color that
   * match the requested color range.  These blobs can be further filtered and sorted to find the one
   * most likely to be the item the user is looking for.
   *
   * To perform this function, a VisionPortal runs a ColorBlobLocatorProcessor process.
   *   The ColorBlobLocatorProcessor (CBLP) process is created first, and then the VisionPortal is built.
   *   The (CBLP) analyses the ROI and locates pixels that match the ColorRange to form a "mask".
   *   The matching pixels are then collected into contiguous "blobs" of pixels.
   *   The outer boundaries of these blobs are called its "contour".  For each blob, the process then
   *   creates the smallest possible rectangle "boxFit" that will fully encase the contour. The user can
   *   then call getBlobs() to retrieve the list of Blobs, where each contains the contour and the boxFit.
   *   Note: The default sort order for Blobs is ContourArea, in descending order, so the biggest
   *   contours are listed first.
   *
   * A colored boxFit rectangle is drawn on the camera preview to show the location of each Blob
   * The original Blob contour can also be added to the preview.
   * This is helpful when configuring the ColorBlobLocatorProcessor parameters.
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
   */
  
  @Disabled
  @TeleOp(name = "Concept: Color-Locator (Rectangle)", group = "Concept")
  public class ConceptVisionColorLocator_Rectangle extends LinearOpMode
  {
      @Override
      public void runOpMode()
      {
          /* Build a "Color Locator" vision processor based on the ColorBlobLocatorProcessor class.
           * - Specify the color range you are looking for. Use a predefined color, or create your own
           *
           *   .setTargetColorRange(ColorRange.BLUE)       // use a predefined color match
           *     Available colors are: RED, BLUE YELLOW GREEN ARTIFACT_GREEN and ARTIFACT_PURPLE
           *   .setTargetColorRange(new ColorRange(ColorSpace.YCrCb,  // or define your own color match
           *                        new Scalar( 32, 176,  0),
           *                        new Scalar(255, 255, 132)))
           *
           * - Focus the color locator by defining a RegionOfInterest (ROI) which you want to search.
           *     This can be the entire frame, or a sub-region defined using:
           *     1) standard image coordinates or 2) a normalized +/- 1.0 coordinate system.
           *     Use one form of the ImageRegion class to define the ROI.
           *       ImageRegion.entireFrame()
           *       ImageRegion.asImageCoordinates(50, 50,  150, 150)  100x100 pixels at upper left corner
           *       ImageRegion.asUnityCenterCoordinates(-0.5, 0.5, 0.5, -0.5)  50% width/height in center
           *
           * - Define which contours are included.
           *   You can get ALL the contours, ignore contours that are completely inside another contour.
           *     .setContourMode(ColorBlobLocatorProcessor.ContourMode.ALL_FLATTENED_HIERARCHY)
           *     .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY)
           *     EXTERNAL_ONLY helps to avoid bright reflection spots from breaking up solid colors.
           *
           * - turn the display of contours ON or OFF.  Helps debugging but takes up valuable CPU time.
           *        .setDrawContours(true)
           *
           * - include any pre-processing of the image or mask before looking for Blobs.
           *   There are some extra processing you can include to improve the formation of blobs.
           *   Using these features requires an understanding of how they may effect the final blobs.
           *   The "pixels" argument sets the NxN kernel size.
           *      .setBlurSize(int pixels)
           *        Blurring an image helps to provide a smooth color transition between objects,
           *        and smoother contours.  The higher the number, the more blurred the image becomes.
           *        Note:  Even "pixels" values will be incremented to satisfy the "odd number" requirement.
           *        Blurring too much may hide smaller features.  A size of 5 is good for a 320x240 image.
           *
           *     .setErodeSize(int pixels)
           *        Erosion removes floating pixels and thin lines so that only substantive objects remain.
           *        Erosion can grow holes inside regions, and also shrink objects.
           *        "pixels" in the range of 2-4 are suitable for low res images.
           *
           *     .setDilateSize(int pixels)
           *        Dilation makes objects and lines more visible by filling in small holes, and making
           *        filled shapes appear larger. Dilation is useful for joining broken parts of an
           *        object, such as when removing noise from an image.
           *        "pixels" in the range of 2-4 are suitable for low res images.
           */
          ColorBlobLocatorProcessor colorLocator = new ColorBlobLocatorProcessor.Builder()
                  .setTargetColorRange(ColorRange.ARTIFACT_PURPLE)   // use a predefined color match
                  .setContourMode(ColorBlobLocatorProcessor.ContourMode.EXTERNAL_ONLY)
                  .setRoi(ImageRegion.asUnityCenterCoordinates(-0.75, 0.75, 0.75, -0.75))
                  .setDrawContours(true)   // Show contours on the Stream Preview
                  .setBlurSize(5)          // Smooth the transitions between different colors in image
                  .build();
  
          /*
           * Build a vision portal to run the Color Locator process.
           *
           *  - Add the colorLocator process created above.
           *  - Set the desired video resolution.
           *      A high resolution will not improve this process, so choose a lower resolution that is
           *      supported by your camera.  This will improve overall performance and reduce latency.
           *  - Choose your video source.  This may be
           *      .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))  .....   for a webcam
           *  or
           *      .setCamera(BuiltinCameraDirection.BACK)    ... for a Phone Camera
           */
          VisionPortal portal = new VisionPortal.Builder()
                  .addProcessor(colorLocator)
                  .setCameraResolution(new Size(320, 240))
                  .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
                  .build();
  
          telemetry.setMsTransmissionInterval(100);   // Speed up telemetry updates for debugging.
          telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
  
          // WARNING:  To view the stream preview on the Driver Station, this code runs in INIT mode.
          while (opModeIsActive() || opModeInInit())
          {
              telemetry.addData("preview on/off", "... Camera Stream\n");
  
              // Read the current list
              List<ColorBlobLocatorProcessor.Blob> blobs = colorLocator.getBlobs();
  
              /*
               * The list of Blobs can be filtered to remove unwanted Blobs.
               *   Note:  All contours will be still displayed on the Stream Preview, but only those
               *    that satisfy the filter conditions will remain in the current list of "blobs".
               *    Multiple filters may be used.
               *
               * To perform a filter
               *   ColorBlobLocatorProcessor.Util.filterByCriteria(criteria, minValue, maxValue, blobs);
               *
               * The following criteria are currently supported.
               *
               * ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA
               *   A Blob's area is the number of pixels contained within the Contour.  Filter out any
               *   that are too big or small.  Start with a large range and then refine the range
               *   based on the likely size of the desired object in the viewfinder.
               *
               * ColorBlobLocatorProcessor.BlobCriteria.BY_DENSITY
               *   A blob's density is an indication of how "full" the contour is.
               *   If you put a rubber band around the contour you get the "Convex Hull" of the contour.
               *   The density is the ratio of Contour-area to Convex Hull-area.
               *
               * ColorBlobLocatorProcessor.BlobCriteria.BY_ASPECT_RATIO
               *   A blob's Aspect ratio is the ratio of boxFit long side to short side.
               *   A perfect Square has an aspect ratio of 1.  All others are > 1
               *
               * ColorBlobLocatorProcessor.BlobCriteria.BY_ARC_LENGTH
               *   A blob's arc length is the perimeter of the blob.
               *   This can be used in conjunction with an area filter to detect oddly shaped blobs.
               *
               * ColorBlobLocatorProcessor.BlobCriteria.BY_CIRCULARITY
               *   A blob's circularity is how circular it is based on the known area and arc length.
               *   A perfect circle has a circularity of 1.  All others are < 1
               */
              ColorBlobLocatorProcessor.Util.filterByCriteria(
                      ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA,
                      50, 20000, blobs);  // filter out very small blobs.
  
              /*
               * The list of Blobs can be sorted using the same Blob attributes as listed above.
               * No more than one sort call should be made.  Sorting can be ASCENDING or DESCENDING.
               * Here is an example.:
               *   ColorBlobLocatorProcessor.Util.sortByCriteria(
               *      ColorBlobLocatorProcessor.BlobCriteria.BY_CONTOUR_AREA, SortOrder.DESCENDING, blobs);
               */
  
              telemetry.addLine("Ctr:(X,Y)  Area Dens Aspect Arc  Circ");
  
              // Display the size (area) and center location for each Blob.
              for(ColorBlobLocatorProcessor.Blob b : blobs)
              {
                  RotatedRect boxFit = b.getBoxFit();
                  telemetry.addLine(String.format("(%3d,%3d) %5d %4.2f  %5.2f %3d %5.3f ",
                          (int) boxFit.center.x, (int) boxFit.center.y, b.getContourArea(), b.getDensity(),
                          b.getAspectRatio(), (int) b.getArcLength(), b.getCircularity()));
              }
  
              telemetry.update();
              sleep(100); // Match the telemetry update interval.
          }
      }
  }