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Replace List<Number> with Range #682

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Replace List<Number> with Range #682

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3ef2592
Replace List<Number> with Range
SamCarlberg Oct 11, 2016
191f3f8
Improve javadocs, toString, add tests
SamCarlberg Oct 24, 2016
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94 changes: 94 additions & 0 deletions core/src/main/java/edu/wpi/grip/core/Range.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,94 @@
package edu.wpi.grip.core;

import static com.google.common.base.Preconditions.checkArgument;

/**
* Holds the lower and upper bounds of a range of numbers.
*/
public class Range {

private double min;
private double max;

/**
* Creates a new range with both bounds equal to zero.
*/
public Range() {
this(0, 0);
}

/**
* Creates a new range with the given bounds.
*
* @param min the lower end of the range
* @param max the upper end of the range
*
* @throws IllegalArgumentException if min > max
*/
public Range(double min, double max) {
checkArgument(min <= max, "Min must be <= max");
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Would probably be more usable if, instead of throwing checkArgument exceptions, this just did the intelligent thing and set min and max to the smallest and the largest, respectively.

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I'm not sure if I would agree with that.

this.min = min;
this.max = max;
}

/**
* Creates a new range with the given bounds. This is equivalent to {@link new Range(min, max)}.
*
* @param min the lower end of the range
* @param max the upper end of the range
*
* @return a new range for the given bounds
*
* @throws IllegalArgumentException if min > max
*/
public static Range of(double min, double max) {
return new Range(min, max);
}

/**
* Sets the lower end of the range.
*
* @param min the new lower end of the range
*
* @throws IllegalArgumentException if min > max
*/
public void setMin(double min) {
checkArgument(min <= max, "Min must be <= max");
this.min = min;
}

/**
* Sets the upper end of the range.
*
* @param max the new upper end of the range
*
* @throws IllegalArgumentException if max < min
*/
public void setMax(double max) {
checkArgument(max >= min, "Max must be >= min");
this.max = max;
}

/**
* Gets the lower bound of the range.
*
* @return the lower bound of the range
*/
public double getMin() {
return min;
}

/**
* Gets the upper bound of the range.
*
* @return the upper bound of the range
*/
public double getMax() {
return max;
}

public String toString() {
return String.format("[%f, %f]", min, max);
}

}
11 changes: 6 additions & 5 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/FilterContoursOperation.java
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Expand Up @@ -2,6 +2,7 @@

import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.OperationDescription;
import edu.wpi.grip.core.Range;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHint;
Expand Down Expand Up @@ -60,8 +61,8 @@ public class FilterContoursOperation implements Operation {
private final SocketHint<Number> maxHeightHint =
SocketHints.Inputs.createNumberSpinnerSocketHint("Max Height", 1000, 0, Integer.MAX_VALUE);

private final SocketHint<List<Number>> solidityHint =
SocketHints.Inputs.createNumberListRangeSocketHint("Solidity", 0, 100);
private final SocketHint<Range> solidityHint =
SocketHints.Inputs.createNumberRangeSocketHint("Solidity", 0, 100);

private final SocketHint<Number> minVertexHint =
SocketHints.Inputs.createNumberSpinnerSocketHint("Min Vertices", 0, 0, Integer.MAX_VALUE);
Expand All @@ -84,7 +85,7 @@ public class FilterContoursOperation implements Operation {
private final InputSocket<Number> maxWidthSocket;
private final InputSocket<Number> minHeightSocket;
private final InputSocket<Number> maxHeightSocket;
private final InputSocket<List<Number>> soliditySocket;
private final InputSocket<Range> soliditySocket;
private final InputSocket<Number> minVertexSocket;
private final InputSocket<Number> maxVertexSocket;
private final InputSocket<Number> minRatioSocket;
Expand Down Expand Up @@ -146,8 +147,8 @@ public void perform() {
final double maxWidth = maxWidthSocket.getValue().get().doubleValue();
final double minHeight = minHeightSocket.getValue().get().doubleValue();
final double maxHeight = maxHeightSocket.getValue().get().doubleValue();
final double minSolidity = soliditySocket.getValue().get().get(0).doubleValue();
final double maxSolidity = soliditySocket.getValue().get().get(1).doubleValue();
final double minSolidity = soliditySocket.getValue().get().getMin();
final double maxSolidity = soliditySocket.getValue().get().getMax();
final double minVertexCount = minVertexSocket.getValue().get().doubleValue();
final double maxVertexCount = maxVertexSocket.getValue().get().doubleValue();
final double minRatio = minRatioSocket.getValue().get().doubleValue();
Expand Down
11 changes: 6 additions & 5 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/FilterLinesOperation.java
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Expand Up @@ -2,6 +2,7 @@

import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.OperationDescription;
import edu.wpi.grip.core.Range;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHint;
Expand Down Expand Up @@ -33,8 +34,8 @@ public class FilterLinesOperation implements Operation {
private final SocketHint<Number> minLengthHint = SocketHints.Inputs
.createNumberSpinnerSocketHint("Min Length", 20);

private final SocketHint<List<Number>> angleHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Angle", 0, 360);
private final SocketHint<Range> angleHint = SocketHints.Inputs
.createNumberRangeSocketHint("Angle", 0, 360);

private final SocketHint<LinesReport> outputHint =
new SocketHint.Builder<>(LinesReport.class)
Expand All @@ -43,7 +44,7 @@ public class FilterLinesOperation implements Operation {

private final InputSocket<LinesReport> inputSocket;
private final InputSocket<Number> minLengthSocket;
private final InputSocket<List<Number>> angleSocket;
private final InputSocket<Range> angleSocket;

private final OutputSocket<LinesReport> linesOutputSocket;

Expand Down Expand Up @@ -78,8 +79,8 @@ public List<OutputSocket> getOutputSockets() {
public void perform() {
final LinesReport inputLines = inputSocket.getValue().get();
final double minLengthSquared = Math.pow(minLengthSocket.getValue().get().doubleValue(), 2);
final double minAngle = angleSocket.getValue().get().get(0).doubleValue();
final double maxAngle = angleSocket.getValue().get().get(1).doubleValue();
final double minAngle = angleSocket.getValue().get().getMin();
final double maxAngle = angleSocket.getValue().get().getMax();

List<LinesReport.Line> lines = inputLines.getLines().stream()
.filter(line -> line.lengthSquared() >= minLengthSquared)
Expand Down
13 changes: 7 additions & 6 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/FindBlobsOperation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.OperationDescription;
import edu.wpi.grip.core.Range;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHint;
Expand Down Expand Up @@ -34,8 +35,8 @@ public class FindBlobsOperation implements Operation {
private final SocketHint<Mat> inputHint = SocketHints.Inputs.createMatSocketHint("Input", false);
private final SocketHint<Number> minAreaHint = SocketHints.Inputs
.createNumberSpinnerSocketHint("Min Area", 1);
private final SocketHint<List<Number>> circularityHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Circularity", 0.0, 1.0);
private final SocketHint<Range> circularityHint = SocketHints.Inputs
.createNumberRangeSocketHint("Circularity", 0.0, 1.0);
private final SocketHint<Boolean> colorHint = SocketHints
.createBooleanSocketHint("Dark Blobs", false);

Expand All @@ -46,7 +47,7 @@ public class FindBlobsOperation implements Operation {

private final InputSocket<Mat> inputSocket;
private final InputSocket<Number> minAreaSocket;
private final InputSocket<List<Number>> circularitySocket;
private final InputSocket<Range> circularitySocket;
private final InputSocket<Boolean> colorSocket;

private final OutputSocket<BlobsReport> outputSocket;
Expand Down Expand Up @@ -84,7 +85,7 @@ public List<OutputSocket> getOutputSockets() {
public void perform() {
final Mat input = inputSocket.getValue().get();
final Number minArea = minAreaSocket.getValue().get();
final List<Number> circularity = circularitySocket.getValue().get();
final Range circularity = circularitySocket.getValue().get();
final Boolean darkBlobs = colorSocket.getValue().get();


Expand All @@ -98,8 +99,8 @@ public void perform() {
.blobColor(darkBlobs ? (byte) 0 : (byte) 255)

.filterByCircularity(true)
.minCircularity(circularity.get(0).floatValue())
.maxCircularity(circularity.get(1).floatValue()));
.minCircularity((float) circularity.getMin())
.maxCircularity((float) circularity.getMax()));

// Detect the blobs and store them in the output BlobsReport
final KeyPointVector keyPointVector = new KeyPointVector();
Expand Down
37 changes: 19 additions & 18 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/HSLThresholdOperation.java
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Expand Up @@ -3,6 +3,7 @@

import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.OperationDescription;
import edu.wpi.grip.core.Range;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHint;
Expand Down Expand Up @@ -37,19 +38,19 @@ public class HSLThresholdOperation extends ThresholdOperation {

private static final Logger logger = Logger.getLogger(HSLThresholdOperation.class.getName());
private final SocketHint<Mat> inputHint = SocketHints.Inputs.createMatSocketHint("Input", false);
private final SocketHint<List<Number>> hueHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Hue", 0.0, 180.0);
private final SocketHint<List<Number>> saturationHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Saturation", 0.0, 255.0);
private final SocketHint<List<Number>> luminanceHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Luminance", 0.0, 255.0);
private final SocketHint<Range> hueHint = SocketHints.Inputs
.createNumberRangeSocketHint("Hue", 0.0, 180.0);
private final SocketHint<Range> saturationHint = SocketHints.Inputs
.createNumberRangeSocketHint("Saturation", 0.0, 255.0);
private final SocketHint<Range> luminanceHint = SocketHints.Inputs
.createNumberRangeSocketHint("Luminance", 0.0, 255.0);

private final SocketHint<Mat> outputHint = SocketHints.Outputs.createMatSocketHint("Output");

private final InputSocket<Mat> inputSocket;
private final InputSocket<List<Number>> hueSocket;
private final InputSocket<List<Number>> saturationSocket;
private final InputSocket<List<Number>> luminanceSocket;
private final InputSocket<Range> hueSocket;
private final InputSocket<Range> saturationSocket;
private final InputSocket<Range> luminanceSocket;

private final OutputSocket<Mat> outputSocket;

Expand Down Expand Up @@ -91,20 +92,20 @@ public void perform() {
}

final Mat output = outputSocket.getValue().get();
final List<Number> channel1 = hueSocket.getValue().get();
final List<Number> channel2 = saturationSocket.getValue().get();
final List<Number> channel3 = luminanceSocket.getValue().get();
final Range channel1 = hueSocket.getValue().get();
final Range channel2 = saturationSocket.getValue().get();
final Range channel3 = luminanceSocket.getValue().get();

// Intentionally 1, 3, 2. This maps to the HLS open cv expects
final Scalar lowScalar = new Scalar(
channel1.get(0).doubleValue(),
channel3.get(0).doubleValue(),
channel2.get(0).doubleValue(), 0);
channel1.getMin(),
channel3.getMin(),
channel2.getMin(), 0);

final Scalar highScalar = new Scalar(
channel1.get(1).doubleValue(),
channel3.get(1).doubleValue(),
channel2.get(1).doubleValue(), 0);
channel1.getMax(),
channel3.getMax(),
channel2.getMax(), 0);

final Mat low = reallocateMatIfInputSizeOrWidthChanged(dataArray, 0, lowScalar, input);
final Mat high = reallocateMatIfInputSizeOrWidthChanged(dataArray, 1, highScalar, input);
Expand Down
37 changes: 19 additions & 18 deletions core/src/main/java/edu/wpi/grip/core/operations/composite/HSVThresholdOperation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.OperationDescription;
import edu.wpi.grip.core.Range;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHint;
Expand Down Expand Up @@ -37,19 +38,19 @@ public class HSVThresholdOperation extends ThresholdOperation {

private static final Logger logger = Logger.getLogger(HSVThresholdOperation.class.getName());
private final SocketHint<Mat> inputHint = SocketHints.Inputs.createMatSocketHint("Input", false);
private final SocketHint<List<Number>> hueHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Hue", 0.0, 180.0);
private final SocketHint<List<Number>> saturationHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Saturation", 0.0, 255.0);
private final SocketHint<List<Number>> valueHint = SocketHints.Inputs
.createNumberListRangeSocketHint("Value", 0.0, 255.0);
private final SocketHint<Range> hueHint = SocketHints.Inputs
.createNumberRangeSocketHint("Hue", 0.0, 180.0);
private final SocketHint<Range> saturationHint = SocketHints.Inputs
.createNumberRangeSocketHint("Saturation", 0.0, 255.0);
private final SocketHint<Range> valueHint = SocketHints.Inputs
.createNumberRangeSocketHint("Value", 0.0, 255.0);

private final SocketHint<Mat> outputHint = SocketHints.Outputs.createMatSocketHint("Output");

private final InputSocket<Mat> inputSocket;
private final InputSocket<List<Number>> hueSocket;
private final InputSocket<List<Number>> saturationSocket;
private final InputSocket<List<Number>> valueSocket;
private final InputSocket<Range> hueSocket;
private final InputSocket<Range> saturationSocket;
private final InputSocket<Range> valueSocket;

private final OutputSocket<Mat> outputSocket;

Expand Down Expand Up @@ -91,18 +92,18 @@ public void perform() {
}

final Mat output = outputSocket.getValue().get();
final List<Number> channel1 = hueSocket.getValue().get();
final List<Number> channel2 = saturationSocket.getValue().get();
final List<Number> channel3 = valueSocket.getValue().get();
final Range channel1 = hueSocket.getValue().get();
final Range channel2 = saturationSocket.getValue().get();
final Range channel3 = valueSocket.getValue().get();

final Scalar lowScalar = new Scalar(
channel1.get(0).doubleValue(),
channel2.get(0).doubleValue(),
channel3.get(0).doubleValue(), 0);
channel1.getMin(),
channel2.getMin(),
channel3.getMin(), 0);
final Scalar highScalar = new Scalar(
channel1.get(1).doubleValue(),
channel2.get(1).doubleValue(),
channel3.get(1).doubleValue(), 0);
channel1.getMax(),
channel2.getMax(),
channel3.getMax(), 0);

final Mat low = reallocateMatIfInputSizeOrWidthChanged(dataArray, 0, lowScalar, input);
final Mat high = reallocateMatIfInputSizeOrWidthChanged(dataArray, 1, highScalar, input);
Expand Down
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