How to use GRIP in WPIlib

Technical Programming
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1

So I have a GRIP pipeline that detects a cone, but how do I implement it into being able to center to the target and view the camera on shuffleboard? Any help is appreciated, thanks!

Here is the pipeline code:
ConeGripPipeline.txt (7.1 KB)

2

So, I’m following these instructions, but in Robot.java, the “filterContoursOutput()” has an error:

visionThread = new VisionThread(camera, new ConeGripPipeline(), pipeline -> { if (!pipeline.filterContoursOutput().isEmpty()) { Rect r = Imgproc.boundingRect(pipeline.filterContoursOutput().get(0)); synchronized (imgLock) { centerX = r.x + (r.width / 2); } } });

Error msg: The method filterContoursOutput() is undefined for the type ConeGripPipelineJava(67108964)

I read somewhere in chief delphi that if I add implements VisionPipeline in my pipeline, it should fix the error, but I already have the interface and the error still persists.

Here is my code

3

Your ConeGripPipeline class does not appear to define a method named “filterContoursOutput.” Did you perhaps mean to call “findContoursOutput” instead?

/**
 * This method is a generated getter for the output of a Find_Contours.
 * @return ArrayList<MatOfPoint> output from Find_Contours.
 */
public ArrayList<MatOfPoint> findContoursOutput() {
	return findContoursOutput;
}
1 Like
4

I’m sorry I have to run but I still might be of help. A quick look at your (lack of) code and you are missing the Grip pipeline. You have to export it from Grip and paste it into your robot program.
Here’s an example of a pipeline and the complete code is nearby this file in the repository.

1 Like
5

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