VisionThread issues

So I’m new to programming in general and was following the WPILib Screensteps instructions on using generated GRIP code in a robot program when I ran into the issue: The method filterContoursOutput() is undefined for the type GripPipeline

I’d appreciate any advice on this issue

My code is:

package frc.robot;

import org.opencv.core.Rect;
import org.opencv.imgproc.Imgproc;

import edu.wpi.cscore.UsbCamera;
import frc.robot.GripPipeline;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;

public class Robot extends IterativeRobot {
private static final String kDefaultAuto = “Default”;
private static final String kCustomAuto = “My Auto”;
private String m_autoSelected;
private final static int IMG_WIDTH = 320;
private final static int IMG_HEIGHT = 240;
private VisionThread visionThread;
private final double centerX = 0.0;
private final Object imgLock = new Object();

public void robotInit() {
final UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
camera.setResolution(IMG_WIDTH, IMG_HEIGHT);

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


Do you have a filter contours operation in the GRIP pipeline you exported? I would open up the pipeline file to see what outputs are available to use.

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