ThresholdMoving.java

package edu.wpi.grip.core.operations.composite;


import com.google.common.eventbus.EventBus;
import edu.wpi.grip.core.Operation;
import edu.wpi.grip.core.sockets.InputSocket;
import edu.wpi.grip.core.sockets.OutputSocket;
import edu.wpi.grip.core.sockets.SocketHints;
import org.bytedeco.javacpp.opencv_core;
import org.bytedeco.javacpp.opencv_core.Mat;

import java.util.Optional;

public class ThresholdMoving implements Operation {


    @Override
    public String getName() {
        return "Threshold Moving";
    }

    @Override
    public String getDescription() {
        return "";
    }

    @Override
    public InputSocket<?>[] createInputSockets(EventBus eventBus) {
        return new InputSocket<?>[] {
                new InputSocket<>(eventBus, SocketHints.Inputs.createMatSocketHint("image", false))
        };
    }

    @Override
    public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
        return new OutputSocket<?>[]{
            new OutputSocket<>(eventBus, SocketHints.Outputs.createMatSocketHint("moved"))
        };
    }

    @Override
    public Optional<?> createData() {
        return Optional.of(new Mat());
    }

    @Override
    public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs, Optional<?> data) {
        final Mat input = ((InputSocket<Mat>) inputs[0]).getValue().get();
        final OutputSocket<Mat> outputSocket = (OutputSocket<Mat>) outputs[0];
        final Mat lastImage = (Mat) data.get();
        if(!lastImage.empty()) {
            opencv_core.absdiff(input, lastImage, outputSocket.getValue().get());
        }
        input.copyTo(lastImage);
        outputSocket.setValue(outputSocket.getValue().get());
    }
}