Detelete tower tracker class

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/TowerTracker.java b/src/org/usfirst/frc/team3501/robot/subsystems/TowerTracker.java
deleted file mode 100755 (executable)
index 1105371..0000000
--- a/src/org/usfirst/frc/team3501/robot/subsystems/TowerTracker.java
+++ /dev/null
@@ -1,192 +0,0 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import java.util.ArrayList;
-import java.util.Iterator;
-
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-
-/**
- *
- */
-
-/**
- *
- * @author Elijah Kaufman
- * @version 1.0
- * @description Uses opencv and network table 3.0 to detect the vision targets
- *
- */
-public class TowerTracker {
-
-  /**
-   * static method to load opencv and networkTables
-   */
-  static {
-    System
-        .setProperty(
-        "java.library.path",
-        System.getProperty("java.library.path")
-        + ":/home/cindy/Robotics/Workspace/opencv-3.1.0/cmake/lib"); // path
-    // to
-    // opencv_java310
-    // System.out.println(System.getProperty("java.library.path"));
-    System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
-    NetworkTable.setClientMode();
-    NetworkTable.setIPAddress("roborio-3502.local");
-  }
-  // constants for the color rbg values
-  public static final Scalar
-  RED = new Scalar(0, 0, 255),
-  BLUE = new Scalar(255, 0, 0),
-  GREEN = new Scalar(0, 255, 0),
-  BLACK = new Scalar(0, 0, 0),
-  YELLOW = new Scalar(0, 255, 255),
-  // these are the threshold values in order
-  LOWER_BOUNDS = new Scalar(58, 0, 109),
-  UPPER_BOUNDS = new Scalar(93, 255, 240);
-
-  // the size for resing the image
-  public static final Size resize = new Size(320, 240);
-
-  // ignore these
-  public static VideoCapture videoCapture;
-  public static Mat matOriginal, matHSV, matThresh, clusters, matHeirarchy;
-
-  // Constants for known variables
-  // the height to the top of the target in first stronghold is 97 inches
-  public static final int TOP_TARGET_HEIGHT = 97;
-  // the physical height of the camera lens
-  public static final int TOP_CAMERA_HEIGHT = 32;
-
-  // camera details, can usually be found on the datasheets of the camera
-  public static final double VERTICAL_FOV = 51;
-  public static final double HORIZONTAL_FOV = 67;
-  public static final double CAMERA_ANGLE = 10;
-
-  public static boolean shouldRun = true;
-
-  /**
-   *
-   * @param args
-   *          command line arguments
-   *          just the main loop for the program and the entry points
-   */
-  public static void main(String[] args) {
-    // TODO Auto-generated method stub
-    matOriginal = new Mat();
-    matHSV = new Mat();
-    matThresh = new Mat();
-    clusters = new Mat();
-    matHeirarchy = new Mat();
-    // main loop of the program
-    while (shouldRun) {
-      try {
-        // opens up the camera stream and tries to load it
-        videoCapture = new VideoCapture();
-        // replaces the ##.## with your team number
-        videoCapture.open("http://10.35.01.11/mjpg/video.mjpg");
-        // Example
-        // cap.open("http://10.30.19.11/mjpg/video.mjpg");
-        // wait until it is opened
-        while (!videoCapture.isOpened()) {
-        }
-        // time to actually process the acquired images
-        processImage();
-      } catch (Exception e) {
-        e.printStackTrace();
-        break;
-      }
-    }
-    // make sure the java process quits when the loop finishes
-    videoCapture.release();
-    System.exit(0);
-  }
-
-  /**
-   *
-   * reads an image from a live image capture and outputs information to the
-   * SmartDashboard or a file
-   */
-  public static void processImage() {
-    ArrayList<MatOfPoint> contours = new ArrayList<MatOfPoint>();
-    double x, y, targetX, targetY, distance, azimuth;
-    // frame counter
-    int FrameCount = 0;
-    long before = System.currentTimeMillis();
-    // only run for the specified time
-    while (FrameCount < 100) {
-      contours.clear();
-      // capture from the axis camera
-      videoCapture.read(matOriginal);
-      // captures from a static file for testing
-      // matOriginal = Imgcodecs.imread("someFile.png");
-      Imgproc.cvtColor(matOriginal, matHSV, Imgproc.COLOR_BGR2HSV);
-      Core.inRange(matHSV, LOWER_BOUNDS, UPPER_BOUNDS, matThresh);
-      Imgproc.findContours(matThresh, contours, matHeirarchy,
-          Imgproc.RETR_EXTERNAL,
-          Imgproc.CHAIN_APPROX_SIMPLE);
-      // make sure the contours that are detected are at least 20x20
-      // pixels with an area of 400 and an aspect ration greater then 1
-      for (Iterator<MatOfPoint> iterator = contours.iterator(); iterator
-          .hasNext();) {
-        MatOfPoint matOfPoint = iterator.next();
-        Rect rec = Imgproc.boundingRect(matOfPoint);
-        if (rec.height < 25 || rec.width < 25) {
-          iterator.remove();
-          continue;
-        }
-        float aspect = (float) rec.width / (float) rec.height;
-        if (aspect < 1.0)
-          iterator.remove(); // remove contour if width < height
-      }
-      for (MatOfPoint mop : contours) {
-        Rect rec = Imgproc.boundingRect(mop);
-        Imgproc.rectangle(matOriginal, rec.br(), rec.tl(), BLACK);
-      }
-      // if there is only 1 target, then we have found the target we want
-      if (contours.size() == 1) {
-        Rect rec = Imgproc.boundingRect(contours.get(0));
-        // "fun" math brought to you by miss daisy (team 341)!
-        y = rec.br().y + rec.height / 2;
-        y = -((2 * (y / matOriginal.height())) - 1);
-        distance = (TOP_TARGET_HEIGHT - TOP_CAMERA_HEIGHT) /
-            Math.tan((y * VERTICAL_FOV / 2.0 + CAMERA_ANGLE) * Math.PI / 180);
-        // angle to target...would not rely on this
-        targetX = rec.tl().x + rec.width / 2;
-        targetX = (2 * (targetX / matOriginal.width())) - 1;
-        azimuth = normalize360(targetX * HORIZONTAL_FOV / 2.0 + 0);
-        // drawing info on target
-        Point center = new Point(rec.br().x - rec.width / 2 - 15, rec.br().y
-            - rec.height / 2);
-        Point centerw = new Point(rec.br().x - rec.width / 2 - 15, rec.br().y
-            - rec.height / 2 - 20);
-        // Imgproc.putText(matOriginal, "" + (int) distance, center,
-        // Core.FONT_HERSHEY_PLAIN, 1, BLACK);
-        // Imgproc.putText(matOriginal, "" + (int) azimuth, centerw,
-        // Core.FONT_HERSHEY_PLAIN, 1, BLACK);
-        System.out.println(distance + "m, " + azimuth + " degrees     "
-            + center.x + ", " + center.y);
-      }
-      // output an image for debugging
-      // Imgcodecs.imwrite("output.png", matOriginal);
-      FrameCount++;
-    }
-    shouldRun = false;
-  }
-
-  /**
-   * @param angle
-   *          a nonnormalized angle
-   */
-  public static double normalize360(double angle) {
-    while (angle >= 360.0)
-    {
-      angle -= 360.0;
-    }
-    while (angle < 0.0)
-    {
-      angle += 360.0;
-    }
-    return angle;
-  }
-}