From d52004ffcc2e0234f6f33648173fb4dbcf74fb9b Mon Sep 17 00:00:00 2001
From: Isacc Barker <milobanks@zincsoft.dev>
Date: Sat, 20 Nov 2021 11:51:54 -0700
Subject: [PATCH] basic tensorflow implementation

---
 .../autonomous/detection/ObjectDetection.java | 34 +++++++++++++++++++
 .../sensor/webcam/WebcamPipeline.java         |  2 ++
 build.dependencies.gradle                     |  3 ++
 3 files changed, 39 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/rowlandhall/arc/autonomous/detection/ObjectDetection.java

diff --git a/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/detection/ObjectDetection.java b/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/detection/ObjectDetection.java
new file mode 100644
index 000000000000..84db9d23f6a7
--- /dev/null
+++ b/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/detection/ObjectDetection.java
@@ -0,0 +1,34 @@
+package org.rowlandhall.arc.detection;
+
+import org.tensorflow.lite.Interpreter;
+
+import java.util.Map;
+import java.util.HashMap;
+import java.io.File;
+
+public class ObjectDetection {
+    Interpreter interpreter;
+    Map<String, Object> inputs = new HashMap<>();
+    Map<String, Object> outputs = new HashMap<>();
+
+    public ObjectDetection() {
+        File model = new File("future_model_location.tflite");
+        interpreter = new Interpreter(model);
+    }
+
+    public void run(long[] frame) {
+        inputs.put("frame", frame);
+        
+        // TODO: Figure out what these outputs should be
+        // TODO: after we train the model.
+    
+        interpreter.runSignature(inputs, outputs);
+    }
+
+    // NOTE: This will be finished after we, again, figure out
+    // NOTE: what the outputs should be.
+    /* public UNKNOWN get_detected_boundaries() {
+        // Query the output map
+    } */
+}  
+
diff --git a/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/sensor/webcam/WebcamPipeline.java b/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/sensor/webcam/WebcamPipeline.java
index 22acca9a6e7a..ff1e1cc29bc9 100644
--- a/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/sensor/webcam/WebcamPipeline.java
+++ b/TeamCode/src/main/java/org/rowlandhall/arc/autonomous/sensor/webcam/WebcamPipeline.java
@@ -6,6 +6,8 @@
 import org.opencv.imgproc.Imgproc;
 import org.openftc.easyopencv.OpenCvPipeline;
 
+import org.rowlandhall.arc.detection.ObjectDetection;
+
 /** The OpenCV pipeline for the webcam; what all the frames go through
  * to get processed. */
 public class WebcamPipeline extends OpenCvPipeline {
diff --git a/build.dependencies.gradle b/build.dependencies.gradle
index 57c8c79e3b9e..0bdb41ebb612 100644
--- a/build.dependencies.gradle
+++ b/build.dependencies.gradle
@@ -24,5 +24,8 @@ dependencies {
 
     // Roadrunner dependency
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.3'
+
+    // Tensorflow lite
+    implementation 'org.tensorflow:tensorflow-lite:2.7.0'
 }