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Disable drawing during color picking (#96)

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Replaces showThreshold with shouldDraw
This commit is contained in:
Banks T
2020-08-20 14:45:28 -04:00
committed by GitHub
parent 0f8507e6b3
commit 072075508c
15 changed files with 95 additions and 69 deletions
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33
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
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@@ -35,18 +35,20 @@ public class Draw2dCrosshairPipe
@Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
if (!params.shouldDraw) return null;
Mat image = in.getLeft();
if (params.m_showCrosshair) {
if (params.showCrosshair) {
double x = image.cols() / 2.0;
double y = image.rows() / 2.0;
double scale = image.cols() / 32.0;
switch (params.m_calibrationMode) {
switch (params.calibrationMode) {
case Single:
if (!params.m_calibrationPoint.isEmpty()) {
x = params.m_calibrationPoint.getFirst();
y = params.m_calibrationPoint.getSecond();
if (!params.calibrationPoint.isEmpty()) {
x = params.calibrationPoint.getFirst();
y = params.calibrationPoint.getSecond();
}
break;
case Dual:
@@ -59,22 +61,25 @@ public class Draw2dCrosshairPipe
Point yMax = new Point(x, y + scale);
Point yMin = new Point(x, y - scale);
Imgproc.line(image, xMax, xMin, ColorHelper.colorToScalar(params.m_crosshairColor));
Imgproc.line(image, yMax, yMin, ColorHelper.colorToScalar(params.m_crosshairColor));
Imgproc.line(image, xMax, xMin, ColorHelper.colorToScalar(params.crosshairColor));
Imgproc.line(image, yMax, yMin, ColorHelper.colorToScalar(params.crosshairColor));
}
return null;
}
public static class Draw2dCrosshairParams {
private final RobotOffsetPointMode m_calibrationMode;
private final DoubleCouple m_calibrationPoint;
private final boolean m_showCrosshair = true;
private final Color m_crosshairColor = Color.GREEN;
public boolean showCrosshair = true;
public Color crosshairColor = Color.GREEN;
public final boolean shouldDraw;
public final RobotOffsetPointMode calibrationMode;
public final DoubleCouple calibrationPoint;
public Draw2dCrosshairParams(
RobotOffsetPointMode calibrationMode, DoubleCouple calibrationPoint) {
m_calibrationMode = calibrationMode;
m_calibrationPoint = calibrationPoint;
boolean shouldDraw, RobotOffsetPointMode calibrationMode, DoubleCouple calibrationPoint) {
this.shouldDraw = shouldDraw;
this.calibrationMode = calibrationMode;
this.calibrationPoint = calibrationPoint;
}
}
}

33
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
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@@ -30,12 +30,14 @@ import org.photonvision.vision.target.TrackedTarget;
public class Draw2dTargetsPipe
extends MutatingPipe<
Triple<Mat, List<TrackedTarget>, Integer>, Draw2dTargetsPipe.Draw2dContoursParams> {
Triple<Mat, List<TrackedTarget>, Integer>, Draw2dTargetsPipe.Draw2dTargetsParams> {
private List<MatOfPoint> m_drawnContours = new ArrayList<>();
@Override
protected Void process(Triple<Mat, List<TrackedTarget>, Integer> in) {
if (!params.shouldDraw) return null;
if (!in.getMiddle().isEmpty()
&& (params.showCentroid
|| params.showMaximumBox
@@ -50,11 +52,11 @@ public class Draw2dTargetsPipe
var rotatedBoxColour = ColorHelper.colorToScalar(params.rotatedBoxColor);
var shapeColour = ColorHelper.colorToScalar(params.shapeOutlineColour);
for (int i = 0; i < (params.showMultiple ? in.getMiddle().size() : 1); i++) {
for (int i = 0; i < (params.showMultipleTargets ? in.getMiddle().size() : 1); i++) {
Point[] vertices = new Point[4];
MatOfPoint contour = new MatOfPoint();
if (i != 0 && !params.showMultiple) {
if (i != 0 && !params.showMultipleTargets) {
break;
}
@@ -160,29 +162,30 @@ public class Draw2dTargetsPipe
return null;
}
public static class Draw2dContoursParams {
public final double kPixelsToText = 0.0025;
public final double kPixelsToThickness = 0.008;
public final double kPixelsToOffset = 0.02;
public final double kPixelsToBoxThickness = 0.007;
public final double kPixelsToCentroidRadius = 0.03;
public static class Draw2dTargetsParams {
public double kPixelsToText = 0.0025;
public double kPixelsToThickness = 0.008;
public double kPixelsToOffset = 0.02;
public double kPixelsToBoxThickness = 0.007;
public double kPixelsToCentroidRadius = 0.03;
public boolean showCentroid = true;
public boolean showMultiple;
public boolean showRotatedBox = true;
public boolean showShape = false;
public boolean showMaximumBox = true;
public boolean showContourNumber = true;
public Color centroidColor = Color.green; // Color.decode("#ff5ebf");
public Color centroidColor = Color.GREEN; // Color.decode("#ff5ebf");
public Color rotatedBoxColor = Color.BLUE;
public Color maximumBoxColor = Color.RED;
public Color shapeOutlineColour = Color.MAGENTA;
public Color textColor = Color.GREEN;
public final boolean showMultipleTargets;
public final boolean shouldDraw;
// TODO: set other params from UI/settings file?
public Draw2dContoursParams(boolean showMultipleTargets) {
this.showMultiple = showMultipleTargets;
public Draw2dTargetsParams(boolean shouldDraw, boolean showMultipleTargets) {
this.shouldDraw = shouldDraw;
this.showMultipleTargets = showMultipleTargets;
}
}
}

17
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
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@@ -37,6 +37,8 @@ public class Draw3dTargetsPipe
@Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
if (!params.shouldDraw) return null;
for (var target : in.getRight()) {
// draw convex hull
@@ -125,13 +127,18 @@ public class Draw3dTargetsPipe
}
public static class Draw3dContoursParams {
private final int radius = 2;
private final Color color = Color.RED;
private final TargetModel targetModel;
private final CameraCalibrationCoefficients cameraCalibrationCoefficients;
public int radius = 2;
public Color color = Color.RED;
public final boolean shouldDraw;
public final TargetModel targetModel;
public final CameraCalibrationCoefficients cameraCalibrationCoefficients;
public Draw3dContoursParams(
CameraCalibrationCoefficients cameraCalibrationCoefficients, TargetModel targetModel) {
boolean shouldDraw,
CameraCalibrationCoefficients cameraCalibrationCoefficients,
TargetModel targetModel) {
this.shouldDraw = shouldDraw;
this.cameraCalibrationCoefficients = cameraCalibrationCoefficients;
this.targetModel = targetModel;
}

6
photon-server/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
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@@ -35,7 +35,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
public IntegerCouple hsvSaturation = new IntegerCouple(50, 255);
public IntegerCouple hsvValue = new IntegerCouple(50, 255);
public boolean outputShowThresholded = true;
public boolean outputShouldDraw = true;
public boolean outputShowMultipleTargets = false;
public boolean erode = false;
@@ -74,7 +74,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
if (o == null || getClass() != o.getClass()) return false;
if (!super.equals(o)) return false;
AdvancedPipelineSettings that = (AdvancedPipelineSettings) o;
return outputShowThresholded == that.outputShowThresholded
return outputShouldDraw == that.outputShouldDraw
&& outputShowMultipleTargets == that.outputShowMultipleTargets
&& erode == that.erode
&& dilate == that.dilate
@@ -101,7 +101,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
hsvHue,
hsvSaturation,
hsvValue,
outputShowThresholded,
outputShouldDraw,
outputShowMultipleTargets,
erode,
dilate,

19
photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
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@@ -155,21 +155,24 @@ public class ColoredShapePipeline
settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
solvePNPPipe.setParams(solvePNPParams);
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2dContoursParams.showShape = true;
draw2dContoursParams.showMaximumBox = false;
draw2dContoursParams.showRotatedBox = false;
draw2DTargetsPipe.setParams(draw2dContoursParams);
Draw2dTargetsPipe.Draw2dTargetsParams draw2DTargetsParams =
new Draw2dTargetsPipe.Draw2dTargetsParams(
settings.outputShouldDraw, settings.outputShowMultipleTargets);
draw2DTargetsParams.showShape = true;
draw2DTargetsParams.showMaximumBox = false;
draw2DTargetsParams.showRotatedBox = false;
draw2DTargetsPipe.setParams(draw2DTargetsParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
settings.outputShouldDraw,
settings.offsetRobotOffsetMode,
settings.offsetCalibrationPoint);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
var draw3dContoursParams =
new Draw3dTargetsPipe.Draw3dContoursParams(
settings.cameraCalibration, settings.targetModel);
settings.outputShouldDraw, settings.cameraCalibration, settings.targetModel);
draw3dTargetsPipe.setParams(draw3dContoursParams);
}

2
photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
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@@ -46,7 +46,7 @@ public class DriverModePipeline
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
settings.offsetPointMode, settings.offsetPoint);
true, settings.offsetPointMode, settings.offsetPoint);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
}

15
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
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@@ -129,18 +129,23 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
settings.cornerDetectionAccuracyPercentage);
cornerDetectionPipe.setParams(params);
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2dTargetsPipe.setParams(draw2dContoursParams);
Draw2dTargetsPipe.Draw2dTargetsParams draw2DTargetsParams =
new Draw2dTargetsPipe.Draw2dTargetsParams(
settings.outputShouldDraw, settings.outputShowMultipleTargets);
draw2dTargetsPipe.setParams(draw2DTargetsParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
settings.outputShouldDraw,
settings.offsetRobotOffsetMode,
settings.offsetCalibrationPoint);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
var draw3dContoursParams =
new Draw3dTargetsPipe.Draw3dContoursParams(
frameStaticProperties.cameraCalibration, settings.targetModel);
settings.outputShouldDraw,
frameStaticProperties.cameraCalibration,
settings.targetModel);
draw3dTargetsPipe.setParams(draw3dContoursParams);
var solvePNPParams =