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Pipe cleanups (#29)

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* Pipe cleanups

* Remove redundant this qualifier
This commit is contained in:
Banks T
2020-07-12 11:58:01 -04:00
committed by GitHub
parent b69ac3af2f
commit 0763e36b81
25 changed files with 104 additions and 193 deletions
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2
photon-server/src/main/java/org/photonvision/vision/pipe/ImageFlipMode.java → photon-server/src/main/java/org/photonvision/vision/opencv/ImageFlipMode.java
View File

@@ -15,7 +15,7 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipe;
package org.photonvision.vision.opencv;
public enum ImageFlipMode {
NONE(Integer.MIN_VALUE),

2
photon-server/src/main/java/org/photonvision/vision/pipe/ImageRotationMode.java → photon-server/src/main/java/org/photonvision/vision/opencv/ImageRotationMode.java
View File

@@ -15,7 +15,7 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipe;
package org.photonvision.vision.opencv;
public enum ImageRotationMode {
DEG_0(-1),

4
photon-server/src/main/java/org/photonvision/vision/pipe/impl/BlurPipe.java
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@@ -25,7 +25,7 @@ import org.photonvision.vision.pipe.CVPipe;
/** Represents a pipeline that blurs the image. */
public class BlurPipe extends CVPipe<Mat, Mat, BlurPipe.BlurParams> {
/**
* Processes thos pipe.
* Processes this pipe.
*
* @param in Input for pipe processing.
* @return The processed frame.
@@ -41,7 +41,7 @@ public class BlurPipe extends CVPipe<Mat, Mat, BlurPipe.BlurParams> {
public static BlurParams DEFAULT = new BlurParams(0);
// Member to store the blur size.
private int m_blurSize;
private final int m_blurSize;
/**
* Constructs a new BlurImageParams.

19
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Collect2dTargetsPipe.java
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@@ -60,22 +60,23 @@ public class Collect2dTargetsPipe
}
public static class Collect2dTargetsParams {
private FrameStaticProperties m_captureStaticProperties;
private RobotOffsetPointMode m_offsetMode;
private double m_calibrationM, m_calibrationB;
private Point m_userOffsetPoint;
private TargetOffsetPointEdge m_region;
private TargetOrientation m_orientation;
private final FrameStaticProperties m_frameStaticProperties;
private final RobotOffsetPointMode m_offsetMode;
private final double m_calibrationM;
private final double m_calibrationB;
private final Point m_userOffsetPoint;
private final TargetOffsetPointEdge m_region;
private final TargetOrientation m_orientation;
public Collect2dTargetsParams(
FrameStaticProperties captureStaticProperties,
FrameStaticProperties frameStaticProperties,
RobotOffsetPointMode offsetMode,
double calibrationM,
double calibrationB,
Point calibrationPoint,
TargetOffsetPointEdge region,
TargetOrientation orientation) {
m_captureStaticProperties = captureStaticProperties;
m_frameStaticProperties = frameStaticProperties;
m_offsetMode = offsetMode;
m_calibrationM = calibrationM;
m_calibrationB = calibrationB;
@@ -85,7 +86,7 @@ public class Collect2dTargetsPipe
}
public FrameStaticProperties getFrameStaticProperties() {
return m_captureStaticProperties;
return m_frameStaticProperties;
}
public RobotOffsetPointMode getOffsetMode() {

8
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
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@@ -65,10 +65,10 @@ public class Draw2dCrosshairPipe
}
public static class Draw2dCrosshairParams {
private RobotOffsetPointMode m_calibrationMode;
private DoubleCouple m_calibrationPoint;
public boolean m_showCrosshair = true;
public Color m_crosshairColor = Color.GREEN;
private final RobotOffsetPointMode m_calibrationMode;
private final DoubleCouple m_calibrationPoint;
private final boolean m_showCrosshair = true;
private final Color m_crosshairColor = Color.GREEN;
public Draw2dCrosshairParams(
RobotOffsetPointMode calibrationMode, DoubleCouple calibrationPoint) {

6
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dContoursPipe.java → photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
View File

@@ -27,8 +27,8 @@ import org.photonvision.common.util.ColorHelper;
import org.photonvision.vision.pipe.CVPipe;
import org.photonvision.vision.target.TrackedTarget;
public class Draw2dContoursPipe
extends CVPipe<Pair<Mat, List<TrackedTarget>>, Mat, Draw2dContoursPipe.Draw2dContoursParams> {
public class Draw2dTargetsPipe
extends CVPipe<Pair<Mat, List<TrackedTarget>>, Mat, Draw2dTargetsPipe.Draw2dContoursParams> {
private List<MatOfPoint> m_drawnContours = new ArrayList<>();
@@ -101,7 +101,7 @@ public class Draw2dContoursPipe
public static class Draw2dContoursParams {
public boolean showCentroid = true;
public boolean showMultiple = true;
public boolean showMultiple;
public int boxOutlineSize = 1;
public boolean showRotatedBox = true;
public boolean showShape = false;

6
photon-server/src/main/java/org/photonvision/vision/pipe/impl/ErodeDilatePipe.java
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@@ -35,9 +35,9 @@ public class ErodeDilatePipe extends CVPipe<Mat, Mat, ErodeDilatePipe.ErodeDilat
}
public static class ErodeDilateParams {
private boolean m_erode;
private boolean m_dilate;
private Mat m_kernel;
private final boolean m_erode;
private final boolean m_dilate;
private final Mat m_kernel;
public ErodeDilateParams(boolean erode, boolean dilate, int kernelSize) {
m_erode = erode;

33
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
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@@ -36,12 +36,7 @@ public class FilterContoursPipe
protected List<Contour> process(List<Contour> in) {
m_filteredContours.clear();
for (Contour contour : in) {
try {
filterContour(contour);
} catch (Exception e) {
System.err.println("An error occurred while filtering contours.");
e.printStackTrace();
}
filterContour(contour);
}
return m_filteredContours;
}
@@ -49,15 +44,15 @@ public class FilterContoursPipe
private void filterContour(Contour contour) {
// Area Filtering.
double contourArea = contour.getArea();
double areaRatio = (contourArea / params.getCamProperties().imageArea);
double areaRatio = (contourArea / params.getFrameStaticProperties().imageArea);
double minArea = MathUtils.sigmoid(params.getArea().getFirst());
double maxArea = MathUtils.sigmoid(params.getArea().getSecond());
if (areaRatio < minArea || areaRatio > maxArea) return;
// Extent Filtering.
RotatedRect minAreaRect = contour.getMinAreaRect();
double minExtent = params.getExtent().getFirst() * minAreaRect.size.area() / 100;
double maxExtent = params.getExtent().getSecond() * minAreaRect.size.area() / 100;
double minExtent = params.getFullness().getFirst() * minAreaRect.size.area() / 100;
double maxExtent = params.getFullness().getSecond() * minAreaRect.size.area() / 100;
if (contourArea <= minExtent || contourArea >= maxExtent) return;
// Aspect Ratio Filtering.
@@ -70,10 +65,10 @@ public class FilterContoursPipe
}
public static class FilterContoursParams {
private DoubleCouple m_area;
private DoubleCouple m_ratio;
private DoubleCouple m_extent;
private FrameStaticProperties m_camProperties;
private final DoubleCouple m_area;
private final DoubleCouple m_ratio;
private final DoubleCouple m_fullness;
private final FrameStaticProperties m_frameStaticProperties;
public FilterContoursParams(
DoubleCouple area,
@@ -82,8 +77,8 @@ public class FilterContoursPipe
FrameStaticProperties camProperties) {
this.m_area = area;
this.m_ratio = ratio;
this.m_extent = extent;
this.m_camProperties = camProperties;
this.m_fullness = extent;
this.m_frameStaticProperties = camProperties;
}
public DoubleCouple getArea() {
@@ -94,12 +89,12 @@ public class FilterContoursPipe
return m_ratio;
}
public DoubleCouple getExtent() {
return m_extent;
public DoubleCouple getFullness() {
return m_fullness;
}
public FrameStaticProperties getCamProperties() {
return m_camProperties;
public FrameStaticProperties getFrameStaticProperties() {
return m_frameStaticProperties;
}
}
}

10
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java
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@@ -43,11 +43,11 @@ public class FilterShapesPipe
}
public static class FilterShapesPipeParams {
ContourShape desiredShape;
double minArea;
double maxArea;
double minPeri;
double maxPeri;
private final ContourShape desiredShape;
private final double minArea;
private final double maxArea;
private final double minPeri;
private final double maxPeri;
public FilterShapesPipeParams(
ContourShape desiredShape, double minArea, double maxArea, double minPeri, double maxPeri) {

4
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
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@@ -28,8 +28,8 @@ import org.photonvision.vision.pipe.CVPipe;
public class FindBoardCornersPipe
extends CVPipe<List<Mat>, List<List<Mat>>, FindBoardCornersPipe.FindCornersPipeParams> {
MatOfPoint3f objectPoints = new MatOfPoint3f();
private List<Mat> listOfObjectPoints = new ArrayList<>();
private List<Mat> listOfImagePoints = new ArrayList<>();
private final List<Mat> listOfObjectPoints = new ArrayList<>();
private final List<Mat> listOfImagePoints = new ArrayList<>();
Size imageSize;
Size patternSize;

28
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
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@@ -31,11 +31,8 @@ import org.photonvision.vision.pipe.CVPipe;
public class FindCirclesPipe
extends CVPipe<Pair<Mat, List<Contour>>, List<CVShape>, FindCirclesPipe.FindCirclePipeParams> {
double[] c;
Mat circles = new Mat();
Moments mu;
double x_center;
double y_center;
private final Mat circles = new Mat();
/**
* Runs the process for the pipe.
*
@@ -58,11 +55,12 @@ public class FindCirclesPipe
params.minRadius,
params.maxRadius);
for (int x = 0; x < circles.cols(); x++) {
c = circles.get(0, x);
x_center = c[0];
y_center = c[1];
double[] c = circles.get(0, x);
double x_center = c[0];
double y_center = c[1];
for (Contour contour : in.getRight()) {
mu = contour.getMoments();
Moments mu = contour.getMoments();
if (Math.abs(x_center - (mu.m10 / mu.m00)) <= params.allowableThreshold
&& Math.abs(y_center - (mu.m01 / mu.m00)) <= params.allowableThreshold) {
output.add(new CVShape(contour, ContourShape.Circle));
@@ -74,12 +72,12 @@ public class FindCirclesPipe
}
public static class FindCirclePipeParams {
public int allowableThreshold;
public int minRadius;
public int maxRadius;
public int minDist;
public int maxCannyThresh;
public int accuracy;
private final int allowableThreshold;
private final int minRadius;
private final int maxRadius;
private final int minDist;
private final int maxCannyThresh;
private final int accuracy;
public FindCirclePipeParams(
int allowableThreshold,

2
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindContoursPipe.java
View File

@@ -29,7 +29,7 @@ import org.photonvision.vision.pipe.CVPipe;
public class FindContoursPipe
extends CVPipe<Mat, List<Contour>, FindContoursPipe.FindContoursParams> {
private List<MatOfPoint> m_foundContours = new ArrayList<>();
private final List<MatOfPoint> m_foundContours = new ArrayList<>();
@Override
protected List<Contour> process(Mat in) {

7
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java
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@@ -28,8 +28,7 @@ import org.photonvision.vision.pipe.CVPipe;
public class FindPolygonPipe
extends CVPipe<List<Contour>, List<CVShape>, FindPolygonPipe.FindPolygonPipeParams> {
private int corners;
private MatOfPoint2f approx = new MatOfPoint2f();
private final MatOfPoint2f approx = new MatOfPoint2f();
/*
* Runs the process for the pipe.
@@ -49,7 +48,7 @@ public class FindPolygonPipe
private CVShape getShape(Contour in) {
corners = getCorners(in);
int corners = getCorners(in);
if (ContourShape.fromSides(corners) == null) {
return new CVShape(in, ContourShape.Custom);
}
@@ -76,7 +75,7 @@ public class FindPolygonPipe
}
public static class FindPolygonPipeParams {
double accuracyPercentage;
private final double accuracyPercentage;
public FindPolygonPipeParams(double accuracyPercentage) {
this.accuracyPercentage = accuracyPercentage;

58
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindShapesPipe.java
View File

@@ -1,58 +0,0 @@
/*
* Copyright (C) 2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.pipe.impl;
import java.util.List;
import org.opencv.core.MatOfPoint2f;
import org.opencv.imgproc.Imgproc;
import org.photonvision.vision.opencv.CVShape;
import org.photonvision.vision.opencv.Contour;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.pipe.CVPipe;
public class FindShapesPipe
extends CVPipe<List<Contour>, List<CVShape>, FindShapesPipe.FindShapesParams> {
MatOfPoint2f approxCurve = new MatOfPoint2f();
@Override
protected List<CVShape> process(List<Contour> in) {
approxCurve.release();
approxCurve = new MatOfPoint2f();
for (var contour : in) {
if (params.desiredShape == ContourShape.Circle) {
} else {
int desiredSides = params.desiredShape.sides;
Imgproc.approxPolyDP(contour.getMat2f(), approxCurve, params.approxEpsilon, true);
// int actualSides = approxCurve.
// switch ()
System.out.println("fugg");
}
}
return List.of();
}
public static class FindShapesParams {
double approxEpsilon = 0.05;
ContourShape desiredShape;
}
}

11
photon-server/src/main/java/org/photonvision/vision/pipe/impl/GroupContoursPipe.java
View File

@@ -29,7 +29,7 @@ import org.photonvision.vision.target.PotentialTarget;
public class GroupContoursPipe
extends CVPipe<List<Contour>, List<PotentialTarget>, GroupContoursPipe.GroupContoursParams> {
private List<PotentialTarget> m_targets = new ArrayList<>();
private final List<PotentialTarget> m_targets = new ArrayList<>();
@Override
protected List<PotentialTarget> process(List<Contour> input) {
@@ -49,19 +49,20 @@ public class GroupContoursPipe
if (input.size() > groupingCount) {
input.sort(Contour.SortByMomentsX);
// also why reverse? shouldn't the sort comparator just get reversed?
// TODO: Matt, see this
Collections.reverse(input);
// find out next time on Code Mysteries...
for (int i = 0; i < input.size() - 1; i++) {
// make a list of the desired count of contours to group
List<Contour> groupingSet;
// TODO: are these try/catch avoidable?
try {
groupingSet = input.subList(i, i + groupingCount);
} catch (IndexOutOfBoundsException e) {
continue;
}
try {
// FYI: This method only takes 2 contours!
Contour groupedContour =
Contour.groupContoursByIntersection(
@@ -81,8 +82,8 @@ public class GroupContoursPipe
}
public static class GroupContoursParams {
private ContourGroupingMode m_group;
private ContourIntersectionDirection m_intersection;
private final ContourGroupingMode m_group;
private final ContourIntersectionDirection m_intersection;
public GroupContoursParams(
ContourGroupingMode group, ContourIntersectionDirection intersectionDirection) {

21
photon-server/src/main/java/org/photonvision/vision/pipe/impl/HSVPipe.java
View File

@@ -18,7 +18,6 @@
package org.photonvision.vision.pipe.impl;
import org.opencv.core.Core;
import org.opencv.core.CvException;
import org.opencv.core.Mat;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
@@ -27,35 +26,25 @@ import org.photonvision.vision.pipe.CVPipe;
public class HSVPipe extends CVPipe<Mat, Mat, HSVPipe.HSVParams> {
private Mat m_outputMat = new Mat();
private final Mat m_outputMat = new Mat();
@Override
protected Mat process(Mat in) {
in.copyTo(m_outputMat);
try {
Imgproc.cvtColor(m_outputMat, m_outputMat, Imgproc.COLOR_BGR2HSV, 3);
Core.inRange(m_outputMat, params.getHsvLower(), params.getHsvUpper(), m_outputMat);
} catch (CvException e) {
System.err.println("(HSVPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
Imgproc.cvtColor(m_outputMat, m_outputMat, Imgproc.COLOR_BGR2HSV, 3);
Core.inRange(m_outputMat, params.getHsvLower(), params.getHsvUpper(), m_outputMat);
return m_outputMat;
}
public static class HSVParams {
private Scalar m_hsvLower;
private Scalar m_hsvUpper;
private final Scalar m_hsvLower;
private final Scalar m_hsvUpper;
public HSVParams(IntegerCouple hue, IntegerCouple saturation, IntegerCouple value) {
m_hsvLower = new Scalar(hue.getFirst(), saturation.getFirst(), value.getFirst());
m_hsvUpper = new Scalar(hue.getSecond(), saturation.getSecond(), value.getSecond());
}
public HSVParams(Scalar hsvLower, Scalar hsvUpper) {
m_hsvLower = hsvLower;
m_hsvUpper = hsvUpper;
}
public Scalar getHsvLower() {
return m_hsvLower;
}

11
photon-server/src/main/java/org/photonvision/vision/pipe/impl/OutputMatPipe.java
View File

@@ -17,7 +17,6 @@
package org.photonvision.vision.pipe.impl;
import org.opencv.core.CvException;
import org.opencv.core.Mat;
import org.opencv.imgproc.Imgproc;
import org.photonvision.vision.opencv.DualMat;
@@ -33,12 +32,8 @@ public class OutputMatPipe extends CVPipe<DualMat, Mat, OutputMatPipe.OutputMatP
Mat hsv = in.second;
if (params.showThreshold()) {
// convert input mat
try {
hsv.copyTo(m_outputMat);
Imgproc.cvtColor(m_outputMat, m_outputMat, Imgproc.COLOR_GRAY2BGR, 3);
} catch (CvException e) {
System.err.println("(OutputMatPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
hsv.copyTo(m_outputMat);
Imgproc.cvtColor(m_outputMat, m_outputMat, Imgproc.COLOR_GRAY2BGR, 3);
} else {
m_outputMat = rawCam;
}
@@ -47,7 +42,7 @@ public class OutputMatPipe extends CVPipe<DualMat, Mat, OutputMatPipe.OutputMatP
}
public static class OutputMatParams {
private boolean m_showThreshold;
private final boolean m_showThreshold;
public OutputMatParams(boolean showThreshold) {
m_showThreshold = showThreshold;

12
photon-server/src/main/java/org/photonvision/vision/pipe/impl/ResizeImagePipe.java
View File

@@ -30,10 +30,6 @@ public class ResizeImagePipe extends CVPipe<Mat, Mat, ResizeImagePipe.ResizeImag
setParams(ResizeImageParams.DEFAULT);
}
public ResizeImagePipe(ResizeImageParams params) {
setParams(params);
}
/**
* Process this pipe
*
@@ -58,17 +54,9 @@ public class ResizeImagePipe extends CVPipe<Mat, Mat, ResizeImagePipe.ResizeImag
public static ResizeImageParams DEFAULT = new ResizeImageParams(320, 240);
private Size size;
private int width;
private int height;
private FrameDivisor divisor;
public ResizeImageParams() {
this(DEFAULT.width, DEFAULT.height);
}
public ResizeImageParams(int width, int height) {
this.width = width;
this.height = height;
size = new Size(new double[] {width, height});
}

2
photon-server/src/main/java/org/photonvision/vision/pipe/impl/RotateImagePipe.java
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@@ -19,8 +19,8 @@ package org.photonvision.vision.pipe.impl;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.photonvision.vision.opencv.ImageRotationMode;
import org.photonvision.vision.pipe.CVPipe;
import org.photonvision.vision.pipe.ImageRotationMode;
/** Pipe that rotates an image to a given orientation */
public class RotateImagePipe extends CVPipe<Mat, Mat, RotateImagePipe.RotateImageParams> {

5
photon-server/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
View File

@@ -35,7 +35,7 @@ import org.photonvision.vision.target.TrackedTarget;
public class SolvePNPPipe
extends CVPipe<List<TrackedTarget>, List<TrackedTarget>, SolvePNPPipe.SolvePNPPipeParams> {
private MatOfPoint2f imagePoints = new MatOfPoint2f();
private final MatOfPoint2f imagePoints = new MatOfPoint2f();
@Override
protected List<TrackedTarget> process(List<TrackedTarget> targetList) {
@@ -53,7 +53,6 @@ public class SolvePNPPipe
|| corners.isEmpty()
|| params.cameraCoefficients.getCameraIntrinsicsMat() == null
|| params.cameraCoefficients.getCameraExtrinsicsMat() == null) {
targetPose = new Pose2d();
return;
}
this.imagePoints.fromList(corners);
@@ -120,7 +119,6 @@ public class SolvePNPPipe
// We have a Z_field (out of the camera projected onto the field), and an X left/right.
// so Z_field becomes X, and X becomes Y
//noinspection SuspiciousNameCombination
var targetLocation = new Translation2d(zField, -x);
return new Pose2d(targetLocation, new Rotation2d(targetRotation));
}
@@ -132,6 +130,7 @@ public class SolvePNPPipe
* @param factor by how much to scale each element
* @return the scaled matrix
*/
@SuppressWarnings("SameParameterValue")
private static Mat matScale(Mat src, double factor) {
Mat dst = new Mat(src.rows(), src.cols(), src.type());
Scalar s = new Scalar(factor);

16
photon-server/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
View File

@@ -30,11 +30,15 @@ public class SortContoursPipe
extends CVPipe<
List<PotentialTarget>, List<PotentialTarget>, SortContoursPipe.SortContoursParams> {
private List<PotentialTarget> m_sortedContours = new ArrayList<>();
private final List<PotentialTarget> m_sortedContours = new ArrayList<>();
@Override
protected List<PotentialTarget> process(List<PotentialTarget> in) {
for (var oldTarget : m_sortedContours) {
oldTarget.release();
}
m_sortedContours.clear();
if (in.size() > 0) {
m_sortedContours.addAll(in);
if (params.getSortMode() != ContourSortMode.Centermost) {
@@ -55,14 +59,14 @@ public class SortContoursPipe
}
public static class SortContoursParams {
private ContourSortMode m_sortMode;
private FrameStaticProperties m_camProperties;
private int m_maxTargets;
private final ContourSortMode m_sortMode;
private final FrameStaticProperties m_frameStaticProperties;
private final int m_maxTargets;
public SortContoursParams(
ContourSortMode sortMode, FrameStaticProperties camProperties, int maxTargets) {
m_sortMode = sortMode;
m_camProperties = camProperties;
m_frameStaticProperties = camProperties;
m_maxTargets = maxTargets;
}
@@ -71,7 +75,7 @@ public class SortContoursPipe
}
public FrameStaticProperties getCamProperties() {
return m_camProperties;
return m_frameStaticProperties;
}
public int getMaxTargets() {

4
photon-server/src/main/java/org/photonvision/vision/pipe/impl/SpeckleRejectPipe.java
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@@ -25,7 +25,7 @@ import org.photonvision.vision.pipe.CVPipe;
public class SpeckleRejectPipe
extends CVPipe<List<Contour>, List<Contour>, SpeckleRejectPipe.SpeckleRejectParams> {
private List<Contour> m_despeckledContours = new ArrayList<>();
private final List<Contour> m_despeckledContours = new ArrayList<>();
@Override
protected List<Contour> process(List<Contour> in) {
@@ -53,7 +53,7 @@ public class SpeckleRejectPipe
}
public static class SpeckleRejectParams {
private double m_minPercentOfAvg;
private final double m_minPercentOfAvg;
public SpeckleRejectParams(double minPercentOfAvg) {
m_minPercentOfAvg = minPercentOfAvg;

4
photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
View File

@@ -21,8 +21,8 @@ import com.fasterxml.jackson.annotation.JsonSubTypes;
import com.fasterxml.jackson.annotation.JsonTypeInfo;
import java.util.Objects;
import org.photonvision.vision.frame.FrameDivisor;
import org.photonvision.vision.pipe.ImageFlipMode;
import org.photonvision.vision.pipe.ImageRotationMode;
import org.photonvision.vision.opencv.ImageFlipMode;
import org.photonvision.vision.opencv.ImageRotationMode;
@JsonTypeInfo(
use = JsonTypeInfo.Id.NAME,

10
photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
View File

@@ -51,7 +51,7 @@ public class ColoredShapePipeline
private final CornerDetectionPipe cornerDetectionPipe = new CornerDetectionPipe();
private final SolvePNPPipe solvePNPPipe = new SolvePNPPipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
private final Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe();
private final Draw2dTargetsPipe draw2DTargetsPipe = new Draw2dTargetsPipe();
private final Draw3dTargetsPipe draw3dTargetsPipe = new Draw3dTargetsPipe();
private final Mat rawInputMat = new Mat();
@@ -155,13 +155,13 @@ public class ColoredShapePipeline
settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
solvePNPPipe.setParams(solvePNPParams);
Draw2dContoursPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dContoursPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2dContoursParams.showShape = true;
draw2dContoursParams.showMaximumBox = false;
draw2dContoursParams.showRotatedBox = false;
draw2dContoursParams.boxOutlineSize = 2;
draw2dContoursPipe.setParams(draw2dContoursParams);
draw2DTargetsPipe.setParams(draw2dContoursParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
@@ -256,7 +256,7 @@ public class ColoredShapePipeline
sumPipeNanosElapsed += draw2dCrosshairResult.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResult =
draw2dContoursPipe.apply(
draw2DTargetsPipe.apply(
Pair.of(draw2dCrosshairResult.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dContoursResult.nanosElapsed;

12
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
View File

@@ -29,8 +29,8 @@ import org.photonvision.vision.opencv.DualMat;
import org.photonvision.vision.pipe.CVPipeResult;
import org.photonvision.vision.pipe.impl.Collect2dTargetsPipe;
import org.photonvision.vision.pipe.impl.CornerDetectionPipe;
import org.photonvision.vision.pipe.impl.Draw2dContoursPipe;
import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
import org.photonvision.vision.pipe.impl.Draw2dTargetsPipe;
import org.photonvision.vision.pipe.impl.Draw3dTargetsPipe;
import org.photonvision.vision.pipe.impl.ErodeDilatePipe;
import org.photonvision.vision.pipe.impl.FilterContoursPipe;
@@ -62,7 +62,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
private final CornerDetectionPipe cornerDetectionPipe = new CornerDetectionPipe();
private final SolvePNPPipe solvePNPPipe = new SolvePNPPipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
private final Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe();
private final Draw2dTargetsPipe draw2DTargetsPipe = new Draw2dTargetsPipe();
private final Draw3dTargetsPipe draw3dTargetsPipe = new Draw3dTargetsPipe();
private Mat rawInputMat = new Mat();
@@ -141,9 +141,9 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
settings.cornerDetectionAccuracyPercentage);
cornerDetectionPipe.setParams(params);
Draw2dContoursPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dContoursPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2dContoursPipe.setParams(draw2dContoursParams);
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2DTargetsPipe.setParams(draw2dContoursParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
@@ -231,7 +231,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
sumPipeNanosElapsed += draw2dCrosshairResult.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResult =
draw2dContoursPipe.apply(
draw2DTargetsPipe.apply(
Pair.of(draw2dCrosshairResult.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dContoursResult.nanosElapsed;