Pipeline Bringup (#94)

* Refactor package structure, various cleanups

* Add pipeline classes, settings, separate enums

* updated Largest ContourSortMode and added centermost

* Add DriverPipeline classes, apply spotless

* Add crosshair to DriverMode, cleanups

* Add FrameStaticProperties as member in Frame

Add FrameStaticProperties as member in Frame

* Finish ReflectivePipeline, various tweaks

* Apply Spotless

* Move test images

* add Releasable interface, implement in classes

* add TestUtils class, move testimages

* Refactor CVPipeline, add ReflectivePipelineTest

* Fix ConcurrentModificationException bug in group contours pipe with potential targets

* Resolve memory leaks due to unnecessary instantiation of Points

* Apply spotless

* Add CVMat, ReflectionUtils to help track rogue Mats

* various cleanups, add DummyFrameConsumer

* Add logback

* Add slv4j logger to replace the current debugLogger

I'm waiting on stuff to be less skeletoned to add more

* Add perimeter, MatOfPoint2f getters to Contour

* Create CornerDetectionPipe based on old solvePNPPipe

* Add ContourShape class for approxPolyDp Start on ColoredShape tracking

* Add point detection, fix convex hull calculation in Contour

* Make Draw2dContours pipe respect showMultiple

* Update Contour.java

* Clean up draw 3d, fix convex hull bug in corner detection

* Update geometry classes

* Add lifecam calibration data

* Implement solvePNP, bounding box top and bottom

* Fix JSON mat bug and lifecam default calibration for tests, fix 3d drawing

* run spotless

* Refactor calibration into `common.calibration`

* Update .gitignore

* Add offset method to get2020Target

* Various cleanups, add PipelineType enum

* Apply spotless

Co-authored-by: ori agranat <oriagranat9@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>

chameleon-server/src/main/java/com/chameleonvision/common/util/TestUtils.java

@@ -0,0 +1,123 @@
+package com.chameleonvision.common.util;
+
+import edu.wpi.cscore.CameraServerCvJNI;
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Path;
+import java.util.Optional;
+import org.opencv.core.Mat;
+import org.opencv.highgui.HighGui;
+
+public class TestUtils {
+
+    public enum WPI2019Image {
+        kCargoAngledDark48in(1.2192),
+        kCargoSideStraightDark36in(0.9144),
+        kCargoSideStraightDark60in(1.524),
+        kCargoSideStraightDark72in(1.8288),
+        kCargoSideStraightPanelDark36in(0.9144),
+        kCargoStraightDark19in(0.4826),
+        kCargoStraightDark24in(0.6096),
+        kCargoStraightDark48in(1.2192),
+        kCargoStraightDark72in(1.8288),
+        kCargoStraightDark72in_HighRes(1.8288),
+        kCargoStraightDark90in(2.286);
+
+        public static double FOV = 68.5;
+
+        public final double distanceMeters;
+        public final String path;
+
+        String getPath() {
+            var filename = this.toString().substring(1);
+            return "\\2019\\WPI\\" + filename + ".jpg";
+        }
+
+        WPI2019Image(double distanceMeters) {
+            this.distanceMeters = distanceMeters;
+            this.path = getPath();
+        }
+    }
+
+    public enum WPI2020Image {
+        kBlueGoal_060in_Center(1.524),
+        kBlueGoal_084in_Center(2.1336),
+        kBlueGoal_108in_Center(2.7432),
+        kBlueGoal_132in_Center(3.3528),
+        kBlueGoal_156in_Center(3.9624),
+        kBlueGoal_180in_Center(4.572),
+        kBlueGoal_156in_Left(3.9624),
+        kBlueGoal_224in_Left(5.6896),
+        kBlueGoal_228in_ProtectedZone(5.7912),
+        kBlueGoal_330in_ProtectedZone(8.382),
+        kBlueGoal_Far_ProtectedZone(10.668), // TODO: find a more accurate distance
+        kRedLoading_016in_Down(0.4064),
+        kRedLoading_030in_Down(0.762),
+        kRedLoading_048in_Down(1.2192),
+        kRedLoading_048in(1.2192),
+        kRedLoading_060in(1.524),
+        kRedLoading_084in(2.1336),
+        kRedLoading_108in(2.7432);
+
+        public static double FOV = 68.5;
+
+        public final double distanceMeters;
+        public final String path;
+
+        String getPath() {
+            var filename = this.toString().substring(1).replace('_', '-');
+            return "\\2020\\WPI\\" + filename + ".jpg";
+        }
+
+        WPI2020Image(double distanceMeters) {
+            this.distanceMeters = distanceMeters;
+            this.path = getPath();
+        }
+    }
+
+    private static Path getTestImagesPath() {
+        var folder = TestUtils.class.getClassLoader().getResource("testimages");
+        return Optional.ofNullable(folder).map(url -> new File(url.getFile()).toPath()).orElse(null);
+    }
+
+    public static Path getCalibrationPath() {
+        var folder = TestUtils.class.getClassLoader().getResource("calibration");
+        return Optional.ofNullable(folder).map(url -> new File(url.getFile()).toPath()).orElse(null);
+    }
+
+    public static Path getWPIImagePath(WPI2020Image image) {
+        return Path.of(getTestImagesPath().toString(), image.path);
+    }
+
+    public static Path getWPIImagePath(WPI2019Image image) {
+        return Path.of(getTestImagesPath().toString(), image.path);
+    }
+
+    public static void loadLibraries() {
+        try {
+            CameraServerCvJNI.forceLoad();
+        } catch (IOException e) {
+            // ignored
+        }
+    }
+
+    private static int DefaultTimeoutMillis = 5000;
+
+    public static void showImage(Mat frame, String title, int timeoutMs) {
+        HighGui.imshow(title, frame);
+        HighGui.waitKey(timeoutMs);
+        HighGui.destroyAllWindows();
+    }
+
+    public static void showImage(Mat frame, int timeoutMs) {
+        showImage(frame, "", timeoutMs);
+    }
+
+    public static void showImage(Mat frame, String title) {
+        showImage(frame, title, DefaultTimeoutMillis);
+    }
+
+    public static void showImage(Mat frame) {
+        showImage(frame, DefaultTimeoutMillis);
+    }
+}