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Draw contour index, fix frame provider static properties (#41)

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* Fix frame provider's static properties not updating

* Draw contour index on stream

* Refactor magic numbers into params
This commit is contained in:
Matt
2020-07-17 23:00:21 -07:00
committed by GitHub
parent 768964c8fc
commit 1c5712aa39
3 changed files with 34 additions and 6 deletions
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2
photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
View File

@@ -50,7 +50,7 @@ public class USBCameraSource implements VisionSource {
camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
cvSink = CameraServer.getInstance().getVideo(this.camera);
usbCameraSettables = new USBCameraSettables(config);
usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables.getFrameStaticProperties());
usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
}
@Override

14
photon-server/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
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@@ -20,18 +20,22 @@ package org.photonvision.vision.frame.provider;
import edu.wpi.cscore.CvSink;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameProvider;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.processes.VisionSourceSettables;
public class USBFrameProvider implements FrameProvider {
private final CvSink cvSink;
private final FrameStaticProperties frameStaticProperties;
@SuppressWarnings("SpellCheckingInspection")
private final VisionSourceSettables settables;
private final CVMat mat;
public USBFrameProvider(CvSink sink, FrameStaticProperties frameStaticProperties) {
@SuppressWarnings("SpellCheckingInspection")
public USBFrameProvider(CvSink sink, VisionSourceSettables visionSettables) {
cvSink = sink;
cvSink.setEnabled(true);
this.frameStaticProperties = frameStaticProperties;
this.settables = visionSettables;
mat = new CVMat();
}
@@ -41,7 +45,7 @@ public class USBFrameProvider implements FrameProvider {
mat.release();
}
long time = cvSink.grabFrame(mat.getMat());
return new Frame(mat, time, frameStaticProperties);
return new Frame(mat, time, settables.getFrameStaticProperties());
}
@Override

24
photon-server/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
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@@ -93,6 +93,25 @@ public class Draw2dTargetsPipe
if (params.showCentroid) {
Imgproc.circle(in.getLeft(), target.getTargetOffsetPoint(), 3, centroidColour, 2);
}
if (params.showContourNumber) {
var textSize = params.kPixelsToText * in.getLeft().rows();
var thickness = params.kPixelsToThickness * in.getLeft().rows();
var center = target.m_mainContour.getCenterPoint();
var textPos =
new Point(
center.x + params.kPixelsToOffset * in.getLeft().rows(),
center.y - params.kPixelsToOffset * in.getLeft().rows());
Imgproc.putText(
in.getLeft(),
String.valueOf(i),
textPos,
0,
textSize,
ColorHelper.colorToScalar(params.textColor),
(int) thickness);
}
}
}
@@ -100,16 +119,21 @@ public class Draw2dTargetsPipe
}
public static class Draw2dContoursParams {
public final double kPixelsToText = 0.003;
public final double kPixelsToThickness = 0.008;
public final double kPixelsToOffset = 0.02;
public boolean showCentroid = true;
public boolean showMultiple;
public int boxOutlineSize = 1;
public boolean showRotatedBox = true;
public boolean showShape = false;
public boolean showMaximumBox = true;
public boolean showContourNumber = true;
public Color centroidColor = Color.GREEN;
public Color rotatedBoxColor = Color.BLUE;
public Color maximumBoxColor = Color.RED;
public Color shapeOutlineColour = Color.MAGENTA;
public Color textColor = Color.GREEN;
// TODO: set other params from UI/settings file?
public Draw2dContoursParams(boolean showMultipleTargets) {