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Adjusted folder structure to sit under com.chameleonvision package

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This commit is contained in:
Banks Troutman
2019-09-15 15:03:44 -04:00
parent ec5a94d076
commit 25652ba32e
11 changed files with 29 additions and 32 deletions
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64
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java Normal file
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package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
public class CameraProcess implements Runnable{
private String CameraName;
public CameraProcess(String CameraName){
this.CameraName = CameraName;
}
@Override
public void run() {
//calling all classes
CameraServer cs = CameraServer.getInstance();
NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
SettingsManager manager = SettingsManager.getInstance();
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
//Setting up camera and network table
var Table = networkTableInstance.getTable("/Chameleon-vision/" + CameraName);
var PipeLineEntry = Table.getEntry("Pipeline");
var DriverModeEntry = Table.getEntry("Driver_Mode");
var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
int Width = manager.Cameras.get(CameraName).camVideoMode.width;
int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
var cv_publish = cs.putVideo(CameraName,Width,Height);
//initial math setup for camera
double DiagonalView = FastMath.toRadians(manager.Cameras.get(CameraName).FOV);
Fraction AspectFraction = new Fraction(Width,Height);
int HorizontalRatio = AspectFraction.getNumerator();
int VerticalRatio = AspectFraction.getDenominator();
double HorizontalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (HorizontalRatio / DiagonalView)) * 2;
double VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
double H_FOCAL_LENGTH = Width / (2 * FastMath.tan(HorizontalView /2));
double V_FOCAL_LENGTH = Width / (2 * FastMath.tan(VerticalView /2));
double CenterX = ((double) Width / 2) - 0.5;
double CenterY = ((double) Height/2) - 0.5;
double CamArea = (double)(Width * Height);
VisionProcess visionProcess = new VisionProcess(CenterX,CenterY,CamArea);
Mat mat = new Mat();
long time;
while (!Thread.interrupted()){
Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
time = cv_sink.grabFrame(mat);
if (mat.cols() !=0 && mat.rows() != 0) {
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
// List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
// List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
cv_publish.putFrame(mat);
}
}
}
}

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Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java Normal file
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package com.chameleonvision.vision.process;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class VisionProcess {
private HashMap<String, Integer>TargetGrouping= new HashMap<String, Integer>(){{
put("Single",1);
put("Dual",2);
put("Triple",3);
put("Quadruple",4);
put("Quintuple",5);
}};
private double CamArea,CenterX, CenterY;
VisionProcess(double CenterX, double CenterY, double CamArea){
this.CenterX = CenterX;
this.CenterY = CenterY;
this.CamArea = CamArea;
}
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Mat hsv = new Mat();
Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
new Scalar(hue.get(0),saturation.get(0),value.get(0));
Mat threshold = new Mat();
Core.inRange(hsv,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
if (IsErode){
Imgproc.erode(threshold,threshold, Kernel);
}
if (IsDilate){
Imgproc.dilate(threshold,threshold, Kernel);
}
return threshold;
}
public List<MatOfPoint> FindContours(Mat BinaryImage){
List<MatOfPoint> Contours = new ArrayList<>();
Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
return Contours;
}
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode,String TargetIntersection , String TargetGrouping){
List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
for (MatOfPoint Contour : InputContours){
try{
var contourArea = Imgproc.contourArea(Contour);
double targetArea = (contourArea / CamArea) * 100;
if (targetArea >= area.get(0) || targetArea <= area.get(1)){
continue;
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = (contourArea/rect.size.area())*100;
if (targetFullness <= extent.get(0) || targetArea >= extent.get(1)){
continue;
}
var aspectRatio = rect.size.width / rect.size.height;
if (aspectRatio <= ratio.get(0) || aspectRatio >= ratio.get(1)){
continue;
}
FilteredContours.add(Contour);
} catch (Exception e){
continue;
}
}
return FilteredContours;
}
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup){
if (!TargetGroup.equals("Single")){
List<MatOfPoint> FinalCountours = new ArrayList<MatOfPoint>();
for (var i = 0; i < InputContours.size(); i++){
var FinalContour = InputContours.get(i);
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secoundContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour,secoundContour, IntersectionPoint)){
System.out.println("");
}
} catch (IndexOutOfBoundsException e){
FinalContour = new MatOfPoint();
break;
}
}
}
}
return InputContours;
}
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint){
Mat LineA = new Mat();
Imgproc.fitLine(ContourOne,LineA,Imgproc.CV_DIST_L2,0,0.01,0.01);
Mat LineB = new Mat();
Imgproc.fitLine(ContourTwo,LineB,Imgproc.CV_DIST_L2,0,0.01,0.01);
return true;
}
}