Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix pipeline errors

Browse Source
This commit is contained in:
Matt
2019-11-23 20:06:37 -08:00
parent 3756d537cb
commit 299692c286
6 changed files with 40 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
View File

@@ -35,6 +35,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
if (cameraProcess == null) {
throw new RuntimeException("Pipeline was not initialized before being run!");
}
if(inputMat.cols() <= 1) {
throw new RuntimeException("uwu uwu ");
}
long totalProcessTimeNanos = 0;
StringBuilder procTimeStringBuilder = new StringBuilder();

8
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java
View File

@@ -7,6 +7,7 @@ public class BlurPipe implements Pipe<Mat, Mat> {
private final int blurSize;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public BlurPipe(int blurSize) {
@@ -17,13 +18,18 @@ public class BlurPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
// TODO (HIGH) make this blur
input.copyTo(processBuffer);
// if (blurSize > 0) {
// Imgproc.blur(outputMat, outputMat, new Size(blurSize, blurSize));
// }
processBuffer.copyTo(outputMat);
long processTime = processStartNanos - System.nanoTime();
Pair<Mat, Long> output = Pair.of(outputMat, processTime);
outputMat.release();
processBuffer.release();
return output;
}
}

13
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java
View File

@@ -10,6 +10,7 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
private final boolean erode, dilate;
private final Mat kernel;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public ErodeDilatePipe(boolean erode, boolean dilate, int kernelSize) {
@@ -23,16 +24,22 @@ public class ErodeDilatePipe implements Pipe<Mat, Mat> {
long processStartNanos = System.nanoTime();
if (erode) {
Imgproc.erode(outputMat, outputMat, kernel);
Imgproc.erode(input, processBuffer, kernel);
}
if (dilate) {
Imgproc.erode(outputMat, outputMat, kernel);
Imgproc.erode(processBuffer, processBuffer, kernel);
}
if(!erode && !dilate) {
input.copyTo(processBuffer);
}
long processTime = processStartNanos - System.nanoTime();
processBuffer.copyTo(outputMat);
Pair<Mat, Long> output = Pair.of(outputMat, processTime);
outputMat.release();
processBuffer.release();
return output;
}
}

12
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java
View File

@@ -10,6 +10,7 @@ public class HsvPipe implements Pipe<Mat, Mat> {
private final Scalar hsvLower, hsvUpper;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public HsvPipe(Scalar hsvLower, Scalar hsvUpper) {
@@ -21,13 +22,18 @@ public class HsvPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
Imgproc.cvtColor(input, outputMat, Imgproc.COLOR_RGB2HSV, 3);
// convert from rgb to hsv
if(input.empty()) {
throw new RuntimeException("HSV input cannot be empty!");
}
Imgproc.cvtColor(input, processBuffer, Imgproc.COLOR_RGB2HSV, 3);
Core.inRange(outputMat, hsvLower, hsvUpper, outputMat);
Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
long processTime = processStartNanos - System.nanoTime();
processBuffer.copyTo(outputMat);
Pair<Mat, Long> output = Pair.of(outputMat, processTime);
outputMat.release();
processBuffer.release();
return output;
}
}

8
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java
View File

@@ -11,6 +11,7 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
private final ImageRotation rotation;
private final ImageFlipMode flip;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public RotateFlipPipe(ImageRotation rotation, ImageFlipMode flip) {
@@ -22,12 +23,13 @@ public class RotateFlipPipe implements Pipe<Mat, Mat> {
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
Core.flip(input, outputMat, flip.value);
Core.rotate(outputMat, outputMat, rotation.value);
Core.flip(input, processBuffer, flip.value);
Core.rotate(processBuffer, processBuffer, rotation.value);
long processTime = processStartNanos - System.nanoTime();
processBuffer.copyTo(outputMat);
Pair<Mat, Long> output = Pair.of(outputMat, processTime);
outputMat.release();
processBuffer.release();
return output;
}
}