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Added crosshair pipe

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This commit is contained in:
Omer
2019-12-04 16:38:50 +02:00
parent a7dcf08aa8
commit 2ffebfbaee
3 changed files with 74 additions and 15 deletions
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14
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -29,6 +29,8 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
private Collect2dTargetsPipe collect2dTargetsPipe;
private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings;
private Draw2dContoursPipe draw2dContoursPipe;
private Draw2dCrosshairPipe draw2dCrosshairPipe;
private Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings draw2dCrosshairPipeSettings;
private OutputMatPipe outputMatPipe;
private String pipelineTimeString = "";
@@ -69,13 +71,14 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
// TODO: make settable from UI? config?
draw2dContoursSettings.showCentroid = false;
draw2dContoursSettings.showCrosshair = true;
draw2dContoursSettings.boxOutlineSize = 2;
draw2dContoursSettings.showRotatedBox = true;
draw2dContoursSettings.showMaximumBox = true;
draw2dContoursSettings.showMultiple = settings.multiple;
draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
draw2dCrosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
draw2dCrosshairPipeSettings.showCrosshair=true;
draw2dCrosshairPipe=new Draw2dCrosshairPipe(draw2dCrosshairPipeSettings);
outputMatPipe = new OutputMatPipe(settings.isBinary);
}
@@ -160,6 +163,10 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(outputMatResult.getLeft(), sortContoursResult.getLeft()));
totalPipelineTimeNanos += draw2dContoursResult.getRight();
// takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
Pair<Mat, Long> draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(draw2dContoursResult.getLeft(),collect2dTargetsResult.getLeft()));
totalPipelineTimeNanos += draw2dCrosshairResult.getRight();
if (Main.testMode) {
pipelineTimeString += String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0);
pipelineTimeString += String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0);
@@ -174,6 +181,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
pipelineTimeString += String.format("Collect2dTargets: %.2fms, ", collect2dTargetsResult.getRight() / 1000000.0);
pipelineTimeString += String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0);
pipelineTimeString += String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0);
pipelineTimeString += String.format("Draw2dCrosshair: %.2fms, ", draw2dCrosshairResult.getRight() / 1000000.0);
System.out.println(pipelineTimeString);
double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
@@ -186,7 +194,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
memManager.run();
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalPipelineTimeNanos);
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dCrosshairResult.getLeft(), totalPipelineTimeNanos);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target2d> {

22
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
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@@ -40,7 +40,7 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
public Pair<Mat, Long> run(Pair<Mat, List<RotatedRect>> input) {
long processStartNanos = System.nanoTime();
if (settings.showCrosshair || settings.showCentroid || settings.showMaximumBox || settings.showRotatedBox) {
if (settings.showCentroid || settings.showMaximumBox || settings.showRotatedBox) {
// input.getLeft().copyTo(processBuffer);
// processBuffer = input.getLeft();
@@ -77,34 +77,32 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
}
}
if (settings.showCrosshair) {
xMax.set(new double[] {camProps.centerX + 10, camProps.centerY});
xMin.set(new double[] {camProps.centerX - 10, camProps.centerY});
yMax.set(new double[] {camProps.centerX, camProps.centerY + 10});
yMin.set(new double[] {camProps.centerX, camProps.centerY - 10});
Imgproc.line(input.getLeft(), xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
Imgproc.line(input.getLeft(), yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
}
//Moved to Draw2dCrosshair
// if (settings.showCrosshair) {
// xMax.set(new double[] {camProps.centerX + 10, camProps.centerY});
// xMin.set(new double[] {camProps.centerX - 10, camProps.centerY});
// yMax.set(new double[] {camProps.centerX, camProps.centerY + 10});
// yMin.set(new double[] {camProps.centerX, camProps.centerY - 10});
// Imgproc.line(input.getLeft(), xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
// Imgproc.line(input.getLeft(), yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
// }
// processBuffer.copyTo(outputMat);
// processBuffer.release();
} else {
// input.getLeft().copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(input.getLeft(), processTime);
}
public static class Draw2dContoursSettings {
public boolean showCentroid = false;
public boolean showCrosshair = false;
public boolean showMultiple = false;
public int boxOutlineSize = 0;
public boolean showRotatedBox = false;
public boolean showMaximumBox = false;
public Color centroidColor = Color.GREEN;
public Color crosshairColor = Color.GREEN;
public Color rotatedBoxColor = Color.BLUE;
public Color maximumBoxColor = Color.RED;
}

53
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java Normal file
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@@ -0,0 +1,53 @@
package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
import java.awt.*;
import java.util.List;
public class Draw2dCrosshairPipe implements Pipe<Pair<Mat, List<CVPipeline2d.Target2d>>, Mat>{
private final Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings settings;
private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
public Draw2dCrosshairPipe(Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings settings) {
this.settings = settings;
}
public void setConfig(boolean showCrosshair) {
this.settings.showCrosshair = showCrosshair;
}
@Override
public Pair<Mat, Long> run(Pair<Mat,List<CVPipeline2d.Target2d>> inputPair) {
long processStartNanos = System.nanoTime();
List<CVPipeline2d.Target2d> targets = inputPair.getRight();
double x,y;
if(targets != null && !targets.isEmpty()) {
x = targets.get(0).calibratedX;
y = targets.get(0).calibratedY;
if (this.settings.showCrosshair) {
xMax.set(new double[] {x + 10, y});
xMin.set(new double[] {x - 10, y});
yMax.set(new double[] {x, y + 10});
yMin.set(new double[] {x, y - 10});
Imgproc.line(inputPair.getLeft(), xMax, xMin, Helpers.colorToScalar(this.settings.crosshairColor), 2);
Imgproc.line(inputPair.getLeft(), yMax, yMin, Helpers.colorToScalar(this.settings.crosshairColor), 2);
}
}
// image.release();
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(inputPair.getLeft(), processTime);
}
public static class Draw2dCrosshairPipeSettings{
public boolean showCrosshair =true;
public Color crosshairColor = Color.GREEN;
}
}