Added crosshair pipe

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java

@@ -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> {

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java

@@ -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) {
+            //Moved to Draw2dCrosshair
-                xMax.set(new double[] {camProps.centerX + 10, camProps.centerY});
+//            if (settings.showCrosshair) {
-                xMin.set(new double[] {camProps.centerX - 10, camProps.centerY});
+//                xMax.set(new double[] {camProps.centerX + 10, camProps.centerY});
-                yMax.set(new double[] {camProps.centerX, camProps.centerY + 10});
+//                xMin.set(new double[] {camProps.centerX - 10, camProps.centerY});
-                yMin.set(new double[] {camProps.centerX, camProps.centerY - 10});
+//                yMax.set(new double[] {camProps.centerX, camProps.centerY + 10});
-                Imgproc.line(input.getLeft(), xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
+//                yMin.set(new double[] {camProps.centerX, camProps.centerY - 10});
-                Imgproc.line(input.getLeft(), yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
+//                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;
     }

chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java

@@ -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;
+    }
+}