Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' of https://github.com/chameleon-vision/Chameleon-Vision into dev

Browse Source
This commit is contained in:
Matt
2019-11-30 20:29:26 -08:00
parent 2eea85c622 a363e3568b
commit 368484ca9b
5 changed files with 39 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
.gitignore vendored
View File

@@ -116,3 +116,4 @@ Main/.classpath
Main/.project
*.prefs
*.jfr

28
Main/chameleon-vision.iml
View File

@@ -48,20 +48,20 @@
<orderEntry type="library" name="Maven: org.opentest4j:opentest4j:1.2.0" level="project" />
<orderEntry type="library" name="Maven: org.junit.platform:junit-platform-commons:1.5.2" level="project" />
<orderEntry type="library" name="Maven: org.junit.jupiter:junit-jupiter-api:5.5.2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxaarch64bionic:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxraspbian:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:osxx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:windowsx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cameraserver:cameraserver-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:osxx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxraspbian:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxaarch64bionic:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:windowsx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-java:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxaarch64bionic:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxraspbian:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:osxx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:windowsx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cameraserver:cameraserver-java:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-java:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:osxx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxraspbian:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxaarch64bionic:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:windowsx86-64:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.1-beta-3-12-gb8c1024" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxaarch64bionic:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxraspbian:3.4.7-2" level="project" />

34
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
View File

@@ -30,7 +30,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
private Draw2dContoursPipe draw2dContoursPipe;
private OutputMatPipe outputMatPipe;
private StringBuilder pipelineTimeStringBuilder = new StringBuilder();
private String pipelineTimeString = "";
private CaptureStaticProperties camProps;
private Scalar hsvLower, hsvUpper;
@@ -95,7 +95,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
throw new RuntimeException("Input Mat is empty!");
}
pipelineTimeStringBuilder = new StringBuilder();
pipelineTimeString = "";
inputMat.copyTo(rawCameraMat);
@@ -157,22 +157,22 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(outputMatResult.getLeft(), sortContoursResult.getLeft()));
totalPipelineTimeNanos += draw2dContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
pipelineTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Collect2dTargets: %.2fms, ", collect2dTargetsResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
if (Main.testMode) {
System.out.println(pipelineTimeStringBuilder.toString());
pipelineTimeString += String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0);
pipelineTimeString += String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0);
pipelineTimeString += String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0);
pipelineTimeString += String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0);
pipelineTimeString += String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0);
pipelineTimeString += String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0);
pipelineTimeString += String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0);
pipelineTimeString += String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0);
pipelineTimeString += String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0);
pipelineTimeString += String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0);
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);
System.out.println(pipelineTimeString);
double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
double truePipelineTimeMillis = (System.nanoTime() - pipelineStartTimeNanos) / 1000000.0;

1
Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
View File

@@ -18,6 +18,7 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
public DriverVisionPipeline(CVPipelineSettings settings) {
super(settings);
settings.index = -1;
}
@Override

12
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
View File

@@ -19,6 +19,12 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
private Point[] vertices = new Point[4];
private List<MatOfPoint> drawnContours = new ArrayList<>();
@SuppressWarnings("FieldCanBeLocal")
private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
public Draw2dContoursPipe(Draw2dContoursSettings settings, CaptureStaticProperties camProps) {
this.settings = settings;
this.camProps = camProps;
@@ -29,9 +35,6 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
camProps = captureProps;
}
private Point[] vertices = new Point[4];
private List<MatOfPoint> drawnContours = new ArrayList<>();
@Override
public Pair<Mat, Long> run(Pair<Mat, List<RotatedRect>> input) {
long processStartNanos = System.nanoTime();
@@ -88,9 +91,6 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Ma
return Pair.of(outputMat, processTime);
}
@SuppressWarnings("FieldCanBeLocal")
private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
public static class Draw2dContoursSettings {
public boolean showCentroid = false;
public boolean showCrosshair = false;