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Remove Erode/Dilate from backend and UI (#152)

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Removing erode/dilate from Reflective pipeline in backend and UI
This commit is contained in:
Chris Gerth
2020-11-07 19:23:27 -06:00
committed by GitHub
parent bf7c9fea44
commit 3f48346557
7 changed files with 39 additions and 85 deletions
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7
photon-server/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java
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@@ -39,9 +39,6 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
public boolean outputShouldDraw = true;
public boolean outputShowMultipleTargets = false;
public boolean erode = false;
public boolean dilate = false;
public DoubleCouple contourArea = new DoubleCouple(0.0, 100.0);
public DoubleCouple contourRatio = new DoubleCouple(0.0, 20.0);
public DoubleCouple contourFullness = new DoubleCouple(0.0, 100.0);
@@ -79,8 +76,6 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
AdvancedPipelineSettings that = (AdvancedPipelineSettings) o;
return outputShouldDraw == that.outputShouldDraw
&& outputShowMultipleTargets == that.outputShowMultipleTargets
&& erode == that.erode
&& dilate == that.dilate
&& contourSpecklePercentage == that.contourSpecklePercentage
&& Double.compare(that.offsetDualPointA.x, offsetDualPointA.x) == 0
&& Double.compare(that.offsetDualPointA.y, offsetDualPointA.y) == 0
@@ -110,8 +105,6 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
hsvValue,
outputShouldDraw,
outputShowMultipleTargets,
erode,
dilate,
contourArea,
contourRatio,
contourFullness,

11
photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
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@@ -62,6 +62,9 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
public int cornerDetectionSideCount = 4;
public double cornerDetectionAccuracyPercentage = 10;
public boolean erode = false;
public boolean dilate = false;
public ColoredShapePipelineSettings() {
super();
pipelineType = PipelineType.ColoredShape;
@@ -96,7 +99,9 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
&& Objects.equals(cameraCalibration, that.cameraCalibration)
&& Objects.equals(targetModel, that.targetModel)
&& Objects.equals(cameraPitch, that.cameraPitch)
&& cornerDetectionStrategy == that.cornerDetectionStrategy;
&& cornerDetectionStrategy == that.cornerDetectionStrategy
&& erode == that.erode
&& dilate == that.dilate;
}
@Override
@@ -125,6 +130,8 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
cornerDetectionUseConvexHulls,
cornerDetectionExactSideCount,
cornerDetectionSideCount,
cornerDetectionAccuracyPercentage);
cornerDetectionAccuracyPercentage,
erode,
dilate);
}
}

18
photon-server/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
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@@ -27,22 +27,18 @@ public class PipelineProfiler {
private static final Logger coloredShapeLogger =
new Logger(ColoredShapePipeline.class, LogGroup.VisionModule);
public static final int ReflectivePipeCount = 19;
/**
* Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 -
* erodeDilatePipe 3 - hsvPipe 4 - findContoursPipe 5 - speckleRejectPipe 6 - filterContoursPipe 7
* - groupContoursPipe 8 - sortContoursPipe 9 - collect2dTargetsPipe 10 - cornerDetectionPipe
* (OPTIONAL) 11 - solvePNPPipe (OPTIONAL) 12 - outputMatPipe 13 - draw2dCrosshairPipe (on input)
* 14 - draw2dCrosshairPipe (on output) 15 - draw2dTargetsPipe (on input) 16 - draw2dTargetsPipe
* (on output) 17 - draw3dTargetsPipe (OPTIONAL, on input) 18 - draw3dTargetsPipe (OPTIONAL, on
* output)
* Indices for Reflective profiling 0 - rotateImagePipe 1 - inputCopy (not a pipe) 2 - hsvPipe 3 -
* findContoursPipe 4 - speckleRejectPipe 5 - filterContoursPipe 6 - groupContoursPipe 7 -
* sortContoursPipe 8 - collect2dTargetsPipe 9 - cornerDetectionPipe 10 - solvePNPPipe (OPTIONAL)
* 11 - outputMatPipe (OPTIONAL) 12 - draw2dCrosshairPipe (on input) 13 - draw2dCrosshairPipe (on
* output) 14 - draw2dTargetsPipe (on input) 15 - draw2dTargetsPipe (on output) 16 -
* draw3dTargetsPipe (OPTIONAL, on input) 17 - draw3dTargetsPipe (OPTIONAL, on output)
*/
private static final String[] ReflectivePipeNames =
new String[] {
"RotateImage",
"InputCopy",
"ErodeDilate",
"HSV",
"FindContours",
"SpeckleReject",
@@ -61,6 +57,8 @@ public class PipelineProfiler {
"Draw3dTargetsOutput",
};
public static final int ReflectivePipeCount = ReflectivePipeNames.length;
protected static String getReflectiveProfileString(long[] nanos) {
if (nanos.length != ReflectivePipeCount) {
return "Invalid data";

45
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
View File

@@ -38,7 +38,6 @@ import org.photonvision.vision.target.TrackedTarget;
public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectivePipelineSettings> {
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
private final ErodeDilatePipe erodeDilatePipe = new ErodeDilatePipe();
private final HSVPipe hsvPipe = new HSVPipe();
private final FindContoursPipe findContoursPipe = new FindContoursPipe();
private final SpeckleRejectPipe speckleRejectPipe = new SpeckleRejectPipe();
@@ -80,11 +79,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
rotateImagePipe.setParams(rotateImageParams);
ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
// TODO: add kernel size to pipeline settings
erodeDilatePipe.setParams(erodeDilateParams);
HSVPipe.HSVParams hsvParams =
new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
hsvPipe.setParams(hsvParams);
@@ -181,50 +175,47 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
long inputCopyElapsedNanos = System.nanoTime() - inputCopyStartNanos;
sumPipeNanosElapsed += pipeProfileNanos[1] = inputCopyElapsedNanos;
var erodeDilateResult = erodeDilatePipe.run(rawInputMat);
sumPipeNanosElapsed += pipeProfileNanos[2] = erodeDilateResult.nanosElapsed;
CVPipeResult<Mat> hsvPipeResult = hsvPipe.run(rawInputMat);
sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
pipeProfileNanos[3] = pipeProfileNanos[3] = hsvPipeResult.nanosElapsed;
pipeProfileNanos[2] = pipeProfileNanos[2] = hsvPipeResult.nanosElapsed;
CVPipeResult<List<Contour>> findContoursResult = findContoursPipe.run(hsvPipeResult.output);
sumPipeNanosElapsed += pipeProfileNanos[4] = findContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[3] = findContoursResult.nanosElapsed;
CVPipeResult<List<Contour>> speckleRejectResult =
speckleRejectPipe.run(findContoursResult.output);
sumPipeNanosElapsed += pipeProfileNanos[5] = speckleRejectResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[4] = speckleRejectResult.nanosElapsed;
CVPipeResult<List<Contour>> filterContoursResult =
filterContoursPipe.run(speckleRejectResult.output);
sumPipeNanosElapsed += pipeProfileNanos[6] = filterContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[5] = filterContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> groupContoursResult =
groupContoursPipe.run(filterContoursResult.output);
sumPipeNanosElapsed += pipeProfileNanos[7] = groupContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[6] = groupContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> sortContoursResult =
sortContoursPipe.run(groupContoursResult.output);
sumPipeNanosElapsed += pipeProfileNanos[8] = sortContoursResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[7] = sortContoursResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
collect2dTargetsPipe.run(sortContoursResult.output);
sumPipeNanosElapsed += pipeProfileNanos[9] = collect2dTargetsResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[8] = collect2dTargetsResult.nanosElapsed;
List<TrackedTarget> targetList;
// 3d stuff
if (settings.solvePNPEnabled) {
var cornerDetectionResult = cornerDetectionPipe.run(collect2dTargetsResult.output);
sumPipeNanosElapsed += pipeProfileNanos[10] = cornerDetectionResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[9] = cornerDetectionResult.nanosElapsed;
var solvePNPResult = solvePNPPipe.run(cornerDetectionResult.output);
sumPipeNanosElapsed += pipeProfileNanos[11] = solvePNPResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[10] = solvePNPResult.nanosElapsed;
targetList = solvePNPResult.output;
} else {
pipeProfileNanos[9] = 0;
pipeProfileNanos[10] = 0;
pipeProfileNanos[11] = 0;
targetList = collect2dTargetsResult.output;
}
@@ -234,37 +225,37 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
// Convert single-channel HSV output mat to 3-channel BGR in preparation for streaming
var outputMatPipeResult = outputMatPipe.run(hsvPipeResult.output);
sumPipeNanosElapsed += pipeProfileNanos[12] = outputMatPipeResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[11] = outputMatPipeResult.nanosElapsed;
// Draw 2D Crosshair on input and output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(rawInputMat, targetList));
sumPipeNanosElapsed += pipeProfileNanos[13] = draw2dCrosshairResultOnInput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[12] = draw2dCrosshairResultOnInput.nanosElapsed;
var draw2dCrosshairResultOnOutput =
draw2dCrosshairPipe.run(Pair.of(hsvPipeResult.output, targetList));
sumPipeNanosElapsed += pipeProfileNanos[14] = draw2dCrosshairResultOnOutput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[13] = draw2dCrosshairResultOnOutput.nanosElapsed;
// Draw 2D contours on input and output
var draw2dTargetsOnInput =
draw2dTargetsPipe.run(Triple.of(rawInputMat, collect2dTargetsResult.output, fps));
sumPipeNanosElapsed += pipeProfileNanos[15] = draw2dTargetsOnInput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[14] = draw2dTargetsOnInput.nanosElapsed;
var draw2dTargetsOnOutput =
draw2dTargetsPipe.run(Triple.of(hsvPipeResult.output, collect2dTargetsResult.output, fps));
sumPipeNanosElapsed += pipeProfileNanos[16] = draw2dTargetsOnOutput.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[15] = draw2dTargetsOnOutput.nanosElapsed;
// Draw 3D Targets on input and output if necessary
if (settings.solvePNPEnabled) {
var drawOnInputResult =
draw3dTargetsPipe.run(Pair.of(rawInputMat, collect2dTargetsResult.output));
sumPipeNanosElapsed += pipeProfileNanos[17] = drawOnInputResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[16] = drawOnInputResult.nanosElapsed;
var drawOnOutputResult =
draw3dTargetsPipe.run(Pair.of(hsvPipeResult.output, collect2dTargetsResult.output));
sumPipeNanosElapsed += pipeProfileNanos[18] = drawOnOutputResult.nanosElapsed;
sumPipeNanosElapsed += pipeProfileNanos[17] = drawOnOutputResult.nanosElapsed;
} else {
pipeProfileNanos[16] = 0;
pipeProfileNanos[17] = 0;
pipeProfileNanos[18] = 0;
}
PipelineProfiler.printReflectiveProfile(pipeProfileNanos);