mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Convert to user selected camera matching (#1556)
This commit is contained in:
oh-yes-0-fps
@@ -19,12 +19,9 @@ package org.photonvision;
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import edu.wpi.first.hal.HAL;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Objects;
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import java.util.stream.Collectors;
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import org.apache.commons.cli.*;
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import org.photonvision.common.configuration.CameraConfiguration;
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import org.photonvision.common.configuration.ConfigManager;
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@@ -41,25 +38,17 @@ import org.photonvision.common.logging.Logger;
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import org.photonvision.common.logging.PvCSCoreLogger;
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import org.photonvision.common.networking.NetworkManager;
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import org.photonvision.common.util.TestUtils;
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import org.photonvision.common.util.numbers.IntegerCouple;
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import org.photonvision.jni.PhotonTargetingJniLoader;
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import org.photonvision.jni.RknnDetectorJNI;
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import org.photonvision.mrcal.MrCalJNILoader;
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import org.photonvision.raspi.LibCameraJNILoader;
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import org.photonvision.server.Server;
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import org.photonvision.vision.apriltag.AprilTagFamily;
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import org.photonvision.vision.camera.FileVisionSource;
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import org.photonvision.vision.camera.PVCameraInfo;
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import org.photonvision.vision.opencv.CVMat;
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import org.photonvision.vision.opencv.ContourGroupingMode;
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import org.photonvision.vision.opencv.ContourShape;
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import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
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import org.photonvision.vision.pipeline.CVPipelineSettings;
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import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
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import org.photonvision.vision.pipeline.PipelineProfiler;
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import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
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import org.photonvision.vision.processes.VisionModule;
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import org.photonvision.vision.processes.VisionModuleManager;
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import org.photonvision.vision.processes.VisionSource;
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import org.photonvision.vision.processes.VisionSourceManager;
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import org.photonvision.vision.target.TargetModel;
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@@ -126,11 +115,6 @@ public class Main {
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}
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}
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if (cmd.hasOption("ignore-cameras")) {
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VisionSourceManager.getInstance()
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.setIgnoredCamerasRegex(cmd.getOptionValue("ignore-cameras"));
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}
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if (cmd.hasOption("disable-networking")) {
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NetworkManager.getInstance().networkingIsDisabled = true;
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}
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@@ -146,156 +130,27 @@ public class Main {
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return true;
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}
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private static void addTestModeFromFolder() {
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ConfigManager.getInstance().load();
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try {
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List<VisionSource> collectedSources =
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Files.list(testModeFolder)
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.filter(p -> p.toFile().isFile())
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.map(
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p -> {
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try {
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CameraConfiguration camConf =
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new CameraConfiguration(
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p.getFileName().toString(), p.toAbsolutePath().toString());
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camConf.FOV = TestUtils.WPI2019Image.FOV; // Good guess?
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camConf.addCalibration(TestUtils.get2020LifeCamCoeffs(false));
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var pipeSettings = new AprilTagPipelineSettings();
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pipeSettings.pipelineNickname = p.getFileName().toString();
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pipeSettings.outputShowMultipleTargets = true;
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pipeSettings.inputShouldShow = true;
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pipeSettings.outputShouldShow = false;
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pipeSettings.solvePNPEnabled = true;
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var aprilTag = new AprilTagPipelineSettings();
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var psList = new ArrayList<CVPipelineSettings>();
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psList.add(aprilTag);
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camConf.pipelineSettings = psList;
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return new FileVisionSource(camConf);
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} catch (Exception e) {
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logger.error("Couldn't load image " + p.getFileName().toString(), e);
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return null;
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}
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})
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.filter(Objects::nonNull)
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.collect(Collectors.toList());
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ConfigManager.getInstance().unloadCameraConfigs();
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VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
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ConfigManager.getInstance().addCameraConfigurations(collectedSources);
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} catch (IOException e) {
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logger.error("Path does not exist!");
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System.exit(1);
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}
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}
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private static void addTestModeSources() {
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ConfigManager.getInstance().load();
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var camConf2019 =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
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if (camConf2019 == null) {
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camConf2019 =
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new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
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camConf2019.FOV = TestUtils.WPI2019Image.FOV;
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camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
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var pipeline2019 = new ReflectivePipelineSettings();
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pipeline2019.pipelineNickname = "CargoShip";
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pipeline2019.targetModel = TargetModel.k2019DualTarget;
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pipeline2019.outputShowMultipleTargets = true;
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pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
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pipeline2019.inputShouldShow = true;
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var psList2019 = new ArrayList<CVPipelineSettings>();
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psList2019.add(pipeline2019);
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camConf2019.pipelineSettings = psList2019;
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}
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var camConf2020 =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2020");
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if (camConf2020 == null) {
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camConf2020 =
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new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
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camConf2020.FOV = TestUtils.WPI2020Image.FOV;
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camConf2020.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
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var pipeline2020 = new ReflectivePipelineSettings();
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pipeline2020.pipelineNickname = "OuterPort";
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pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
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camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
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pipeline2020.inputShouldShow = true;
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var psList2020 = new ArrayList<CVPipelineSettings>();
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psList2020.add(pipeline2020);
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camConf2020.pipelineSettings = psList2020;
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}
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var camConf2022 =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2022");
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if (camConf2022 == null) {
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camConf2022 =
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new CameraConfiguration("WPI2022", TestUtils.getTestMode2022ImagePath().toString());
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camConf2022.FOV = TestUtils.WPI2022Image.FOV;
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camConf2022.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
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var pipeline2022 = new ReflectivePipelineSettings();
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pipeline2022.pipelineNickname = "OuterPort";
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pipeline2022.targetModel = TargetModel.k2020HighGoalOuter;
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pipeline2022.inputShouldShow = true;
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// camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
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var psList2022 = new ArrayList<CVPipelineSettings>();
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psList2022.add(pipeline2022);
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camConf2022.pipelineSettings = psList2022;
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}
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CameraConfiguration camConf2023 =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2023");
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if (camConf2023 == null) {
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camConf2023 =
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new CameraConfiguration(
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"WPI2023",
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TestUtils.getResourcesFolderPath(true)
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.resolve("testimages")
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.resolve(TestUtils.WPI2023Apriltags.k383_60_Angle2.path)
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.toString());
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camConf2023.FOV = TestUtils.WPI2023Apriltags.FOV;
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camConf2023.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
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var pipeline2023 = new AprilTagPipelineSettings();
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var path_split = Path.of(camConf2023.path).getFileName().toString();
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pipeline2023.pipelineNickname = path_split.replace(".png", "");
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pipeline2023.targetModel = TargetModel.kAprilTag6in_16h5;
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pipeline2023.inputShouldShow = true;
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pipeline2023.solvePNPEnabled = true;
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var psList2023 = new ArrayList<CVPipelineSettings>();
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psList2023.add(pipeline2023);
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camConf2023.pipelineSettings = psList2023;
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}
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CameraConfiguration camConf2024 =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
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if (camConf2024 == null) {
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if (camConf2024 == null || true) {
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camConf2024 =
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new CameraConfiguration(
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"WPI2024",
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TestUtils.getResourcesFolderPath(true)
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.resolve("testimages")
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.resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
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.toString());
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PVCameraInfo.fromFileInfo(
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TestUtils.getResourcesFolderPath(true)
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.resolve("testimages")
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.resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
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.toString(),
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"WPI2024"));
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camConf2024.FOV = TestUtils.WPI2024Images.FOV;
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// same camera as 2023
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camConf2024.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
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var pipeline2024 = new AprilTagPipelineSettings();
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var path_split = Path.of(camConf2024.path).getFileName().toString();
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var path_split = Path.of(camConf2024.matchedCameraInfo.path()).getFileName().toString();
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pipeline2024.pipelineNickname = path_split.replace(".jpg", "");
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pipeline2024.targetModel = TargetModel.kAprilTag6p5in_36h11;
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pipeline2024.tagFamily = AprilTagFamily.kTag36h11;
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@@ -307,47 +162,11 @@ public class Main {
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camConf2024.pipelineSettings = psList2024;
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}
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// Colored shape testing
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var camConfShape =
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ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
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// If we haven't saved shape settings, create a new one
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if (camConfShape == null) {
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camConfShape =
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new CameraConfiguration(
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"Shape",
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TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
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.toString());
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var settings = new ColoredShapePipelineSettings();
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settings.hsvHue = new IntegerCouple(0, 35);
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settings.hsvSaturation = new IntegerCouple(82, 255);
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settings.hsvValue = new IntegerCouple(62, 255);
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settings.contourShape = ContourShape.Triangle;
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settings.outputShowMultipleTargets = true;
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settings.circleAccuracy = 15;
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settings.inputShouldShow = true;
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camConfShape.addPipelineSetting(settings);
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}
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var collectedSources = new ArrayList<VisionSource>();
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var fvsShape = new FileVisionSource(camConfShape);
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var fvs2019 = new FileVisionSource(camConf2019);
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var fvs2020 = new FileVisionSource(camConf2020);
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var fvs2022 = new FileVisionSource(camConf2022);
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var fvs2023 = new FileVisionSource(camConf2023);
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var fvs2024 = new FileVisionSource(camConf2024);
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collectedSources.add(fvs2024);
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// collectedSources.add(fvs2023);
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// collectedSources.add(fvs2022);
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// collectedSources.add(fvsShape);
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// collectedSources.add(fvs2020);
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// collectedSources.add(fvs2019);
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var cameraConfigs = List.of(camConf2024);
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ConfigManager.getInstance().unloadCameraConfigs();
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VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
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ConfigManager.getInstance().addCameraConfigurations(collectedSources);
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cameraConfigs.stream().forEach(ConfigManager.getInstance()::addCameraConfiguration);
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VisionSourceManager.getInstance().registerLoadedConfigs(cameraConfigs);
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}
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public static void main(String[] args) {
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@@ -475,21 +294,21 @@ public class Main {
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System.exit(0);
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}
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// todo - should test mode just add test mode sources, but still allow local usb cameras to be
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// added?
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if (!isTestMode) {
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logger.debug("Loading VisionSourceManager...");
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VisionSourceManager.getInstance()
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.registerLoadedConfigs(
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ConfigManager.getInstance().getConfig().getCameraConfigurations().values());
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VisionSourceManager.getInstance().registerTimedTask();
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} else {
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if (testModeFolder == null) {
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addTestModeSources();
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} else {
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addTestModeFromFolder();
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}
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}
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VisionSourceManager.getInstance().registerTimedTasks();
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logger.info("Starting server...");
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HardwareManager.getInstance().setRunning(true);
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Server.initialize(DEFAULT_WEBPORT);
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