Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-29 02:21:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Stream content reorg. (#489)

Browse Source 
Revised stream and target draw logic to divide the streams by "Raw" and "Processed" and only draw the results on the "Processed" stream.

Should allow for input sterams to be recorded for raw camera input, and output for debug info.
This commit is contained in:
Chris Gerth
2022-10-09 20:30:16 -05:00
committed by GitHub
parent 9bf589ebc6
commit 4d5904dd6d
3 changed files with 37 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
photon-client/src/views/PipelineView.vue
View File

@@ -36,7 +36,7 @@
<span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
<span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
<span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
<span v-else>stop viewing the color stream for better performance</span>
<span v-else>stop viewing the raw stream for better performance</span>
</v-chip>
<v-switch
v-model="driverMode"
@@ -136,15 +136,15 @@
color="secondary"
class="fill"
>
<v-icon>mdi-palette</v-icon>
<span>Normal</span>
<v-icon>mdi-import</v-icon>
<span>Raw</span>
</v-btn>
<v-btn
color="secondary"
class="fill"
>
<v-icon>mdi-compare</v-icon>
<span>Threshold</span>
<v-icon>mdi-export</v-icon>
<span>Processed</span>
</v-btn>
</v-btn-toggle>
</v-col>

10
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
View File

@@ -117,9 +117,13 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
}
var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
grayscalePipeResult = grayscalePipe.run(rawInputMat);
sumPipeNanosElapsed += grayscalePipeResult.nanosElapsed;
var outputFrame = new Frame(new CVMat(grayscalePipeResult.output), frameStaticProperties);
List<TrackedTarget> targetList;
CVPipeResult<List<DetectionResult>> tagDetectionPipeResult;
@@ -127,7 +131,6 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
aprilTagDetectionPipe.setNativePoseEstimationEnabled(settings.solvePNPEnabled);
tagDetectionPipeResult = aprilTagDetectionPipe.run(grayscalePipeResult.output);
grayscalePipeResult.output.release();
sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;
targetList = new ArrayList<>();
@@ -150,11 +153,6 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
var fpsResult = calculateFPSPipe.run(null);
var fps = fpsResult.output;
var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
// empty output frame
var outputFrame =
Frame.emptyFrame(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight);
return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, outputFrame, inputFrame);
}
}

40
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
View File

@@ -120,42 +120,58 @@ public class OutputStreamPipeline {
pipeProfileNanos[2] = 0;
}
// Draw 2D Crosshair on input and output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 2D Crosshair on output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[3] = draw2dCrosshairResultOnInput.nanosElapsed;
if (!(settings instanceof AprilTagPipelineSettings)) {
// If we're processing anything other than Apriltags...
var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
// Draw 3D Targets on input and output if necessary
if (settings.solvePNPEnabled
|| (settings.solvePNPEnabled
&& settings instanceof ColoredShapePipelineSettings
&& ((ColoredShapePipelineSettings) settings).contourShape == ContourShape.Circle)) {
var drawOnInputResult = draw3dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
// Draw 3D Targets on input and output if possible
pipeProfileNanos[5] = 0;
pipeProfileNanos[6] = 0;
pipeProfileNanos[7] = 0;
var drawOnOutputResult = draw3dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[8] = drawOnOutputResult.nanosElapsed;
} else {
pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;
var draw2dTargetsOnInput = draw2dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
// Only draw 2d targets
pipeProfileNanos[5] = 0;
var draw2dTargetsOnOutput = draw2dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[6] = draw2dTargetsOnOutput.nanosElapsed;
pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;
}
} else {
// If we are doing apriltags...
if (settings.solvePNPEnabled) {
var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
pipeProfileNanos[5] = 0;
pipeProfileNanos[6] = 0;
var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
pipeProfileNanos[8] = 0;
} else {
var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 2d apriltag markers
var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
pipeProfileNanos[6] = 0;
pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;
}
}