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Use nicer array syntax

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This commit is contained in:
Gold856
2025-03-16 23:41:35 -04:00
committed by Matt Morley
parent a42aed1e7f
commit 4ffd1fc600
10 changed files with 72 additions and 87 deletions
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4
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -205,8 +205,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getDistCoeffsArr());
} else {
ts.cameraIntrinsicsPublisher.accept(new double[] {});
ts.cameraDistortionPublisher.accept(new double[] {});
ts.cameraIntrinsicsPublisher.accept(new double[0]);
ts.cameraDistortionPublisher.accept(new double[0]);
}
ts.heartbeatPublisher.set(acceptedResult.sequenceID);

13
photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
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@@ -59,13 +59,12 @@ public class ArucoDetectionPipe
for (var detection : detections) {
double[] xCorners = detection.getXCorners();
double[] yCorners = detection.getYCorners();
Point[] cornerPoints =
new Point[] {
new Point(xCorners[0], yCorners[0]),
new Point(xCorners[1], yCorners[1]),
new Point(xCorners[2], yCorners[2]),
new Point(xCorners[3], yCorners[3])
};
Point[] cornerPoints = {
new Point(xCorners[0], yCorners[0]),
new Point(xCorners[1], yCorners[1]),
new Point(xCorners[2], yCorners[2]),
new Point(xCorners[3], yCorners[3])
};
double bltr =
Math.hypot(
cornerPoints[2].x - cornerPoints[0].x, cornerPoints[2].y - cornerPoints[0].y);

15
photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
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@@ -32,14 +32,13 @@ import org.photonvision.vision.target.TrackedTarget;
public class DrawCalibrationPipe
extends MutatingPipe<
Pair<Mat, List<TrackedTarget>>, DrawCalibrationPipe.DrawCalibrationPipeParams> {
Scalar[] chessboardColors =
new Scalar[] {
ColorHelper.colorToScalar(Color.RED, 0.4),
ColorHelper.colorToScalar(Color.ORANGE, 0.4),
ColorHelper.colorToScalar(Color.GREEN, 0.4),
ColorHelper.colorToScalar(Color.BLUE, 0.4),
ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
};
Scalar[] chessboardColors = {
ColorHelper.colorToScalar(Color.RED, 0.4),
ColorHelper.colorToScalar(Color.ORANGE, 0.4),
ColorHelper.colorToScalar(Color.GREEN, 0.4),
ColorHelper.colorToScalar(Color.BLUE, 0.4),
ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
};
@Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) {

25
photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineProfiler.java
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@@ -37,19 +37,18 @@ public class PipelineProfiler {
* 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",
"HSV",
"FindContours",
"SpeckleReject",
"FilterContours",
"GroupContours",
"SortContours",
"Collect2dTargets",
"CornerDetection",
"SolvePNP",
};
private static final String[] ReflectivePipeNames = {
"RotateImage",
"HSV",
"FindContours",
"SpeckleReject",
"FilterContours",
"GroupContours",
"SortContours",
"Collect2dTargets",
"CornerDetection",
"SolvePNP",
};
public static final int ReflectivePipeCount = ReflectivePipeNames.length;

42
photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
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@@ -122,11 +122,9 @@ public class TrackedTarget implements Releasable {
tvec.put(
0,
0,
new double[] {
bestPose.getTranslation().getX(),
bestPose.getTranslation().getY(),
bestPose.getTranslation().getZ()
});
bestPose.getTranslation().getX(),
bestPose.getTranslation().getY(),
bestPose.getTranslation().getZ());
setCameraRelativeTvec(tvec);
// Opencv expects a 3d vector with norm = angle and direction = axis
@@ -136,13 +134,12 @@ public class TrackedTarget implements Releasable {
}
double[] corners = tagDetection.getCorners();
Point[] cornerPoints =
new Point[] {
new Point(corners[0], corners[1]),
new Point(corners[2], corners[3]),
new Point(corners[4], corners[5]),
new Point(corners[6], corners[7])
};
Point[] cornerPoints = {
new Point(corners[0], corners[1]),
new Point(corners[2], corners[3]),
new Point(corners[4], corners[5]),
new Point(corners[6], corners[7])
};
m_targetCorners = List.of(cornerPoints);
MatOfPoint contourMat = new MatOfPoint(cornerPoints);
m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
@@ -198,13 +195,12 @@ public class TrackedTarget implements Releasable {
double[] xCorners = result.getXCorners();
double[] yCorners = result.getYCorners();
Point[] cornerPoints =
new Point[] {
new Point(xCorners[0], yCorners[0]),
new Point(xCorners[1], yCorners[1]),
new Point(xCorners[2], yCorners[2]),
new Point(xCorners[3], yCorners[3])
};
Point[] cornerPoints = {
new Point(xCorners[0], yCorners[0]),
new Point(xCorners[1], yCorners[1]),
new Point(xCorners[2], yCorners[2]),
new Point(xCorners[3], yCorners[3])
};
m_targetCorners = List.of(cornerPoints);
MatOfPoint contourMat = new MatOfPoint(cornerPoints);
m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
@@ -236,11 +232,9 @@ public class TrackedTarget implements Releasable {
tvec.put(
0,
0,
new double[] {
bestPose.getTranslation().getX(),
bestPose.getTranslation().getY(),
bestPose.getTranslation().getZ()
});
bestPose.getTranslation().getX(),
bestPose.getTranslation().getY(),
bestPose.getTranslation().getZ());
setCameraRelativeTvec(tvec);
var rvec = new Mat(3, 1, CvType.CV_64FC1);

4
photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
View File

@@ -123,7 +123,7 @@ public class CalibrationRotationPipeTest {
0.09625562194891251,
-0.1860797479660746
}),
new double[] {},
new double[0],
List.of(),
new Size(),
1,
@@ -288,7 +288,7 @@ public class CalibrationRotationPipeTest {
0.04625562194891251,
-0.0860797479660746
}),
new double[] {},
new double[0],
List.of(),
new Size(),
1,