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Added enums, msgpack - new ui intergration

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This commit is contained in:
Omer
2019-10-12 03:38:42 +03:00
parent 2eb4cbc950
commit 5f879f9d98
17 changed files with 239 additions and 193 deletions
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5
Main/src/main/java/com/chameleonvision/vision/Orientation.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum Orientation {
Normal,Inverted//TODO add 90 and 270 deg rotation?
}

16
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -6,20 +6,20 @@ import java.util.List;
public class Pipeline {
public int exposure = 50;
public int brightness = 50;
public String orientation = "Normal";
public Orientation orientation = Orientation.Normal;
public List<Integer> hue = Arrays.asList(50, 180);
public List<Integer> saturation = Arrays.asList(50, 255);
public List<Integer> value = Arrays.asList(50, 255);
public boolean erode = false;
public boolean dilate = false;
public List<Integer> area = Arrays.asList(0, 100);
public List<Double> ratio = Arrays.asList(0D, 20D);
public List<Float> area = Arrays.asList(0f, 100f);
public List<Float> ratio = Arrays.asList(0f, 20f);
public List<Integer> extent = Arrays.asList(0, 100);
public int is_binary = 0;
public String sort_mode = "Largest";
public String target_group = "Single";
public String target_intersection = "Up";
public boolean isBinary = false;
public SortMode sortMode = SortMode.Largest;
public TargetGroup targetGroup = TargetGroup.Single;
public TargetIntersection targetIntersection = TargetIntersection.Up;
public double M = 1;
public double B = 0;
public boolean is_calibrated = false;
public boolean isCalibrated = false;
}

5
Main/src/main/java/com/chameleonvision/vision/SortMode.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum SortMode {
Largest,Smallest,Highest,Lowest,Rightmost,Leftmost,Centermost
}

5
Main/src/main/java/com/chameleonvision/vision/TargetGroup.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum TargetGroup {
Single,Dual,Triple,Quadruple,Quintuple
}

5
Main/src/main/java/com/chameleonvision/vision/TargetIntersection.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum TargetIntersection {
None,Up,Down,Left,Right
}

18
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -13,7 +13,7 @@ import java.util.stream.IntStream;
public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final float DEFAULT_FOV = 60.8f;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
@@ -29,7 +29,7 @@ public class Camera {
private final CvSink cvSink;
private final Object cvSourceLock = new Object();
private CvSource cvSource;
private double FOV;
private float FOV;
private CameraValues camVals;
private CamVideoMode camVideoMode;
private int currentPipelineIndex;
@@ -39,23 +39,23 @@ public class Camera {
this(cameraName, DEFAULT_FOV);
}
public Camera(String cameraName, double fov) {
public Camera(String cameraName, float fov) {
this(cameraName,CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov) {
public Camera(String cameraName, UsbCameraInfo usbCamInfo, float fov) {
this(cameraName ,usbCamInfo, fov, new HashMap<>(), 0);
}
public Camera(String cameraName, double fov, int videoModeIndex) {
public Camera(String cameraName, float fov, int videoModeIndex) {
this(cameraName, fov, new HashMap<>(), videoModeIndex);
}
public Camera(String cameraName, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
public Camera(String cameraName, float fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
public Camera(String cameraName, UsbCameraInfo usbCamInfo, float fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex) {
FOV = fov;
name = cameraName;
path = usbCamInfo.path;
@@ -158,11 +158,11 @@ public class Camera {
.orElse(-1);
}
public double getFOV() {
public float getFOV() {
return FOV;
}
public void setFOV(double fov) {
public void setFOV(float fov) {
FOV = fov;
camVals = new CameraValues(this);
}

2
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -14,7 +14,7 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
@Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camFOV = jsonObj.get("FOV").getAsFloat();
var camName = jsonObj.get("name").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();

4
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -7,7 +7,7 @@ import org.apache.commons.math3.util.FastMath;
public class CameraValues {
public final int ImageWidth;
public final int ImageHeight;
public final double FOV;
public final float FOV;
public final double ImageArea;
public final double CenterX;
public final double CenterY;
@@ -24,7 +24,7 @@ public class CameraValues {
this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV());
}
public CameraValues(int imageWidth, int imageHeight, double fov) {
public CameraValues(int imageWidth, int imageHeight, float fov) {
ImageWidth = imageWidth;
ImageHeight = imageHeight;
FOV = fov;

48
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -1,5 +1,8 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.SortMode;
import com.chameleonvision.vision.TargetGroup;
import com.chameleonvision.vision.TargetIntersection;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.util.MathHandler;
import org.apache.commons.math3.util.FastMath;
@@ -14,13 +17,6 @@ import java.util.*;
public class CVProcess {
private final CameraValues cameraValues;
private HashMap<String, Integer> targetGrouping = new HashMap<>() {{
put("Single", 1);
put("Dual", 2);
put("Triple", 3);
put("Quadruple", 4);
put("Quintuple", 5);
}};
private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Size blur = new Size(1,1);
private Mat hsvImage = new Mat();
@@ -58,7 +54,7 @@ public class CVProcess {
return foundContours;
}
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Integer> area, List<Double> ratio, List<Integer> extent) {
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Float> area, List<Float> ratio, List<Integer> extent) {
for (MatOfPoint Contour : inputContours) {
try {
double contourArea = Imgproc.contourArea(Contour);
@@ -97,34 +93,34 @@ public class CVProcess {
Moments m = Imgproc.moments(c);
return (m.get_m10()/m.get_m00());
}
RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, String sortMode) {
RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, SortMode sortMode) {
switch (sortMode) {
case "Largest":
case Largest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Smallest":
case Smallest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Highest":
case Highest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Lowest":
case Lowest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Leftmost":
case Leftmost:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Rightmost":
case Rightmost:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Centermost":
case Centermost:
return Collections.min(inputRects, sortByCentermostComparator);
default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen
}
}
List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, String intersectionPoint, String targetGroup) {
List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
finalCountours.clear();
if (!targetGroup.equals("Single")) {
if (!targetGroup.equals(TargetGroup.Single)) {
inputContours.sort(sortByMomentsX);
for (var i = 0; i < inputContours.size(); i++) {
List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
for (var c = 0; c < (targetGrouping.get(targetGroup) - 1); c++) {
for (var c = 0; c < targetGroup.ordinal(); c++) {
try {
MatOfPoint firstContour = inputContours.get(i + c);
MatOfPoint secondContour = inputContours.get(i + c + 1);
@@ -163,8 +159,8 @@ public class CVProcess {
return finalCountours;
}
private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
if (IntersectionPoint.equals("None")) {
private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, TargetIntersection intersectionPoint) {
if (intersectionPoint.equals(TargetIntersection.None)) {
return true;
}
try {
@@ -182,26 +178,26 @@ public class CVProcess {
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
double massX = (x0A + x0B) / 2;
double massY = (y0A + y0B) / 2;
switch (IntersectionPoint) {
case "Up": {
switch (intersectionPoint) {
case Up: {
if (intersectionY < massY) {
return true;
}
break;
}
case "Down": {
case Down: {
if (intersectionY > massY) {
return true;
}
break;
}
case "Left": {
case Left: {
if (intersectionX < massX) {
return true;
}
break;
}
case "Right": {
case Right: {
if (intersectionX > massX) {
return true;
}

11
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.ServerHandler;
@@ -135,7 +136,7 @@ public class VisionProcess implements Runnable {
if (currentPipeline == null) {
return pipelineResult;
}
if (!currentPipeline.orientation.equals("Normal")) {
if (currentPipeline.orientation.equals(Orientation.Inverted)) {
Core.flip(inputImage, inputImage, -1);
}
if (ntDriverModeEntry.getBoolean(false)) {
@@ -147,7 +148,7 @@ public class VisionProcess implements Runnable {
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
if (currentPipeline.is_binary == 1) {
if (currentPipeline.isBinary == true) {
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
} else {
inputImage.copyTo(outputImage);
@@ -156,13 +157,13 @@ public class VisionProcess implements Runnable {
if (foundContours.size() > 0) {
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours.size() > 0) {
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sort_mode);
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
if (!currentPipeline.is_calibrated) {
if (!currentPipeline.isCalibrated) {
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {