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https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
Added enums, msgpack - new ui intergration
This commit is contained in:
Omer
@@ -1,5 +1,8 @@
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package com.chameleonvision.vision.process;
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import com.chameleonvision.vision.SortMode;
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import com.chameleonvision.vision.TargetGroup;
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import com.chameleonvision.vision.TargetIntersection;
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import com.chameleonvision.vision.camera.CameraValues;
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import com.chameleonvision.util.MathHandler;
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import org.apache.commons.math3.util.FastMath;
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@@ -14,13 +17,6 @@ import java.util.*;
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public class CVProcess {
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private final CameraValues cameraValues;
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private HashMap<String, Integer> targetGrouping = new HashMap<>() {{
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put("Single", 1);
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put("Dual", 2);
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put("Triple", 3);
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put("Quadruple", 4);
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put("Quintuple", 5);
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}};
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private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
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private Size blur = new Size(1,1);
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private Mat hsvImage = new Mat();
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@@ -58,7 +54,7 @@ public class CVProcess {
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return foundContours;
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}
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List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Integer> area, List<Double> ratio, List<Integer> extent) {
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List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Float> area, List<Float> ratio, List<Integer> extent) {
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for (MatOfPoint Contour : inputContours) {
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try {
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double contourArea = Imgproc.contourArea(Contour);
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@@ -97,34 +93,34 @@ public class CVProcess {
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Moments m = Imgproc.moments(c);
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return (m.get_m10()/m.get_m00());
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}
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RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, String sortMode) {
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RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, SortMode sortMode) {
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switch (sortMode) {
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case "Largest":
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case Largest:
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return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area()));
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case "Smallest":
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case Smallest:
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return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area()));
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case "Highest":
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case Highest:
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return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y));
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case "Lowest":
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case Lowest:
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return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y));
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case "Leftmost":
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case Leftmost:
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return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x));
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case "Rightmost":
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case Rightmost:
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return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
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case "Centermost":
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case Centermost:
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return Collections.min(inputRects, sortByCentermostComparator);
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default:
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return inputRects.get(0); // default to whatever the first contour is, but this should never happen
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}
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}
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List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, String intersectionPoint, String targetGroup) {
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List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
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finalCountours.clear();
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if (!targetGroup.equals("Single")) {
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if (!targetGroup.equals(TargetGroup.Single)) {
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inputContours.sort(sortByMomentsX);
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for (var i = 0; i < inputContours.size(); i++) {
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List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
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for (var c = 0; c < (targetGrouping.get(targetGroup) - 1); c++) {
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for (var c = 0; c < targetGroup.ordinal(); c++) {
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try {
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MatOfPoint firstContour = inputContours.get(i + c);
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MatOfPoint secondContour = inputContours.get(i + c + 1);
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@@ -163,8 +159,8 @@ public class CVProcess {
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return finalCountours;
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}
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private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
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if (IntersectionPoint.equals("None")) {
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private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, TargetIntersection intersectionPoint) {
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if (intersectionPoint.equals(TargetIntersection.None)) {
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return true;
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}
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try {
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@@ -182,26 +178,26 @@ public class CVProcess {
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double intersectionY = (mA * (intersectionX - x0A)) + y0A;
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double massX = (x0A + x0B) / 2;
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double massY = (y0A + y0B) / 2;
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switch (IntersectionPoint) {
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case "Up": {
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switch (intersectionPoint) {
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case Up: {
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if (intersectionY < massY) {
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return true;
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}
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break;
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}
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case "Down": {
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case Down: {
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if (intersectionY > massY) {
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return true;
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}
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break;
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}
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case "Left": {
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case Left: {
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if (intersectionX < massX) {
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return true;
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}
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break;
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}
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case "Right": {
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case Right: {
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if (intersectionX > massX) {
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return true;
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}
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@@ -1,6 +1,7 @@
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package com.chameleonvision.vision.process;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.Orientation;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.web.ServerHandler;
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@@ -135,7 +136,7 @@ public class VisionProcess implements Runnable {
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if (currentPipeline == null) {
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return pipelineResult;
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}
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if (!currentPipeline.orientation.equals("Normal")) {
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if (currentPipeline.orientation.equals(Orientation.Inverted)) {
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Core.flip(inputImage, inputImage, -1);
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}
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if (ntDriverModeEntry.getBoolean(false)) {
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@@ -147,7 +148,7 @@ public class VisionProcess implements Runnable {
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cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
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if (currentPipeline.is_binary == 1) {
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if (currentPipeline.isBinary == true) {
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Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
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} else {
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inputImage.copyTo(outputImage);
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@@ -156,13 +157,13 @@ public class VisionProcess implements Runnable {
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if (foundContours.size() > 0) {
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filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
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if (filteredContours.size() > 0) {
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groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
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groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
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if (groupedContours.size() > 0) {
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var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sort_mode);
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var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
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// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
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pipelineResult.RawPoint = finalRect;
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pipelineResult.IsValid = true;
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if (!currentPipeline.is_calibrated) {
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if (!currentPipeline.isCalibrated) {
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pipelineResult.CalibratedX = camera.getCamVals().CenterX;
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pipelineResult.CalibratedY = camera.getCamVals().CenterY;
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} else {
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