Initial 3.0 Commit

chameleon-server/src/test/java/com/chameleonvision/config/ConfigManagerTest.java

@@ -1,19 +0,0 @@
-package com.chameleonvision.config;
-
-import org.junit.jupiter.api.BeforeAll;
-
-import java.io.IOException;
-import java.nio.file.Files;
-
-public class ConfigManagerTest {
-
-    @BeforeAll
-    public void deleteConfig() {
-        try {
-            Files.delete(ConfigManager.SettingsPath);
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
-    }
-
-}

chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java

@@ -1,78 +0,0 @@
-package com.chameleonvision.config;
-
-import com.chameleonvision.util.ProgramDirectoryUtilities;
-import com.chameleonvision.vision.camera.CameraStreamer;
-import com.chameleonvision.vision.image.StaticImageCapture;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
-import edu.wpi.cscore.CameraServerCvJNI;
-import edu.wpi.cscore.CameraServerJNI;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.BeforeAll;
-import org.junit.jupiter.api.Test;
-
-import java.io.File;
-import java.io.FilenameFilter;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-import java.util.LinkedHashMap;
-import java.util.List;
-
-class StaticCaptureTest {
-
-    private static final List<String> allowedImageExtensions = List.of(".jpg", ".jpeg", ".png");
-
-    private static final FilenameFilter imageExtensionFilter = (dir, name) -> allowedImageExtensions.stream().anyMatch(name::endsWith);
-
-    private static final LinkedHashMap<String, StaticImageCapture> loadedImages = new LinkedHashMap<>();
-
-    @BeforeAll
-    static void setup() {
-        try {
-            CameraServerJNI.forceLoad();
-            CameraServerCvJNI.forceLoad();
-        } catch (IOException e) {
-            throw new RuntimeException("Failed to load JNI libraries!");
-        }
-    }
-
-    @Test
-    void ImageLoadTest() {
-        Path imagesFolder = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "testimages", "2019");
-        if (Files.exists(imagesFolder)) {
-            File dir = new File(imagesFolder.toString());
-            File[] imageFiles = dir.listFiles(imageExtensionFilter);
-
-            Assertions.assertNotNull(imageFiles);
-
-            for (File imageFile : imageFiles) {
-                loadedImages.put(imageFile.getName().replace(".jpg", ""), new StaticImageCapture(imageFile.toPath(), 68.5));
-            }
-
-            Assertions.assertEquals(loadedImages.size(), imageFiles.length);
-        }
-    }
-
-    @Test
-    void ImageProcessTest() throws InterruptedException {
-        ImageLoadTest();
-        StandardCVPipeline testPipeline = new StandardCVPipeline();
-        String testImage1 = "CargoSideStraightDark36in";
-        StaticImageCapture testCapture1 = loadedImages.get(testImage1);
-
-        testPipeline.initPipeline(testCapture1);
-
-        var streamer = new CameraStreamer(testCapture1, "CargoSideStraightDark36in",testPipeline.settings.streamDivisor);
-
-        NetworkTableInstance.getDefault().startClient("localhost");
-
-        while(true) {
-            var result = testPipeline.runPipeline(testCapture1.getFrame().getKey());
-            streamer.runStream(result.outputMat);
-            Thread.sleep(20);
-        }
-
-    }
-}

chameleon-server/src/test/java/com/chameleonvision/scripting/ScriptingTest.java

@@ -1,29 +0,0 @@
-package com.chameleonvision.scripting;
-
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.Test;
-
-import static com.chameleonvision.scripting.ScriptManager.*;
-
-public class ScriptingTest {
-
-    @Test
-    public void configTest() {
-        ScriptConfigManager.deleteConfig();
-
-        Assertions.assertFalse(ScriptConfigManager.fileExists());
-
-        ScriptConfigManager.initialize();
-
-        Assertions.assertTrue(ScriptConfigManager.fileExists());
-
-        var config = ScriptConfigManager.loadConfig();
-        Assertions.assertEquals(config.size(), ScriptEventType.values().length);
-        System.out.println("Script Config PASSED");
-    }
-
-    @Test
-    public void eventTest() {
-        ScriptManager.queueEvent(ScriptEventType.kProgramInit);
-    }
-}

chameleon-server/src/test/java/com/chameleonvision/vision/pipeline/SolvePNPtest.java

@@ -1,140 +0,0 @@
-package com.chameleonvision.vision.pipeline;
-
-import com.chameleonvision.config.CameraCalibrationConfig;
-import com.chameleonvision.config.JsonMat;
-import com.chameleonvision.vision.image.StaticImageCapture;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
-import com.chameleonvision.vision.pipeline.pipes.SolvePNPPipe;
-import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.cscore.CameraServerCvJNI;
-import edu.wpi.cscore.CameraServerJNI;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import org.junit.jupiter.api.Test;
-import org.opencv.calib3d.Calib3d;
-import org.opencv.core.*;
-import org.opencv.core.Point;
-import org.opencv.imgcodecs.Imgcodecs;
-import org.opencv.imgproc.Imgproc;
-
-import javax.swing.*;
-import java.awt.*;
-import java.awt.image.BufferedImage;
-import java.awt.image.DataBufferByte;
-import java.io.IOException;
-import java.nio.file.Path;
-
-public class SolvePNPtest {
-
-    private static final Path root = Path.of("src", "test", "java", "com", "chameleonvision", "vision", "pipeline");
-
-    @Test public void testProjection() throws InterruptedException {
-
-        try {
-            forceLoad();
-        } catch (IOException e) {
-            return;
-        }
-
-        var settings = new StandardCVPipelineSettings();
-        var calibration = new CameraCalibrationConfig(
-                new Size(640, 480),
-                new JsonMat(3, 3, 6, new double[] { 1126.1154452525066, 0.0, 666.4172679761178, 0.0, 1088.0425532065287, 335.37748454259633, 0.0, 0.0, 1.0 }),
-                new JsonMat(1, 5, 6, new double[] { 0.07253724845871252, -0.664268685338307, -0.0011224914177033868, 4.8323234488098423E-4, 1.1731498589436031 }),
-                1.056
-                );
-
-        var pipe = new SolvePNPPipe(settings, calibration, new Rotation2d());
-
-        // project pts
-        var target = settings.targetCornerMat;
-        Mat blank = Imgcodecs.imread(Path.of(root.toString(), "black.png").toString());
-
-        // make a tvec and rvec
-//        positive x to the right, positive y to the bottom, positive z away from the image
-        // tvec example:
-//        [-3.377348429632199;
-//        9.132802434424915;
-//        67.79662519667924]
-
-        // rvec:
-//        [1.990867004634147;
-//        -0.1508389335122144;
-//        -1.552061845576413]
-
-        Mat tvec = new Mat(3, 1, 6);
-        Mat rvec = new Mat(3, 1, 6);
-//        tvec.put(0, 0, 1.032188152287021,  -3.78145690753876, 52.32713732614368);
-//        rvec.put(0, 0, -3.084531365719034, -0.1446574541579896,  -0.1297813889017779);
-        tvec.put(0, 0, 1.75, -6, 75.2);
-        rvec.put(0, 0, 2.79, 0.23, -0.0388);
-
-        MatOfPoint2f imagePoints = new MatOfPoint2f();
-        Calib3d.projectPoints(target, rvec, tvec, calibration.getCameraMatrixAsMat(), calibration.getDistortionCoeffsAsMat(), imagePoints, new Mat(), 0);
-        var projectedPts = imagePoints.toList();
-
-        // draw circles
-        for(var p: projectedPts) {
-            Imgproc.circle(blank, p, 3, new Scalar(0, 0, 255), 4);
-        }
-        Imgproc.line(blank, projectedPts.get(0), projectedPts.get(1), new Scalar(255, 0, 0));
-        Imgproc.line(blank, projectedPts.get(1), projectedPts.get(2), new Scalar(255, 0, 0));
-        Imgproc.line(blank, projectedPts.get(2), projectedPts.get(3), new Scalar(255, 0, 0));
-        Imgproc.line(blank, projectedPts.get(3), projectedPts.get(0), new Scalar(255, 0, 0));
-
-        // go backwards to solvePNP
-        Mat rvec_ = new Mat(), tvec_ = new Mat();
-        Calib3d.solvePnP(target, imagePoints, calibration.getCameraMatrixAsMat(), calibration.getDistortionCoeffsAsMat(), rvec_, tvec_);
-
-        // what we projected
-        var initTvec = tvec.dump();
-        var initRvec = rvec.dump();
-
-        // what solvePNP gives
-        var retedTvec = tvec_.dump();
-        var rettedRvec = rvec_.dump();
-
-        var target_ = new StandardCVPipeline.TrackedTarget();
-        pipe.calculatePose(imagePoints, target_);
-        System.out.println(target_.cameraRelativePose);
-
-        displayImage(mat2BufferedImage(blank));
-    }
-
-    public static BufferedImage mat2BufferedImage(Mat m)
-    {
-        int type = BufferedImage.TYPE_BYTE_GRAY;
-        if (m.channels() > 1)
-        {
-            type = BufferedImage.TYPE_3BYTE_BGR;
-        }
-        int bufferSize = m.channels()*m.cols()*m.rows();
-        byte[] b = new byte[bufferSize];
-        m.get(0, 0, b); // get all the pixels
-        BufferedImage image = new BufferedImage(m.cols(), m.rows(), type);
-        final byte[] targetPixels = ((DataBufferByte) image.getRaster().getDataBuffer()).getData();
-        System.arraycopy(b, 0, targetPixels, 0, b.length);
-        return image;
-    }
-
-    public static void displayImage(Image img) throws InterruptedException {
-        ImageIcon icon = new ImageIcon(img);
-        JFrame frame = new JFrame();
-        frame.setLayout(new FlowLayout());
-        frame.setSize(img.getWidth(null)+50, img.getHeight(null)+50);
-        JLabel lbl = new JLabel();
-        lbl.setIcon(icon);
-        frame.add(lbl);
-        frame.setVisible(true);
-        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-
-        Thread.sleep(10000);
-    }
-
-    private void forceLoad() throws IOException {
-        CameraServerJNI.forceLoad();
-        CameraServerCvJNI.forceLoad();
-    }
-
-}