File Frame Provider (#91)

* Add FileFrameProvider.

* Adding camera properties to the frame providers.

* Fix updating properties.

* Remove updating fov.

* Fix formatting error.

chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/FrameProvider.java

@@ -2,4 +2,6 @@ package com.chameleonvision.common.vision.frame;
 
 public interface FrameProvider {
     Frame getFrame();
+
+    FrameStaticProperties getFrameProperties();
 }

chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/FrameStaticProperties.java

@@ -0,0 +1,61 @@
+package com.chameleonvision.common.vision.frame;
+
+import edu.wpi.cscore.VideoMode;
+import org.apache.commons.math3.fraction.Fraction;
+import org.apache.commons.math3.util.FastMath;
+
+/** Represents the properties of a frame. */
+public class FrameStaticProperties {
+    public final int imageWidth;
+    public final int imageHeight;
+    public final double fov;
+    public final double imageArea;
+    public final double centerX;
+    public final double centerY;
+    public final double horizontalFocalLength;
+    public final double verticalFocalLength;
+
+    /**
+    * Instantiates a new Frame static properties.
+    *
+    * @param mode The Video Mode of the camera.
+    * @param fov The fov of the image.
+    */
+    public FrameStaticProperties(VideoMode mode, double fov) {
+        this(mode.width, mode.height, fov);
+    }
+
+    /**
+    * Instantiates a new Frame static properties.
+    *
+    * @param imageWidth The width of the image.
+    * @param imageHeight The width of the image.
+    * @param fov The fov of the image.
+    */
+    public FrameStaticProperties(int imageWidth, int imageHeight, double fov) {
+        this.imageWidth = imageWidth;
+        this.imageHeight = imageHeight;
+        this.fov = fov;
+
+        imageArea = this.imageWidth * this.imageHeight;
+
+        centerX = ((double) this.imageWidth / 2) - 0.5;
+        centerY = ((double) this.imageHeight / 2) - 0.5;
+
+        // pinhole model calculations
+        double diagonalView = FastMath.toRadians(this.fov);
+        Fraction aspectFraction = new Fraction(this.imageWidth, this.imageHeight);
+
+        int horizontalRatio = aspectFraction.getNumerator();
+        int verticalRatio = aspectFraction.getDenominator();
+
+        double diagonalAspect = FastMath.hypot(horizontalRatio, verticalRatio);
+        double horizontalView =
+                FastMath.atan(FastMath.tan(diagonalView / 2) * (horizontalRatio / diagonalAspect)) * 2;
+        double verticalView =
+                FastMath.atan(FastMath.tan(diagonalView / 2) * (verticalRatio / diagonalAspect)) * 2;
+
+        horizontalFocalLength = this.imageWidth / (2 * FastMath.tan(horizontalView / 2));
+        verticalFocalLength = this.imageHeight / (2 * FastMath.tan(verticalView / 2));
+    }
+}

chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/provider/FileFrameProvider.java

@@ -2,11 +2,91 @@ package com.chameleonvision.common.vision.frame.provider;
 
 import com.chameleonvision.common.vision.frame.Frame;
 import com.chameleonvision.common.vision.frame.FrameProvider;
-import org.apache.commons.lang3.NotImplementedException;
+import com.chameleonvision.common.vision.frame.FrameStaticProperties;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import org.opencv.core.Mat;
+import org.opencv.imgcodecs.Imgcodecs;
 
+/**
+* A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
+* path}.
+*/
 public class FileFrameProvider implements FrameProvider {
+    private Frame m_frame;
+    private Path m_path;
+
+    private double m_fov;
+    private FrameStaticProperties m_properties;
+
+    private boolean m_reloadImage;
+
+    /**
+    * Instantiates a new FileFrameProvider.
+    *
+    * @param path The path of the image to read from.
+    * @param fov The fov of the image.
+    */
+    public FileFrameProvider(Path path, double fov) {
+        if (!Files.exists(path)) throw new RuntimeException("Invalid path for image!");
+        m_path = path;
+        m_fov = fov;
+
+        loadImage();
+    }
+
+    /**
+    * Instantiates a new File frame provider.
+    *
+    * @param pathAsString The path of the image to read from as a string.
+    * @param fov The fov of the image.
+    */
+    public FileFrameProvider(String pathAsString, double fov) {
+        this(Paths.get(pathAsString), fov);
+    }
+
+    private void loadImage() {
+        Mat image = Imgcodecs.imread(m_path.toString());
+
+        if (image.cols() > 0 && image.rows() > 0) {
+            m_properties = new FrameStaticProperties(image.width(), image.height(), m_fov);
+            m_frame = new Frame(image);
+        } else {
+            throw new RuntimeException("Image loading failed!");
+        }
+    }
+
+    /**
+    * Set image reloading. If true this will reload the image from the path set in the constructor
+    * every time {@link FileFrameProvider#getFrame()} is called.
+    *
+    * @param reloadImage True to enable image reloading.
+    */
+    public void setImageReloading(boolean reloadImage) {
+        m_reloadImage = reloadImage;
+    }
+
+    /**
+    * Returns if image reloading is enabled.
+    *
+    * @return True if image reloading is enabled.
+    */
+    public boolean isImageReloading() {
+        return m_reloadImage;
+    }
+
+    @Override
+    public FrameStaticProperties getFrameProperties() {
+        return m_properties;
+    }
+
     @Override
     public Frame getFrame() {
-        throw new NotImplementedException("");
+        if (m_reloadImage) {
+            loadImage();
+        }
+
+        return m_frame;
     }
 }

chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/provider/NetworkFrameProvider.java

@@ -2,6 +2,7 @@ package com.chameleonvision.common.vision.frame.provider;
 
 import com.chameleonvision.common.vision.frame.Frame;
 import com.chameleonvision.common.vision.frame.FrameProvider;
+import com.chameleonvision.common.vision.frame.FrameStaticProperties;
 import org.apache.commons.lang3.NotImplementedException;
 
 public class NetworkFrameProvider implements FrameProvider {
@@ -9,4 +10,9 @@ public class NetworkFrameProvider implements FrameProvider {
     public Frame getFrame() {
         throw new NotImplementedException("");
     }
+
+    @Override
+    public FrameStaticProperties getFrameProperties() {
+        throw new NotImplementedException("");
+    }
 }

chameleon-server/src/main/java/com/chameleonvision/common/vision/frame/provider/USBFrameProvider.java

@@ -2,6 +2,7 @@ package com.chameleonvision.common.vision.frame.provider;
 
 import com.chameleonvision.common.vision.frame.Frame;
 import com.chameleonvision.common.vision.frame.FrameProvider;
+import com.chameleonvision.common.vision.frame.FrameStaticProperties;
 import org.apache.commons.lang3.NotImplementedException;
 
 public class USBFrameProvider implements FrameProvider {
@@ -9,4 +10,9 @@ public class USBFrameProvider implements FrameProvider {
     public Frame getFrame() {
         throw new NotImplementedException("");
     }
+
+    @Override
+    public FrameStaticProperties getFrameProperties() {
+        throw new NotImplementedException("");
+    }
 }