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Add FileVisionSource (#71)

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This commit is contained in:
Banks T
2020-08-05 18:43:56 -04:00
committed by GitHub
parent dea68041fb
commit 7b457efc55
6 changed files with 141 additions and 63 deletions
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94
photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java Normal file
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@@ -0,0 +1,94 @@
/*
* Copyright (C) 2020 Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.vision.camera;
import edu.wpi.cscore.VideoMode;
import edu.wpi.cscore.VideoMode.PixelFormat;
import java.util.HashMap;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.vision.frame.FrameProvider;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.frame.provider.FileFrameProvider;
import org.photonvision.vision.processes.VisionSource;
import org.photonvision.vision.processes.VisionSourceSettables;
public class FileVisionSource implements VisionSource {
private final CameraConfiguration cameraConfiguration;
private final FileFrameProvider frameProvider;
private final FileSourceSettables settables;
public FileVisionSource(String name, String imagePath, double fov) {
cameraConfiguration = new CameraConfiguration(name, imagePath);
frameProvider = new FileFrameProvider(imagePath, fov);
settables =
new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
}
@Override
public FrameProvider getFrameProvider() {
return frameProvider;
}
@Override
public VisionSourceSettables getSettables() {
return settables;
}
private static class FileSourceSettables extends VisionSourceSettables {
private final VideoMode videoMode;
private final HashMap<Integer, VideoMode> videoModes = new HashMap<>();
FileSourceSettables(
CameraConfiguration cameraConfiguration, FrameStaticProperties frameStaticProperties) {
super(cameraConfiguration);
this.frameStaticProperties = frameStaticProperties;
videoMode =
new VideoMode(
PixelFormat.kMJPEG,
frameStaticProperties.imageWidth,
frameStaticProperties.imageHeight,
30);
videoModes.put(0, videoMode);
}
@Override
public void setExposure(int exposure) {}
@Override
public void setBrightness(int brightness) {}
@Override
public void setGain(int gain) {}
@Override
public VideoMode getCurrentVideoMode() {
return videoMode;
}
@Override
public void setCurrentVideoMode(VideoMode videoMode) {}
@Override
public HashMap<Integer, VideoMode> getAllVideoModes() {
return videoModes;
}
}
}

6
photon-server/src/main/java/org/photonvision/vision/frame/Frame.java
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@@ -36,11 +36,11 @@ public class Frame implements Releasable {
this(image, System.nanoTime(), frameStaticProperties);
}
public void copyTo(Mat destMat) {
image.getMat().copyTo(destMat);
public void copyTo(Frame destFrame) {
image.getMat().copyTo(destFrame.image.getMat());
}
public static Frame copyFrom(Frame frame) {
public static Frame copyFromAndRelease(Frame frame) {
Mat newMat = new Mat();
frame.image.getMat().copyTo(newMat);
frame.release();

84
photon-server/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
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@@ -32,28 +32,41 @@ import org.photonvision.vision.opencv.CVMat;
* path}.
*/
public class FileFrameProvider implements FrameProvider {
private static final int MAX_FPS = 120;
private static int count = 0;
private Frame m_frame;
private final Path m_path;
private final int thisIndex = count++;
private final Path path;
private final int millisDelay;
private final Frame originalFrame;
private final Frame outputFrame;
private final double m_fov;
private boolean m_reloadImage;
private long lastGetMillis = System.currentTimeMillis();
/**
* Instantiates a new FileFrameProvider.
*
* @param path The path of the image to read from.
* @param fov The fov of the image.
* @param maxFPS The max framerate to provide the image at.
*/
public FileFrameProvider(Path path, double fov) {
public FileFrameProvider(Path path, double fov, int maxFPS) {
if (!Files.exists(path))
throw new RuntimeException("Invalid path for image: " + path.toAbsolutePath().toString());
m_path = path;
m_fov = fov;
this.path = path;
this.millisDelay = 1000 / maxFPS;
loadImage();
Mat rawImage = Imgcodecs.imread(path.toString());
if (rawImage.cols() > 0 && rawImage.rows() > 0) {
FrameStaticProperties m_properties =
new FrameStaticProperties(rawImage.width(), rawImage.height(), fov);
Mat originalImage = new Mat();
rawImage.copyTo(originalImage);
originalFrame = new Frame(new CVMat(rawImage), m_properties);
outputFrame = new Frame(new CVMat(originalImage), m_properties);
} else {
throw new RuntimeException("Image loading failed!");
}
}
/**
@@ -63,53 +76,40 @@ public class FileFrameProvider implements FrameProvider {
* @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) {
FrameStaticProperties m_properties =
new FrameStaticProperties(image.width(), image.height(), m_fov);
m_frame = new Frame(new CVMat(image), m_properties);
} else {
throw new RuntimeException("Image loading failed!");
}
this(Paths.get(pathAsString), fov, MAX_FPS);
}
/**
* Set image reloading. If true this will reload the image from the path set in the constructor
* every time {@link FileFrameProvider#get()} is called.
* Instantiates a new File frame provider.
*
* @param reloadImage True to enable image reloading.
* @param path The path of the image to read from.
* @param fov The fov of the image.
*/
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;
public FileFrameProvider(Path path, double fov) {
this(path, fov, MAX_FPS);
}
@Override
public Frame get() {
if (m_reloadImage) {
if (m_frame != null) m_frame.release();
m_frame = null;
loadImage();
if (outputFrame.image.getMat().empty()) {
originalFrame.copyTo(outputFrame);
}
return m_frame;
// block to keep FPS at a defined rate
if (System.currentTimeMillis() - lastGetMillis < millisDelay) {
try {
Thread.sleep(millisDelay);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
lastGetMillis = System.currentTimeMillis();
return outputFrame;
}
@Override
public String getName() {
return "FileFrameProvider" + count++ + " - " + m_path.getFileName();
return "FileFrameProvider" + thisIndex + " - " + path.getFileName();
}
}

4
photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
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@@ -34,8 +34,8 @@ public class CVPipelineResult implements Releasable {
this.processingMillis = processingMillis;
this.targets = targets;
this.outputFrame = Frame.copyFrom(outputFrame);
this.inputFrame = inputFrame != null ? Frame.copyFrom(inputFrame) : null;
this.outputFrame = Frame.copyFromAndRelease(outputFrame);
this.inputFrame = inputFrame != null ? Frame.copyFromAndRelease(inputFrame) : null;
}
public CVPipelineResult(double processingMillis, List<TrackedTarget> targets, Frame outputFrame) {