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Merge remote-tracking branch 'origin/dev' into dev

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ori agranat
2019-12-07 17:12:19 +02:00
parent 4213e28da4 b92a06895c
commit 7d9e88f419
17 changed files with 66 additions and 123 deletions
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1
.gitignore vendored
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@@ -113,6 +113,7 @@ chameleon-server/.classpath
chameleon-server/.project
chameleon-server/settings
chameleon-server/dependency-reduced-pom.xml
chameleon-server/chameleon-vision.iml
New client/chameleon-client/*

86
chameleon-server/chameleon-vision.iml
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@@ -1,86 +0,0 @@
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<sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
<sourceFolder url="file://$MODULE_DIR$/src/test/java" isTestSource="true" />
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2
chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java
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@@ -2,6 +2,8 @@ package com.chameleonvision.config;
import com.chameleonvision.util.JacksonHelper;
import com.chameleonvision.vision.pipeline.*;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2dSettings;
import com.chameleonvision.vision.pipeline.impl.CVPipeline3dSettings;
import java.io.File;
import java.io.IOException;

4
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -3,10 +3,12 @@ package com.chameleonvision.vision;
import com.chameleonvision.Debug;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.util.LoopingRunnable;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CameraStreamer;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.pipeline.*;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import com.chameleonvision.vision.pipeline.impl.CVPipeline3d;
import com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline;
import com.chameleonvision.web.SocketHandler;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;

2
chameleon-server/src/main/java/com/chameleonvision/vision/enums/ImageRotationMode.java
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@@ -13,4 +13,6 @@ public enum ImageRotationMode {
ImageRotationMode(int value) {
this.value = value;
}
public boolean isRotated(){return this.value==DEG_90.value||this.value==DEG_270.value;}
}

2
chameleon-server/src/main/java/com/chameleonvision/vision/image/CaptureProperties.java
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@@ -14,7 +14,7 @@ public class CaptureProperties {
public CaptureProperties(VideoMode videoMode, double fov) {
staticProperties = new CaptureStaticProperties(videoMode, fov);
}
public void setStaticProperties(CaptureStaticProperties staticProperties) {this.staticProperties = staticProperties;}
public CaptureStaticProperties getStaticProperties() {
return staticProperties;
}

3
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.pipeline.impl.CVPipeline3d;
import org.opencv.core.Mat;
/**
@@ -9,7 +10,7 @@ import org.opencv.core.Mat;
*/
public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
protected Mat outputMat = new Mat();
CameraCapture cameraCapture;
protected CameraCapture cameraCapture;
public S settings;
protected CVPipeline(S settings) {

1
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.pipeline.impl.*;
import com.chameleonvision.web.SocketHandler;
import edu.wpi.first.networktables.NetworkTableEntry;

7
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java → chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2d.java
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@@ -1,17 +1,18 @@
package com.chameleonvision.vision.pipeline;
package com.chameleonvision.vision.pipeline.impl;
import com.chameleonvision.Main;
import com.chameleonvision.util.MemoryManager;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineResult;
import com.chameleonvision.vision.pipeline.pipes.*;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.*;
import java.util.List;
import static com.chameleonvision.vision.pipeline.CVPipeline2d.*;
import static com.chameleonvision.vision.pipeline.impl.CVPipeline2d.*;
@SuppressWarnings("WeakerAccess")
public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {

3
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java → chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2dSettings.java
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@@ -1,9 +1,10 @@
package com.chameleonvision.vision.pipeline;
package com.chameleonvision.vision.pipeline.impl;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.enums.SortMode;
import com.chameleonvision.vision.enums.TargetGroup;
import com.chameleonvision.vision.enums.TargetIntersection;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.util.Arrays;
import java.util.List;

10
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3d.java → chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3d.java
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@@ -1,19 +1,21 @@
package com.chameleonvision.vision.pipeline;
package com.chameleonvision.vision.pipeline.impl;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineResult;
import org.opencv.core.Mat;
import java.util.List;
import static com.chameleonvision.vision.pipeline.CVPipeline3d.*;
import static com.chameleonvision.vision.pipeline.impl.CVPipeline3d.*;
public class CVPipeline3d extends CVPipeline<CVPipeline3dResult, CVPipeline3dSettings> {
protected CVPipeline3d(CVPipeline3dSettings settings) {
public CVPipeline3d(CVPipeline3dSettings settings) {
super(settings);
}
CVPipeline3d() {
public CVPipeline3d() {
super(new CVPipeline3dSettings());
}

2
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3dSettings.java → chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3dSettings.java
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@@ -1,4 +1,4 @@
package com.chameleonvision.vision.pipeline;
package com.chameleonvision.vision.pipeline.impl;
public class CVPipeline3dSettings extends CVPipeline2dSettings {
// TODO: (2.1) define 3d-specific pipeline settings

15
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java → chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
View File

@@ -1,9 +1,11 @@
package com.chameleonvision.vision.pipeline;
package com.chameleonvision.vision.pipeline.impl;
import com.chameleonvision.util.MemoryManager;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.pipes.Draw2dContoursPipe;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineResult;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.pipeline.pipes.Draw2dCrosshairPipe;
import com.chameleonvision.vision.pipeline.pipes.RotateFlipPipe;
import org.apache.commons.lang3.tuple.Pair;
@@ -12,16 +14,13 @@ import org.opencv.core.RotatedRect;
import java.util.List;
import static com.chameleonvision.vision.pipeline.DriverVisionPipeline.DriverPipelineResult;
import static com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline.DriverPipelineResult;
public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPipelineSettings> {
private RotateFlipPipe rotateFlipPipe;
// private Draw2dContoursPipe draw2dContoursPipe;
// private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
private Draw2dCrosshairPipe drawCrosshairPipe;
private Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings crosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
private final List<RotatedRect> blankList = List.of();
private final MemoryManager memoryManager = new MemoryManager(200, 20000);
@@ -36,18 +35,14 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
rotateFlipPipe = new RotateFlipPipe(settings.rotationMode, settings.flipMode);
crosshairPipeSettings.showCrosshair=true;
drawCrosshairPipe = new Draw2dCrosshairPipe(crosshairPipeSettings, CalibrationMode.None,null,0,0);
// draw2dContoursSettings.showCrosshair = true;
// draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, cameraCapture.getProperties().getStaticProperties());
}
@Override
public DriverPipelineResult runPipeline(Mat inputMat) {
rotateFlipPipe.setConfig(settings.rotationMode, settings.flipMode);
// drawCrosshairPipe.setConfig(false, settings);
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
// Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(rotateFlipResult.getLeft(), blankList));
Pair<Mat, Long> draw2dCrosshairResult = drawCrosshairPipe.run(Pair.of(rotateFlipResult.getLeft(),null));
memoryManager.run();

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
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@@ -1,12 +1,10 @@
package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.Mat;
import org.opencv.core.RotatedRect;
import java.util.ArrayList;

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java
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@@ -1,10 +1,8 @@
package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;

40
chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -4,13 +4,17 @@ import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.enums.ImageRotationMode;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
@@ -20,10 +24,8 @@ import org.msgpack.jackson.dataformat.MessagePackFactory;
import java.lang.reflect.Field;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.*;
import java.util.List;
import java.util.Map;
public class SocketHandler {
@@ -136,13 +138,35 @@ public class SocketHandler {
}
default: {
// only change settings when we aren't in driver mode
if(currentProcess.pipelineManager.getDriverMode()) {
switch (entry.getKey()) {//Pre field value set
case "rotationMode": {//Create new CaptureStaticProperties with new width and height, reset crosshair calib
ImageRotationMode oldRot = currentPipeline.settings.rotationMode;
ImageRotationMode newRot = ImageRotationMode.class.getEnumConstants()[(Integer)entry.getValue()];
CaptureStaticProperties prop = currentCamera.getProperties().getStaticProperties();
int width, height;
if(oldRot.isRotated()!=newRot.isRotated()){
width = prop.mode.height;
height = prop.mode.width;
//Creates new video mode with new width and height to create new CaptureStaticProperties and applies it
currentCamera.getProperties().setStaticProperties(new CaptureStaticProperties(
new VideoMode(prop.mode.pixelFormat, width, height, prop.mode.fps), prop.fov));
}
prop = currentCamera.getProperties().getStaticProperties();
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = Arrays.asList(prop.mode.width / 2, prop.mode.height / 2);//Reset Crosshair in single point calib
break;
}
}
if (currentProcess.pipelineManager.getDriverMode()) {
setField(currentProcess.pipelineManager.driverModePipeline.settings, entry.getKey(), entry.getValue());
} else {
setField(currentPipeline.settings, entry.getKey(), entry.getValue());
}
//Post field value set
switch (entry.getKey()) {
case "exposure": {
currentCamera.setExposure((Integer) entry.getValue());
@@ -152,11 +176,13 @@ public class SocketHandler {
currentCamera.setBrightness((Integer) entry.getValue());
break;
}
case "videoModeIndex":{
case "videoModeIndex": {
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = new ArrayList<>();//This will reset the calibration
currentCamera.setVideoMode((Integer) entry.getValue());
break;
}
case "streamDivisor":{
case "streamDivisor": {
currentProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
break;
}

3
chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
View File

@@ -3,7 +3,7 @@ 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.CVPipeline2d;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
@@ -17,7 +17,6 @@ import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;