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Begin work on VisionProcess, refinement of CVPipeline interactions

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This commit is contained in:
Banks Troutman
2019-11-10 11:47:56 -05:00
parent 1e7f380f07
commit 80f711c37c
13 changed files with 300 additions and 110 deletions
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29
Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline2d.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.classabstraction.pipeline;
import com.chameleonvision.classabstraction.camera.CameraProcess;
import com.chameleonvision.classabstraction.camera.CameraStaticProperties;
import com.chameleonvision.classabstraction.pipeline.pipes.*;
import com.chameleonvision.vision.ImageRotation;
@@ -9,29 +8,26 @@ import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import java.util.List;
import java.util.function.Supplier;
import static com.chameleonvision.classabstraction.pipeline.CVPipeline2d.*;
@SuppressWarnings("WeakerAccess")
public class CVPipeline2d extends CVPipeline<CVPipeline2d.CVPipeline2dResult, CVPipeline2d.CVPipeline2dSettings> {
private CameraProcess cameraProcess;
public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {
private Mat rawCameraMat = new Mat();
private Mat hsvOutputMat = new Mat();
public CVPipeline2d(CVPipeline2dSettings settings) {
super(settings);
public CVPipeline2d(Supplier<CVPipeline2dSettings> settingsSupplier) {
super(settingsSupplier);
}
@Override
void initPipeline(CameraProcess cam) {
cameraProcess = cam;
}
@Override
CVPipeline2d.CVPipeline2dResult runPipeline(Mat inputMat) {
public CVPipeline2dResult runPipeline(Mat inputMat) {
long totalProcessTimeNanos = 0;
StringBuilder procTimeStringBuilder = new StringBuilder();
var settings = settingsSupplier.get();
CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
inputMat.copyTo(rawCameraMat);
@@ -123,16 +119,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2d.CVPipeline2dResult, CV
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft());
}
public static class CVPipeline2dSettings extends CVPipelineSettings {
double dualTargetCalibrationM = 1;
double dualTargetCalibrationB = 0;
}
public static class CVPipeline2dResult extends CVPipelineResult<Target> {
public CVPipeline2dResult(List<Target> targets, Mat outputMat) {
this.targets = targets;
this.hasTarget = !targets.isEmpty();
this.outputMat = outputMat;
super(targets, outputMat);
}
}