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Begin work on VisionProcess, refinement of CVPipeline interactions

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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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68
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,5 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.classabstraction.pipeline.CVPipeline2d;
import com.chameleonvision.classabstraction.pipeline.DriverVisionPipeline;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
@@ -12,6 +14,8 @@ import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import static com.chameleonvision.classabstraction.pipeline.CVPipeline2d.*;
public class VisionProcess implements Runnable {
private final String cameraName;
@@ -29,6 +33,10 @@ public class VisionProcess implements Runnable {
// chameleon specific
private Pipeline currentPipeline;
private CVProcess cvProcess;
private CVPipeline2d cvPipeline2d;
private DriverVisionPipeline driverVisionPipeline;
// pipeline process items
// private List<MatOfPoint> foundContours = new ArrayList<>();
// private List<MatOfPoint> filteredContours = new ArrayList<>();
@@ -41,7 +49,6 @@ public class VisionProcess implements Runnable {
public VisionProcess(CameraProcess cameraProcess) {
// USBCameraProcess settings
cvProcess = new StandardCVProcess(cameraProcess.getCamVals());
this.cameraProcess = cameraProcess; // new USBCameraProcess(cameraProcess);
@@ -95,15 +102,58 @@ public class VisionProcess implements Runnable {
}
}
private CVPipeline2dSettings pipelineTo2dSettings(Pipeline pipeline) {
CVPipeline2dSettings settings = new CVPipeline2dSettings();
settings.hue = pipeline.hue;
settings.saturation = pipeline.saturation;
settings.value = pipeline.value;
settings.erode = pipeline.erode;
settings.dilate = pipeline.dilate;
settings.area = pipeline.area;
settings.ratio = pipeline.ratio;
settings.extent = pipeline.extent;
settings.speckle = pipeline.speckle;
settings.isBinary = pipeline.isBinary;
settings.sortMode = pipeline.sortMode;
settings.targetGroup = pipeline.targetGroup;
settings.targetIntersection = pipeline.targetIntersection;
settings.point = pipeline.point;
settings.calibrationMode = pipeline.calibrationMode;
settings.nickname = pipeline.nickname;
settings.exposure = pipeline.exposure;
settings.brightness = pipeline.brightness;
settings.dualTargetCalibrationM = pipeline.m;
settings.dualTargetCalibrationB = pipeline.b;
return settings;
}
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
return cvProcess.runPipeline(
currentPipeline,
inputImage,
outputImage,
cameraProcess.getCamVals(),
currentPipeline.orientation.equals(Orientation.Inverted),
cameraProcess.getDriverMode()
);
if (cvPipeline2d == null) {
cvPipeline2d = new CVPipeline2d(() -> pipelineTo2dSettings(currentPipeline));
}
CVPipeline2dResult result = cvPipeline2d.runPipeline(inputImage);
result.outputMat.copyTo(outputImage);
PipelineResult pipeResult = new PipelineResult();
pipeResult.IsValid = result.hasTarget;
if (!pipeResult.IsValid) {
pipeResult.CalibratedX = 0;
pipeResult.CalibratedY = 0;
pipeResult.Pitch = 0;
pipeResult.Yaw = 0;
pipeResult.Area = 0;
} else {
Target t = result.targets.get(0);
pipeResult.CalibratedX = t.calibratedX;
pipeResult.CalibratedY = t.calibratedY;
pipeResult.Pitch = t.pitch;
pipeResult.Yaw = t.yaw;
pipeResult.Area = t.area;
}
return pipeResult;
}
@Override