Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Vision work, move camera calcs to CameraValues class

Browse Source
This commit is contained in:
Banks Troutman
2019-09-16 04:08:23 -04:00
parent dc3936ad8f
commit 86b811a36d
5 changed files with 153 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

124
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
View File

@@ -1,63 +1,105 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CameraValues;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
public class CameraProcess implements Runnable{
import java.util.ArrayList;
import java.util.List;
public class CameraProcess implements Runnable {
private String CameraName;
private CameraServer cs = CameraServer.getInstance();
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry;
private MemoryManager memManager = new MemoryManager(125);
private int imgWidth, imgHeight;
public CameraProcess(String CameraName){
this.CameraName = CameraName;
// add pipeline
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + CameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
ntDriverModeEntry = ntTable.getEntry("Driver_Mode");
imgWidth = SettingsManager.Cameras.get(CameraName).camVideoMode.width;
imgHeight = SettingsManager.Cameras.get(CameraName).camVideoMode.height;
}
@Override
public void run() {
var cv_sink = cs.getVideo(SettingsManager.UsbCameras.get(CameraName));
var cv_publish = cs.putVideo(CameraName, imgWidth, imgHeight);
double fov = SettingsManager.Cameras.get(CameraName).FOV;
CameraValues camVals = new CameraValues(imgWidth, imgHeight, fov);
VisionProcess visionProcess = new VisionProcess(camVals);
Pipeline currentPipeline;
//calling all classes
CameraServer cs = CameraServer.getInstance();
NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
SettingsManager manager = SettingsManager.getInstance();
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
//Setting up camera and network table
var Table = networkTableInstance.getTable("/Chameleon-vision/" + CameraName);
var PipeLineEntry = Table.getEntry("Pipeline");
var DriverModeEntry = Table.getEntry("Driver_Mode");
var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
List<MatOfPoint> FoundContours = new ArrayList<>();
List<MatOfPoint> FilteredContours = new ArrayList<>();
Mat inputMat = new Mat();
Mat bgrMat = new Mat();
Mat hsvThreshMat = new Mat();
Mat outputMat = new Mat();
Mat contourBoxPointsMat = new Mat();
Scalar contourColor = new Scalar(255, 0, 0);
long startTime, endTime;
while (!Thread.interrupted()) {
startTime = System.nanoTime();
FoundContours.clear();
FilteredContours.clear();
int Width = manager.Cameras.get(CameraName).camVideoMode.width;
int Height = manager.Cameras.get(CameraName).camVideoMode.height;
var cv_publish = cs.putVideo(CameraName,Width,Height);
//initial math setup for camera
double DiagonalView = FastMath.toRadians(manager.Cameras.get(CameraName).FOV);
Fraction AspectFraction = new Fraction(Width,Height);
int HorizontalRatio = AspectFraction.getNumerator();
int VerticalRatio = AspectFraction.getDenominator();
double HorizontalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (HorizontalRatio / DiagonalView)) * 2;
double VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
double H_FOCAL_LENGTH = Width / (2 * FastMath.tan(HorizontalView /2));
double V_FOCAL_LENGTH = Width / (2 * FastMath.tan(VerticalView /2));
double CenterX = ((double) Width / 2) - 0.5;
double CenterY = ((double) Height/2) - 0.5;
double CamArea = (double)(Width * Height);
VisionProcess visionProcess = new VisionProcess(CenterX,CenterY,CamArea);
Mat mat = new Mat();
long time;
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
cv_sink.grabFrame(inputMat);
if (inputMat.cols() !=0 && inputMat.rows() != 0) {
Imgproc.cvtColor(inputMat, bgrMat, Imgproc.COLOR_RGB2BGR, 3);
while (!Thread.interrupted()){
Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
time = cv_sink.grabFrame(mat);
if (mat.cols() !=0 && mat.rows() != 0) {
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
// List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
// List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
cv_publish.putFrame(mat);
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
visionProcess.HSVThreshold(inputMat, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
FoundContours = visionProcess.FindContours(hsvThreshMat);
FilteredContours = visionProcess.FilterContours(FoundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent, currentPipeline.sort_mode, currentPipeline.target_intersection, currentPipeline.target_group);
if (currentPipeline.is_binary == 1) {
Imgproc.cvtColor(hsvThreshMat, hsvThreshMat, Imgproc.COLOR_GRAY2BGR, 3);
outputMat = hsvThreshMat;
} else {
outputMat = inputMat;
}
if (FilteredContours.size() > 0) {
for (int i = 0; i < FilteredContours.size(); i++) {
Imgproc.drawContours(outputMat, FilteredContours, i, contourColor, 3);
}
}
cv_publish.putFrame(outputMat);
inputMat.release();
hsvThreshMat.release();
for (MatOfPoint oldMat : FoundContours) { oldMat.release(); }
for (MatOfPoint oldMat1 : FilteredContours) { oldMat1.release(); }
}
memManager.run();
endTime = System.nanoTime();
}
}

51
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
View File

@@ -1,5 +1,6 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.CameraValues;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
@@ -18,48 +19,44 @@ public class VisionProcess {
put("Quintuple", 5);
}};
private double CamArea, CenterX, CenterY;
private final CameraValues CamVals;
VisionProcess(double CenterX, double CenterY, double CamArea){
this.CenterX = CenterX;
this.CenterY = CenterY;
this.CamArea = CamArea;
VisionProcess(CameraValues camVals){
CamVals = camVals;
}
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Mat hsvMat = new Mat();
private Mat hsvThreshMat = new Mat();
private Scalar hsvLower, hsvUpper;
private Mat hsvImage = new Mat();
Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation, @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Imgproc.cvtColor(image, hsvMat,Imgproc.COLOR_BGR2HSV,3);
hsvLower = new Scalar(hue.get(0), saturation.get(0), value.get(0));
hsvUpper = new Scalar(hue.get(1), saturation.get(1), value.get(1));
Core.inRange(hsvMat, hsvLower, hsvUpper, hsvThreshMat);
if (IsErode){
Imgproc.erode(hsvThreshMat, hsvThreshMat, Kernel);
void HSVThreshold(Mat srcImage, Mat dst, @NotNull Scalar hsvLower, @NotNull Scalar hsvUpper, boolean shouldErode, boolean shouldDilate) {
Imgproc.cvtColor(srcImage, hsvImage, Imgproc.COLOR_RGB2HSV,3);
Core.inRange(hsvImage, hsvLower, hsvUpper, dst);
if (shouldErode){
Imgproc.erode(dst, dst, Kernel);
}
if (IsDilate){
Imgproc.dilate(hsvThreshMat, hsvThreshMat, Kernel);
if (shouldDilate){
Imgproc.dilate(dst, dst, Kernel);
}
return hsvThreshMat;
hsvImage.release();
}
private List<MatOfPoint> FoundContours = new ArrayList<>();
public List<MatOfPoint> FindContours(Mat BinaryImage){
private Mat binaryMat = new Mat();
List<MatOfPoint> FindContours(Mat src) {
src.copyTo(binaryMat);
FoundContours.clear();
Imgproc.findContours(BinaryImage, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
BinaryImage.release();
Imgproc.findContours(binaryMat, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
binaryMat.release();
return FoundContours;
}
private List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
for (MatOfPoint Contour : InputContours){
try{
var contourArea = Imgproc.contourArea(Contour);
double targetArea = (contourArea / CamArea) * 100;
double targetArea = (contourArea / CamVals.ImageArea) * 100;
if (targetArea >= area.get(0) || targetArea <= area.get(1)){
continue;
}
@@ -74,15 +71,13 @@ public class VisionProcess {
}
FilteredContours.add(Contour);
}
catch (Exception e) {
}
catch (Exception ignored) { }
}
return FilteredContours;
}
private List<MatOfPoint> FinalCountours = new ArrayList<>();
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup) {
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
for (var i = 0; i < InputContours.size(); i++){
@@ -112,7 +107,7 @@ public class VisionProcess {
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
// Rect2d =
return true;
}
}