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UI Redesign (#22)

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* Rework UI into a new, responsive layout

* Send two streams (only one is currently downscaled)
This commit is contained in:
Declan Freeman-Gleason
2020-07-13 19:34:31 -07:00
committed by GitHub
parent aed92e7132
commit 8b46ad1cab
29 changed files with 945 additions and 559 deletions
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3
photon-server/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
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@@ -93,6 +93,7 @@ public class PhotonConfiguration {
public int currentPipelineIndex;
public List<String> pipelineNicknames;
public HashMap<Integer, HashMap<String, Object>> videoFormatList;
public int streamPort;
public int outputStreamPort;
public int inputStreamPort;
}
}

2
photon-server/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
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@@ -50,7 +50,7 @@ public class MJPGFrameConsumer implements FrameConsumer {
@Override
public void accept(Frame frame) {
if (!frame.image.getMat().empty()) {
if (frame != null && !frame.image.getMat().empty()) {
if (divisor != FrameDivisor.NONE) {
var tempMat = new Mat();
Imgproc.resize(

60
photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
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@@ -20,6 +20,7 @@ package org.photonvision.vision.pipeline;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
@@ -92,10 +93,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
hsvPipe.setParams(hsvParams);
OutputMatPipe.OutputMatParams outputMatParams =
new OutputMatPipe.OutputMatParams(settings.outputShowThresholded);
outputMatPipe.setParams(outputMatParams);
FindContoursPipe.FindContoursParams findContoursParams =
new FindContoursPipe.FindContoursParams();
findContoursPipe.setParams(findContoursParams);
@@ -161,6 +158,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
solvePNPPipe.setParams(solvePNPParams);
}
@SuppressWarnings("DuplicatedCode")
@Override
public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings) {
setPipeParams(frame.frameStaticProperties, settings);
@@ -180,12 +178,10 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
// mat leak fix attempt
// the first is the raw input mat, the second is the hsvpipe result
outputMats.first = rawInputMat;
outputMats.second = hsvPipeResult.result;
CVPipeResult<Mat> outputMatResult = outputMatPipe.apply(outputMats);
sumPipeNanosElapsed += outputMatResult.nanosElapsed;
CVPipeResult<List<Contour>> findContoursResult = findContoursPipe.apply(hsvPipeResult.result);
sumPipeNanosElapsed += findContoursResult.nanosElapsed;
@@ -224,30 +220,54 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
targetList = collect2dTargetsResult;
}
CVPipeResult<Mat> result;
CVPipeResult<Mat> drawOnInputResult, drawOnOutputResult;
CVPipeResult<Mat> draw2dCrosshairResult =
draw2dCrosshairPipe.apply(Pair.of(outputMatResult.result, targetList.result));
sumPipeNanosElapsed += draw2dCrosshairResult.nanosElapsed;
// the first is the raw input mat, the second is the hsvpipe result
// Draw on input
CVPipeResult<Mat> draw2dContoursResult =
CVPipeResult<Mat> draw2dCrosshairResultOnInput =
draw2dCrosshairPipe.apply(Pair.of(outputMats.first, targetList.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResultOnInput =
draw2DTargetsPipe.apply(
Pair.of(draw2dCrosshairResult.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dContoursResult.nanosElapsed;
Pair.of(draw2dCrosshairResultOnInput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
if (settings.solvePNPEnabled) {
result =
drawOnInputResult =
draw3dTargetsPipe.apply(
Pair.of(draw2dCrosshairResult.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += result.nanosElapsed;
Pair.of(draw2dContoursResultOnInput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += drawOnInputResult.nanosElapsed;
} else {
result = draw2dContoursResult;
drawOnInputResult = draw2dContoursResultOnInput;
}
// Draw on output
Imgproc.cvtColor(outputMats.second, outputMats.second, Imgproc.COLOR_GRAY2BGR, 3);
CVPipeResult<Mat> draw2dCrosshairResultOnOutput =
draw2dCrosshairPipe.apply(Pair.of(outputMats.second, targetList.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnOutput.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResultOnOutput =
draw2DTargetsPipe.apply(
Pair.of(draw2dCrosshairResultOnOutput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dContoursResultOnOutput.nanosElapsed;
if (settings.solvePNPEnabled) {
drawOnOutputResult =
draw3dTargetsPipe.apply(
Pair.of(draw2dContoursResultOnOutput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += drawOnOutputResult.nanosElapsed;
} else {
drawOnOutputResult = draw2dContoursResultOnOutput;
}
// TODO: Implement all the things
return new CVPipelineResult(
MathUtils.nanosToMillis(sumPipeNanosElapsed),
collect2dTargetsResult.result,
new Frame(new CVMat(result.result), frame.frameStaticProperties));
new Frame(new CVMat(outputMats.second), frame.frameStaticProperties),
new Frame(new CVMat(outputMats.first), frame.frameStaticProperties));
}
}

10
photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
View File

@@ -27,12 +27,19 @@ public class CVPipelineResult implements Releasable {
public final double processingMillis;
public final List<TrackedTarget> targets;
public final Frame outputFrame;
public final Frame inputFrame;
public CVPipelineResult(double processingMillis, List<TrackedTarget> targets, Frame outputFrame) {
public CVPipelineResult(
double processingMillis, List<TrackedTarget> targets, Frame outputFrame, Frame inputFrame) {
this.processingMillis = processingMillis;
this.targets = targets;
this.outputFrame = Frame.copyFrom(outputFrame);
this.inputFrame = inputFrame != null ? Frame.copyFrom(inputFrame) : null;
}
public CVPipelineResult(double processingMillis, List<TrackedTarget> targets, Frame outputFrame) {
this(processingMillis, targets, outputFrame, null);
}
public boolean hasTargets() {
@@ -44,6 +51,7 @@ public class CVPipelineResult implements Releasable {
tt.release();
}
outputFrame.release();
if (inputFrame != null) inputFrame.release();
}
public double getLatencyMillis() {

44
photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -60,12 +60,13 @@ public class VisionModule {
private final LinkedList<FrameConsumer> frameConsumers = new LinkedList<>();
private final NTDataPublisher ntConsumer;
private final int moduleIndex;
private final MJPGFrameConsumer uiStreamer;
private long lastUIResultUpdateTime = 0;
private long lastRunTime = 0;
private MedianFilter fpsAverager = new MedianFilter(10);
private MJPGFrameConsumer dashboardStreamer;
private MJPGFrameConsumer dashboardOutputStreamer;
private MJPGFrameConsumer dashboardInputStreamer;
public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
logger =
@@ -84,11 +85,20 @@ public class VisionModule {
DataChangeService.getInstance().addSubscriber(new VisionSettingChangeSubscriber());
dashboardStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName);
uiStreamer = new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().nickname);
addFrameConsumer(dashboardStreamer);
addFrameConsumer(uiStreamer);
dashboardOutputStreamer =
new MJPGFrameConsumer(
visionSource.getSettables().getConfiguration().uniqueName + "-output");
dashboardInputStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName + "-input");
addResultConsumer(
result -> {
dashboardInputStreamer.accept(result.inputFrame);
});
addResultConsumer(
result -> {
dashboardOutputStreamer.accept(result.outputFrame);
});
ntConsumer =
new NTDataPublisher(
@@ -140,7 +150,7 @@ public class VisionModule {
setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
dashboardStreamer.setFrameDivisor(
dashboardOutputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
}
@@ -215,6 +225,11 @@ public class VisionModule {
setPipeline(index);
saveAndBroadcast();
return;
case "selectedOutputs":
// 0 indicates normal, 1 indicates thresholded
var outputs = (ArrayList<Integer>) newPropValue;
// TODO
return;
}
// special case for camera settables
@@ -265,7 +280,7 @@ public class VisionModule {
// special case for extra tasks to perform after setting PipelineSettings
if (propName.equals("outputFrameDivisor")) {
dashboardStreamer.setFrameDivisor(
dashboardOutputStreamer.setFrameDivisor(
pipelineManager.getCurrentPipelineSettings().outputFrameDivisor);
}
@@ -322,10 +337,10 @@ public class VisionModule {
visionSource.getSettables().getConfiguration().nickname = newName;
ntConsumer.updateCameraNickname(newName);
frameConsumers.remove(dashboardStreamer);
dashboardStreamer =
frameConsumers.remove(dashboardOutputStreamer);
dashboardOutputStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().nickname);
frameConsumers.add(dashboardStreamer);
frameConsumers.add(dashboardOutputStreamer);
saveAndBroadcast();
}
@@ -355,8 +370,9 @@ public class VisionModule {
temp.put(k, internalMap);
}
ret.videoFormatList = temp;
ret.streamPort = dashboardStreamer.getCurrentStreamPort();
// ret.uiStreamPort = uiStreamer.getCurrentStreamPort();
ret.outputStreamPort = dashboardOutputStreamer.getCurrentStreamPort();
ret.inputStreamPort = dashboardInputStreamer.getCurrentStreamPort();
// ret.uiStreamPort = uiStreamer.getCurrentStreamPort();
return ret;
}

2
photon-server/src/main/java/org/photonvision/vision/target/TrackedTarget.java
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@@ -43,7 +43,7 @@ public class TrackedTarget implements Releasable {
private double m_yaw;
private double m_area;
private Pose2d m_robotRelativePose;
private Pose2d m_robotRelativePose = new Pose2d();
private Mat m_cameraRelativeTvec, m_cameraRelativeRvec;