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Create speckle rejection code and add to VisionProcess

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Isn't yet added to the GUI
This commit is contained in:
Matt M
2019-10-23 21:39:47 +00:00
committed by ori agranat
parent 12c409b953
commit 910d377440
14 changed files with 37 additions and 124 deletions
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6
Main/pom.xml
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@@ -5,7 +5,7 @@
<modelVersion>4.0.0</modelVersion>
<groupId>org.chameleon-vision.main</groupId>
<artifactId>chameleon-vision</artifactId>
<version>1.1.3-BETA</version>
<version>1.1.4-BETA</version>
<build>
<plugins>
<!--setup for java jdk 12-->
@@ -14,7 +14,9 @@
<artifactId>maven-compiler-plugin</artifactId>
<version>3.8.0</version>
<configuration>
<release>12</release>
<source>12</source>
<target>12</target>
<verbose>true</verbose>
</configuration>
</plugin>
<plugin>

8
Main/src/main/java/com/chameleonvision/Main.java
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@@ -24,7 +24,6 @@ public class Main {
private static final int DEFAULT_PORT = 8888;
private static int webserverPort = DEFAULT_PORT;
private static boolean ntServerMode = false;
private static boolean manageNetwork = true;
private static boolean ignoreRoot = false;
@@ -43,7 +42,7 @@ public class Main {
}
}
public static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
@@ -127,12 +126,10 @@ public class Main {
// Attempt to load the JNI Libraries
try {
if (CurrentPlatform.equals(Platform.LINUX_ARM64))
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (IOException e) {
var errorStr = CurrentPlatform.equals(Platform.UNSUPPORTED) ? "Unsupported platform!" : "Failed to load JNI Libraries!";
throw new RuntimeException(errorStr);
throw new RuntimeException("Failed to load JNI Libraries!");
}
if (CameraManager.initializeCameras()) {
@@ -152,6 +149,7 @@ public class Main {
}
}
int webserverPort = DEFAULT_PORT;
System.out.printf("Starting Webserver at port %d\n", webserverPort);
Server.main(webserverPort);
} else {

9
Main/src/main/java/com/chameleonvision/network/LinuxNetworking.java
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@@ -1,22 +1,13 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.ShellExec;
import java.io.BufferedOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.SocketException;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
public class LinuxNetworking extends SysNetworking {
private ShellExec shell = new ShellExec(true, true);
@Override
public boolean setDHCP() {
String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };

9
Main/src/main/java/com/chameleonvision/network/NetworkInterface.java
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@@ -1,10 +1,8 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.GeneralSettings;
import java.net.InetAddress;
import java.net.InterfaceAddress;
@SuppressWarnings("WeakerAccess")
public class NetworkInterface {
public final String name;
public final String displayName;
@@ -43,9 +41,8 @@ public class NetworkInterface {
}
// Transform the resulting value in xxx.xxx.xxx.xxx format, like if
/// it was a standard address...
String maskString = ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
// Return the address thus created...
return maskString;
// Return the address thus created...
return ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
// return InetAddress.getByName(maskString);
}
catch(Exception e) {

10
Main/src/main/java/com/chameleonvision/network/NetworkManager.java
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@@ -1,7 +1,6 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
@@ -12,8 +11,7 @@ import java.util.List;
public class NetworkManager {
private NetworkManager() {}
protected static SysNetworking networking;
protected static NetworkInterface botInterface = null;
private static SysNetworking networking;
private static boolean isManaged = false;
public static void initialize(boolean manage) {
@@ -64,7 +62,7 @@ public class NetworkManager {
return;
}
botInterface = goodInterfaces.get(0);
NetworkInterface botInterface = goodInterfaces.get(0);
networking.setNetworkInterface(botInterface);
} else {
isManaged = false;
@@ -78,6 +76,10 @@ public class NetworkManager {
}
}
private static byte[] GetTeamNumberIPBytes(int teamNumber) {
return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
}
private static boolean loadFromGeneralSettings() {
if (!isManaged) {
return true;

1
Main/src/main/java/com/chameleonvision/network/SysNetworking.java
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@@ -5,7 +5,6 @@ import com.chameleonvision.util.ShellExec;
import java.io.IOException;
import java.net.SocketException;
import java.util.List;
import java.util.Scanner;
public abstract class SysNetworking {

3
Main/src/main/java/com/chameleonvision/network/WindowsNetworking.java
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@@ -1,8 +1,5 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.NetworkSettings;
import com.chameleonvision.settings.SettingsManager;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.Collections;

80
Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java
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@@ -1,80 +0,0 @@
package com.chameleonvision.settings;
import java.net.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Enumeration;
import com.chameleonvision.util.Utilities;
import org.apache.commons.lang3.StringUtils;
import org.apache.commons.lang3.SystemUtils;
public class NetworkSettings {
public String connectionType, ip, netmask, gateway, hostname;
public void run() {
// String adapter = getAdapter();
if (SystemUtils.IS_OS_LINUX) {//TODO check linux commands
String adapter = getAdapter();
if (!adapter.equals("")) {
executeCommand("ifconfig " + adapter + " down");
if (connectionType.equals("DHCP"))
executeCommand("dhclient -r " + adapter);
else if (connectionType.equals("Static")) {
executeCommand("ifconfig " + adapter + " " + this.ip + " netmask " + this.netmask);
executeCommand("route add default gw " + this.gateway + " " + adapter);
}
executeCommand("ifconfig " + adapter + " up");
}
executeCommand("hostnamectl set-hostname " + this.hostname);
}
// //TODO check windows commands
// else if (SystemUtils.IS_OS_WINDOWS) {
// if (!adapter.equals("")) {
// if (connectionType.equals("DHCP")){
// executeCommand("cmd /c interface ip set address \"" + adapter + "\" dhcp");
// }
// else if (connectionType.equals("Static")) {
// executeCommand("cmd /c netsh interface ip set address \"" + adapter + "\" static " + this.ip + " " + this.netmask + " " + this.gateway + "1");
// }
// }
// //TODO find a way to change hostname in windows
// }
}
private void executeCommand(String command) {
try {
Process p = Runtime.getRuntime().exec(command);
System.out.println("Executing "+ command);
p.waitFor();
p.destroy();
} catch (Exception e) {
System.err.println("Error while executing command!");
e.printStackTrace();
}
}
public static byte[] GetTeamNumberIPBytes(int teamNumber) {
return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
}
public static String getAdapter() {
try {//TODO fix windows get adapter
Enumeration<NetworkInterface> nets = NetworkInterface.getNetworkInterfaces();
for (NetworkInterface netint : Collections.list(nets)) {
Enumeration<InetAddress> ee = netint.getInetAddresses();
for (InetAddress addr : Collections.list(ee))
if (addr instanceof Inet4Address) {
var addrString = addr.toString();
if ((addr.getAddress()[0] & 0xFF) == 10 && (addr.getAddress()[1] & 0xFF) == 168) {
System.out.println("found robot network interface at " + netint.getName() + " ip: " + addr.getHostAddress());
return netint.getName();
}
}
}
} catch (SocketException e) {
System.err.println("Socket exception while trying to find current IP");
}
return "";
}
}

4
Main/src/main/java/com/chameleonvision/settings/Platform.java
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@@ -45,7 +45,9 @@ public enum Platform {
} catch (IOException e) {
e.printStackTrace();
}
while (!shell.isOutputCompleted()) {}
while (!shell.isOutputCompleted()) {
// ignored
}
if (shell.getExitCode() == 0) {
var out = shell.getOutput();
out = out.split("\n")[0];

11
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
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@@ -1,6 +1,5 @@
package com.chameleonvision.settings;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.vision.camera.CameraManager;
import com.google.gson.Gson;
@@ -21,16 +20,6 @@ public class SettingsManager {
public static void initialize() {
initGeneralSettings();
// if (manageNetwork) {
// NetworkSettings netSettings = new NetworkSettings();
// netSettings.hostname = GeneralSettings.hostname;
// netSettings.gateway = GeneralSettings.gateway;
// netSettings.netmask = GeneralSettings.netmask;
// netSettings.connectionType = GeneralSettings.connection_type;
// netSettings.ip = GeneralSettings.ip;
// netSettings.run();
// }
var allCameras = CameraManager.getAllCamerasByName();
if (!allCameras.containsKey(GeneralSettings.currentCamera) && allCameras.size() > 0) {
var cam = allCameras.entrySet().stream().findFirst().get().getValue();

2
Main/src/main/java/com/chameleonvision/util/ShellExec.java
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@@ -101,7 +101,7 @@ public class ShellExec {
* http://www.javaworld.com/javaworld/jw-12-2000/jw-1229-traps.html?page=4
*/
@SuppressWarnings("WeakerAccess")
private class StreamGobbler extends Thread {
private static class StreamGobbler extends Thread {
private InputStream is;
private StringBuilder output;
private volatile boolean completed; // mark volatile to guarantee a thread safety

2
Main/src/main/java/com/chameleonvision/util/Utilities.java
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@@ -26,7 +26,7 @@ public class Utilities {
}
public static List<Integer> getDigits(int num) {
List<Integer> digits = new ArrayList<Integer>();
List<Integer> digits = new ArrayList<>();
collectDigits(num, digits);
return digits;
}

15
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -24,6 +24,7 @@ public class CVProcess {
private Mat binaryMat = new Mat();
private List<MatOfPoint> filteredContours = new ArrayList<>();
private Comparator<RotatedRect> sortByCentermostComparator = Comparator.comparingDouble(this::calcDistance);
private List<MatOfPoint> speckleRejectedContours = new ArrayList<>();
private Comparator<MatOfPoint> sortByMomentsX = Comparator.comparingDouble(this::calcMomentsX);
private List<RotatedRect> finalCountours = new ArrayList<>();
private MatOfPoint2f intersectMatA = new MatOfPoint2f();
@@ -86,6 +87,20 @@ public class CVProcess {
return filteredContours;
}
List<MatOfPoint> rejectSpeckles(List<MatOfPoint> inputContours, Double minimumPercentOfAverage) {
double averageArea = 0.0;
for(MatOfPoint c : inputContours) {
averageArea += Imgproc.contourArea(c);
}
averageArea /= inputContours.size();
var minimumAllowableArea = minimumPercentOfAverage / 100.0 * averageArea;
speckleRejectedContours.clear();
for(MatOfPoint c : inputContours) {
if(Imgproc.contourArea(c) >= minimumAllowableArea) speckleRejectedContours.add(c);
}
return speckleRejectedContours;
}
private double calcDistance(RotatedRect rect) {
return FastMath.sqrt(FastMath.pow(cameraValues.CenterX - rect.center.x, 2) + FastMath.pow(cameraValues.CenterY - rect.center.y, 2));
}

1
Main/src/main/java/com/chameleonvision/vision/process/PipelineResult.java
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@@ -2,6 +2,7 @@ package com.chameleonvision.vision.process;
import org.opencv.core.RotatedRect;
@SuppressWarnings("WeakerAccess")
public class PipelineResult {
public boolean IsValid = false;
public double CalibratedX = 0.0;