Create speckle rejection code and add to VisionProcess

Isn't yet added to the GUI

Main/pom.xml

@@ -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>

Main/src/main/java/com/chameleonvision/Main.java

@@ -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("Failed to load JNI Libraries!");
-            throw new RuntimeException(errorStr);
         }
 
         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 {

Main/src/main/java/com/chameleonvision/network/LinuxNetworking.java

@@ -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 };

Main/src/main/java/com/chameleonvision/network/NetworkInterface.java

@@ -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 the address thus created...
+            return ((shiftby >> 24) & 255) + "." + ((shiftby >> 16) & 255) + "." + ((shiftby >> 8) & 255) + "." + (shiftby & 255);
-            return maskString;
 //            return InetAddress.getByName(maskString);
         }
         catch(Exception e) {

Main/src/main/java/com/chameleonvision/network/NetworkManager.java

@@ -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;
+	private static SysNetworking networking;
-	protected static NetworkInterface botInterface = null;
 	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;

Main/src/main/java/com/chameleonvision/network/SysNetworking.java

@@ -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 {
 

Main/src/main/java/com/chameleonvision/network/WindowsNetworking.java

@@ -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;

Main/src/main/java/com/chameleonvision/settings/NetworkSettings.java

@@ -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 "";
-    }
-}

Main/src/main/java/com/chameleonvision/settings/Platform.java

@@ -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];

Main/src/main/java/com/chameleonvision/settings/SettingsManager.java

@@ -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();

Main/src/main/java/com/chameleonvision/util/ShellExec.java

@@ -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

Main/src/main/java/com/chameleonvision/util/Utilities.java

@@ -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;
     }

Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java

@@ -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));
     }

Main/src/main/java/com/chameleonvision/vision/process/PipelineResult.java

@@ -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;