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changed all double and int data type to Number

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added pipeline change handle in ui
This commit is contained in:
ori agranat
2019-10-14 23:35:29 +03:00
parent 221c1b7bfd
commit 91a1338022
6 changed files with 36 additions and 20 deletions
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13
Main/src/main/java/com/chameleonvision/util/MathHandler.java
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@@ -1,24 +1,27 @@
package com.chameleonvision.util;
import java.lang.Math;
import edu.wpi.first.wpiutil.math.Num;
import org.apache.commons.math3.util.FastMath;
public class MathHandler {
MathHandler() {}
public static double sigmoid(double x){
public static double sigmoid(Number x){
double bias = 0;
double a = 5;
double b = -0.05;
double k = 200;
if (x < 50){
if (x.doubleValue() < 50){
bias = -1.338;
}
return ((k / (1 + Math.pow(Math.E,(a + (b * x))))) + bias);
return ((k / (1 + Math.pow(Math.E,(a + (b * x.doubleValue()))))) + bias);
}
public static double toSlope(double angle){
return FastMath.atan(FastMath.toRadians(angle - 90));
public static double toSlope(Number angle){
return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
}
}

12
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -8,14 +8,14 @@ public class Pipeline {
public int exposure = 50;
public int brightness = 50;
public Orientation orientation = Orientation.Normal;
public List<Integer> hue = Arrays.asList(50, 180);
public List<Integer> saturation = Arrays.asList(50, 255);
public List<Integer> value = Arrays.asList(50, 255);
public List<Number> hue = Arrays.asList(50, 180);
public List<Number> saturation = Arrays.asList(50, 255);
public List<Number> value = Arrays.asList(50, 255);
public boolean erode = false;
public boolean dilate = false;
public List<Float> area = Arrays.asList(0f, 100f);
public List<Float> ratio = Arrays.asList(0f, 20f);
public List<Integer> extent = Arrays.asList(0, 100);
public List<Number> area = Arrays.asList(0.0, 100.0);
public List<Number> ratio = Arrays.asList(0.0, 20.0);
public List<Number> extent = Arrays.asList(0, 100);
public boolean isBinary = false;
public SortMode sortMode = SortMode.Largest;
public TargetGroup targetGroup = TargetGroup.Single;

8
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -54,7 +54,7 @@ public class CVProcess {
return foundContours;
}
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Float> area, List<Float> ratio, List<Integer> extent) {
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Number> area, List<Number> ratio, List<Number> extent) {
for (MatOfPoint Contour : inputContours) {
try {
double contourArea = Imgproc.contourArea(Contour);
@@ -67,14 +67,14 @@ public class CVProcess {
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = contourArea;
double minExtent = (double) (extent.get(0) * rect.size.area()) / 100;
double maxExtent = (double) (extent.get(1) * rect.size.area()) / 100;
double minExtent = (double) (extent.get(0).doubleValue() * rect.size.area()) / 100;
double maxExtent = (double) (extent.get(1).doubleValue() * rect.size.area()) / 100;
if (targetFullness <= minExtent || contourArea >= maxExtent) {
continue;
}
Rect bb = Imgproc.boundingRect(Contour);
double aspectRatio = (bb.width / bb.height);
if (aspectRatio < ratio.get(0) || aspectRatio > ratio.get(1)) {
if (aspectRatio < ratio.get(0).doubleValue() || aspectRatio > ratio.get(1).doubleValue()) {
continue;
}
filteredContours.add(Contour);

4
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -143,8 +143,8 @@ public class VisionProcess implements Runnable {
inputImage.copyTo(outputImage);
return pipelineResult;
}
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));
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);

14
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -18,6 +18,7 @@ import org.springframework.beans.BeanUtils;
import java.io.IOException;
import java.lang.reflect.Field;
import java.lang.reflect.ParameterizedType;
import java.nio.ByteBuffer;
import java.util.*;
@@ -71,13 +72,21 @@ public class ServerHandler {
case "currentPipeline": {
CameraManager.getCurrentCamera().setCurrentPipelineIndex((Integer) entry.getValue());
HashMap<String,Object> tmp = new HashMap<>();
tmp.put("pipeline",CameraManager.getCurrentCamera().getCurrentPipeline());
tmp.put("pipeline",getOrdinalPipeline());
//TODO Add cam settings to the map
broadcastMessage(tmp);
break;
}
default: {
setField(CameraManager.getCurrentCamera().getCurrentPipeline(),entry.getKey(),entry.getValue());
switch (entry.getKey()){
case "exposure":{
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
}
case "brightness":{
CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
}
}
break;
}
}
@@ -97,7 +106,8 @@ public class ServerHandler {
field.set(obj,value);
}
} else if(field.getType() == List.class){
field.set(obj,value);
// if(((ParameterizedType)field.getGenericType()).getActualTypeArguments()[0] == Double.class){
field.set(obj,value);
}
} catch (NoSuchFieldException | IllegalAccessException ex) {
ex.printStackTrace();