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Continue plumbing ServerHandler

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This commit is contained in:
Banks Troutman
2019-11-23 04:05:37 -05:00
parent b19ae1f43b
commit 9b3e611eaa
21 changed files with 362 additions and 280 deletions
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22
Main/src/main/java/com/chameleonvision/classabstraction/pipeline/CVPipeline2d.java
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@@ -8,7 +8,6 @@ import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import java.util.List;
import java.util.function.Supplier;
import static com.chameleonvision.classabstraction.pipeline.CVPipeline2d.*;
@@ -18,8 +17,16 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
private Mat rawCameraMat = new Mat();
private Mat hsvOutputMat = new Mat();
public CVPipeline2d(Supplier<CVPipeline2dSettings> settingsSupplier) {
super(settingsSupplier);
public CVPipeline2d() {
super(new CVPipeline2dSettings());
}
public CVPipeline2d(String name) {
super(name, new CVPipeline2dSettings());
}
public CVPipeline2d(CVPipeline2dSettings settings) {
super(settings);
}
@Override
@@ -32,7 +39,6 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
long totalProcessTimeNanos = 0;
StringBuilder procTimeStringBuilder = new StringBuilder();
var settings = settingsSupplier.get();
CameraStaticProperties camProps = cameraProcess.getProperties().staticProperties;
rawCameraMat = inputMat;
@@ -104,7 +110,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
totalProcessTimeNanos += sortContoursResult.getRight();
procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000.0));
Pair<List<Target>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
totalProcessTimeNanos += collect2dTargetsResult.getRight();
procTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000.0));
@@ -124,13 +130,13 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalProcessTimeNanos / 1000);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target> {
public CVPipeline2dResult(List<Target> targets, Mat outputMat, long processTime) {
public static class CVPipeline2dResult extends CVPipelineResult<Target2d> {
public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTime) {
super(targets, outputMat, processTime);
}
}
public static class Target {
public static class Target2d {
public double calibratedX = 0.0;
public double calibratedY = 0.0;
public double pitch = 0.0;