diff --git a/README.md b/README.md index c467fba49..549733a59 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,8 @@ # Chameleon-Vision -[![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/dev?label=dev&logo=name)](https://circleci.com/gh/Chameleon-Vision/workflows/chameleon-vision/tree/dev) -[![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/master?label=master&logo=name)](https://circleci.com/gh/Chameleon-Vision/workflows/chameleon-vision/tree/master) +[![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/dev?label=dev&logo=name)](https://circleci.com/gh/Chameleon-Vision/chameleon-vision/tree/dev) +[![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/master?label=master&logo=name)](https://circleci.com/gh/Chameleon-Vision/chameleon-vision/tree/master) Chameleon Vision is free open-source software for FRC teams to use for vision proccesing on their robots. diff --git a/chameleon-client/src/assets/FRCtargets.json b/chameleon-client/src/assets/FRCtargets.json new file mode 100644 index 000000000..12a8babe4 --- /dev/null +++ b/chameleon-client/src/assets/FRCtargets.json @@ -0,0 +1,14 @@ +{ + "2020 Hex Goal": [ + [-19.625, 0], + [-9.819867, -17], + [9.819867, -17], + [19.625,0] + ], + "2019 Dual Target": [ + [-7.75, 3], + [-7.75, -3], + [7.75, -3], + [7.75, 3] + ] +} \ No newline at end of file diff --git a/chameleon-client/src/views/CameraViewes/3D.vue b/chameleon-client/src/views/CameraViewes/3D.vue index 6d551b7ed..5a76c92c1 100644 --- a/chameleon-client/src/views/CameraViewes/3D.vue +++ b/chameleon-client/src/views/CameraViewes/3D.vue @@ -4,35 +4,44 @@ - - - - - - + + + + mdi-upload + upload model + + + + + + + + + + Upload Premade + - diff --git a/chameleon-client/src/views/CameraViewes/InputTab.vue b/chameleon-client/src/views/CameraViewes/InputTab.vue index f844eb445..181b907bc 100644 --- a/chameleon-client/src/views/CameraViewes/InputTab.vue +++ b/chameleon-client/src/views/CameraViewes/InputTab.vue @@ -2,9 +2,12 @@
+ - +
@@ -46,9 +49,9 @@ streamResolutionList: { get() { let cam_res = this.$store.state.resolutionList[this.value.videoModeIndex]; - let tmp_list = []; + let tmp_list = []; tmp_list.push(`${Math.floor(cam_res['width'])} X ${Math.floor(cam_res['height'])}`); - for (let x = 2; x <= 6; x+=2) { + for (let x = 2; x <= 6; x += 2) { tmp_list.push(`${Math.floor(cam_res['width'] / x)} X ${Math.floor(cam_res['height'] / x)}`); } return tmp_list; diff --git a/chameleon-server/chameleon-vision.iml b/chameleon-server/chameleon-vision.iml index 93abb3b87..11b1a05d0 100644 --- a/chameleon-server/chameleon-vision.iml +++ b/chameleon-server/chameleon-vision.iml @@ -49,20 +49,20 @@ - - - - - - - - - - - - - - + + + + + + + + + + + + + + diff --git a/chameleon-server/pom.xml b/chameleon-server/pom.xml index 1eddbcfc4..c5a1f3c64 100644 --- a/chameleon-server/pom.xml +++ b/chameleon-server/pom.xml @@ -5,7 +5,8 @@ 4.0.0 org.chameleon-vision.main chameleon-vision - 2.1.1-RELEASE + + 2.2-RELEASE @@ -44,8 +45,11 @@ UTF-8 - 2020.1.2 + 2020.2.2 3.4.7-2 + + + 12 diff --git a/chameleon-server/src/main/java/com/chameleonvision/Main.java b/chameleon-server/src/main/java/com/chameleonvision/Main.java index 53c8953fa..7c97b9fe9 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/Main.java +++ b/chameleon-server/src/main/java/com/chameleonvision/Main.java @@ -2,20 +2,17 @@ package com.chameleonvision; import com.chameleonvision.config.ConfigManager; import com.chameleonvision.network.NetworkManager; +import com.chameleonvision.networktables.NetworkTablesManager; import com.chameleonvision.scripting.ScriptEventType; import com.chameleonvision.scripting.ScriptManager; import com.chameleonvision.util.Platform; -import com.chameleonvision.util.ShellExec; import com.chameleonvision.util.Utilities; import com.chameleonvision.vision.VisionManager; import com.chameleonvision.web.Server; import edu.wpi.cscore.CameraServerCvJNI; import edu.wpi.cscore.CameraServerJNI; -import edu.wpi.first.networktables.LogMessage; -import edu.wpi.first.networktables.NetworkTableInstance; import java.io.IOException; -import java.util.function.Consumer; import static com.chameleonvision.util.Platform.CurrentPlatform; @@ -26,6 +23,7 @@ public class Main { private static final String NETWORK_MANAGE_KEY = "--unmanage-network"; // no args for this setting private static final String IGNORE_ROOT_KEY = "--ignore-root"; // no args for this setting private static final String TEST_MODE_KEY = "--cv-development"; + private static final String UI_PORT_KEY = "--ui-port"; private static final int DEFAULT_PORT = 5800; @@ -34,21 +32,7 @@ public class Main { private static boolean ignoreRoot = false; private static String ntClientModeServer = null; public static boolean testMode = false; - - private static class NTLogger implements Consumer { - - private boolean hasReportedConnectionFailure = false; - - @Override - public void accept(LogMessage logMessage) { - if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) { - System.err.println("NT Connection has failed!"); - hasReportedConnectionFailure = true; - } else if (logMessage.message.contains("connected")) { - ScriptManager.queueEvent(ScriptEventType.kNTConnected); - } - } - } + public static int uiPort = DEFAULT_PORT; private static void handleArgs(String[] args) { for (int i = 0; i < args.length; i++) { @@ -65,6 +49,13 @@ public class Main { } i++; // increment to skip an 'arg' next go-around of for loop, as that would be this value break; + case UI_PORT_KEY: + var potentialPort = args[i + 1]; + if (potentialPort != null && !potentialPort.isBlank() && !potentialPort.startsWith("-") & !potentialPort.startsWith("--")) { + value = potentialPort; + } + i++; + break; case NT_SERVERMODE_KEY: case NETWORK_MANAGE_KEY: case IGNORE_ROOT_KEY: @@ -101,6 +92,15 @@ public class Main { case TEST_MODE_KEY: testMode = true; break; + case UI_PORT_KEY: + if (value != null) { + try { + uiPort = Integer.parseInt(value); + } catch (NumberFormatException e){ + System.err.println("ui Port was not a valid number using port 5800"); + } + } + break; } } } @@ -124,7 +124,7 @@ public class Main { System.out.println("Ignoring root, network will not be managed!"); } else { System.err.println("This program must be run as root!"); - return; + return; } } @@ -133,7 +133,7 @@ public class Main { CameraServerJNI.forceLoad(); CameraServerCvJNI.forceLoad(); } catch (UnsatisfiedLinkError | IOException e) { - if(CurrentPlatform.isWindows()) { + if (CurrentPlatform.isWindows()) { System.err.println("Try to download the VC++ Redistributable, https://aka.ms/vs/16/release/vc_redist.x64.exe"); } throw new RuntimeException("Failed to load JNI Libraries!"); @@ -147,20 +147,12 @@ public class Main { System.out.println("Scripts not yet supported on Windows. ScriptEvents will be ignored."); } - NetworkManager.initialize(manageNetwork); if (ntServerMode) { - System.out.println("Starting NT Server"); - NetworkTableInstance.getDefault().startServer(); + NetworkTablesManager.setServerMode(); } else { - NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages - if (ntClientModeServer != null) { - NetworkTableInstance.getDefault().startClient(ntClientModeServer); - } else { - NetworkTableInstance.getDefault().startClientTeam(ConfigManager.settings.teamNumber); - } -// NetworkTableInstance.getDefault().startClient("localhost"); + NetworkTablesManager.setClientMode(ntClientModeServer); } ScriptManager.queueEvent(ScriptEventType.kProgramInit); @@ -179,7 +171,7 @@ public class Main { VisionManager.startProcesses(); - System.out.printf("Starting Web server at port %d\n", DEFAULT_PORT); - Server.main(DEFAULT_PORT); + System.out.printf("Starting Web server at port %d\n", uiPort); + Server.main(uiPort); } } diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/CameraConfig.java b/chameleon-server/src/main/java/com/chameleonvision/config/CameraConfig.java index 66d9df0da..b4176e3fa 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/config/CameraConfig.java +++ b/chameleon-server/src/main/java/com/chameleonvision/config/CameraConfig.java @@ -51,7 +51,7 @@ public class CameraConfig { private CameraJsonConfig loadConfig() { CameraJsonConfig config = preliminaryConfig; try { - config = JacksonHelper.deserializer(configPath, CameraJsonConfig.class); + config = JacksonHelper.deserialize(configPath, CameraJsonConfig.class); } catch (IOException e) { System.err.printf("Failed to load camera config: %s - using default.\n", configPath.toString()); } @@ -61,7 +61,7 @@ public class CameraConfig { private CVPipelineSettings loadDriverMode() { CVPipelineSettings driverMode = new CVPipelineSettings(); try { - driverMode = JacksonHelper.deserializer(driverModePath, CVPipelineSettings.class); + driverMode = JacksonHelper.deserialize(driverModePath, CVPipelineSettings.class); } catch (IOException e) { System.err.println("Failed to load camera drivermode: " + driverModePath.toString()); } @@ -75,7 +75,7 @@ public class CameraConfig { private List loadCalibration() { List calibrations = new ArrayList<>(); try { - calibrations = List.of(Objects.requireNonNull(JacksonHelper.deserializer(calibrationPath, CameraCalibrationConfig[].class))); + calibrations = List.of(Objects.requireNonNull(JacksonHelper.deserialize(calibrationPath, CameraCalibrationConfig[].class))); } catch (Exception e) { System.err.println("Failed to load camera calibration: " + driverModePath.toString()); } diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/ConfigManager.java b/chameleon-server/src/main/java/com/chameleonvision/config/ConfigManager.java index 18da8285e..fd0f5dc5d 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/config/ConfigManager.java +++ b/chameleon-server/src/main/java/com/chameleonvision/config/ConfigManager.java @@ -1,6 +1,5 @@ package com.chameleonvision.config; -import com.chameleonvision.Main; import com.chameleonvision.util.*; import com.chameleonvision.vision.pipeline.CVPipelineSettings; @@ -54,7 +53,7 @@ public class ConfigManager { } } else { try { - settings = JacksonHelper.deserializer(settingsFilePath, GeneralSettings.class); + settings = JacksonHelper.deserialize(settingsFilePath, GeneralSettings.class); } catch (IOException e) { System.err.println("Failed to load settings.json, using defaults."); } diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java b/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java index e4d1c4757..256c6b784 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java +++ b/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java @@ -1,5 +1,7 @@ package com.chameleonvision.config; +import com.chameleonvision.config.serializers.StandardCVPipelineSettingsDeserializer; +import com.chameleonvision.config.serializers.StandardCVPipelineSettingsSerializer; import com.chameleonvision.util.FileHelper; import com.chameleonvision.util.JacksonHelper; import com.chameleonvision.vision.pipeline.*; @@ -71,11 +73,20 @@ public class PipelineConfig { var path = getPipelinePath(settings); - try { - JacksonHelper.serializer(path, settings); - FileHelper.setFilePerms(path); - } catch (IOException e) { - e.printStackTrace(); + if (settings instanceof StandardCVPipelineSettings) { + try { + JacksonHelper.serialize(path, (StandardCVPipelineSettings)settings, StandardCVPipelineSettings.class, new StandardCVPipelineSettingsSerializer()); + FileHelper.setFilePerms(path); + } catch (IOException e) { + e.printStackTrace(); + } + } else { + try { + JacksonHelper.serializer(path, settings); + FileHelper.setFilePerms(path); + } catch (IOException e) { + e.printStackTrace(); + } } } @@ -119,7 +130,7 @@ public class PipelineConfig { } else { for(File pipelineFile : pipelineFiles) { try { - var pipe = JacksonHelper.deserializer(Paths.get(pipelineFile.getPath()), StandardCVPipelineSettings.class); + var pipe = JacksonHelper.deserialize(Paths.get(pipelineFile.getPath()), StandardCVPipelineSettings.class, new StandardCVPipelineSettingsDeserializer()); deserializedList.add(pipe); } catch (IOException e) { System.err.println("couldn't load cvpipeline2d"); diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseDeserializer.java b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseDeserializer.java new file mode 100644 index 000000000..69c5b86b3 --- /dev/null +++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseDeserializer.java @@ -0,0 +1,110 @@ +package com.chameleonvision.config.serializers; + +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.core.type.TypeReference; +import com.fasterxml.jackson.databind.JsonNode; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.databind.deser.std.StdDeserializer; +import com.fasterxml.jackson.databind.type.CollectionType; +import com.fasterxml.jackson.databind.type.TypeFactory; +import org.jetbrains.annotations.NotNull; +import org.opencv.core.MatOfPoint3f; +import org.opencv.core.Point3; + +import java.io.IOException; +import java.util.ArrayList; +import java.util.List; + +public abstract class BaseDeserializer extends StdDeserializer { + protected BaseDeserializer(Class vc) { + super(vc); + } + + JsonNode baseNode; + + private static final CollectionType numberListColType = TypeFactory.defaultInstance().constructCollectionType(List.class, Number.class); + private CollectionType pointListColType = TypeFactory.defaultInstance().constructCollectionType(List.class, Object.class); + private static final ObjectMapper mapper = new ObjectMapper(); + private static boolean nodeGood(JsonNode node) { + return node != null && !node.toString().equals(""); + } + + List getNumberList(String name, List defaultValue) throws JsonProcessingException { + JsonNode node = baseNode.get(name); + + if (nodeGood(node)) { + return mapper.readValue(node.toString(), numberListColType); + } + return defaultValue; + } + + boolean getBoolean(String name, boolean defaultValue) { + JsonNode node = baseNode.get(name); + + if (nodeGood(node)) { + return node.booleanValue(); + } + + return defaultValue; + } + + int getInt(String name, int defaultValue) { + return (int) getDouble(name, defaultValue); + } + + double getDouble(String name, double defaultValue) { + JsonNode node = baseNode.get(name); + + if (nodeGood(node)) { + return node.numberValue().doubleValue(); + } + + return defaultValue; + } + + String getString(String name, String defaultValue) { + JsonNode node = baseNode.get(name); + + if (nodeGood(node)) { + return node.asText(); + } + + return defaultValue; + } + + > E getEnum(String name, Class enumClass, E defaultValue) throws IOException { + JsonNode node = baseNode.get(name); + + if (nodeGood(node)) { + E[] possibleVals = enumClass.getEnumConstants(); + String jsonVal = baseNode.get(name).asText(); + + for (E val : possibleVals) { + if (val.name().equals(jsonVal)) { + return val; + } + } + } + + return defaultValue; + } + MatOfPoint3f getMatOfPoint3f(String name, MatOfPoint3f defaultValue) throws JsonProcessingException { + JsonNode node = baseNode.get(name); + if (nodeGood(node)){ + List> numberList = mapper.readValue(node.toString(), pointListColType); + List point3List = new ArrayList<>(); + for (List tmp : numberList){ + Point3 p = new Point3(); + p.x = tmp.get(0).doubleValue(); + p.y = tmp.get(1).doubleValue(); + p.z = tmp.get(2).doubleValue(); + point3List.add(p); + } + MatOfPoint3f mat = new MatOfPoint3f(); + mat.fromList(point3List); + return mat; + } + + return defaultValue; + } +} diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseSerializer.java b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseSerializer.java new file mode 100644 index 000000000..fdfbb9db8 --- /dev/null +++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/BaseSerializer.java @@ -0,0 +1,43 @@ +package com.chameleonvision.config.serializers; + +import com.fasterxml.jackson.core.JsonGenerator; +import com.fasterxml.jackson.databind.ser.std.StdSerializer; +import org.opencv.core.MatOfPoint3f; +import org.opencv.core.Point; +import org.opencv.core.Point3; + +import java.io.IOException; +import java.util.ArrayList; +import java.util.List; + +public abstract class BaseSerializer extends StdSerializer { + protected BaseSerializer(Class t) { + super(t); + } + + JsonGenerator generator; + + void writeNumberListAsNumberArray(String name, List list) throws IOException { + generator.writeArrayFieldStart(name); + for (Number i : list) { + generator.writeObject(i); + } + generator.writeEndArray(); + } + + > void writeEnum(String name, E num) throws IOException { + generator.writeFieldName(name); + generator.writeString(num.name()); + } + + void writeMatOfPoint3f(String name, MatOfPoint3f mat) throws IOException { + List point3List = mat.toList(); + generator.writeArrayFieldStart(name); + + for (Point3 point3 : point3List) { + double[] tmp = {point3.x, point3.y, point3.z}; + generator.writeObject(tmp); + } + generator.writeEndArray(); + } +} diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsDeserializer.java b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsDeserializer.java new file mode 100644 index 000000000..ec909e477 --- /dev/null +++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsDeserializer.java @@ -0,0 +1,80 @@ +package com.chameleonvision.config.serializers; + +import com.chameleonvision.vision.enums.*; +import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings; +import com.fasterxml.jackson.core.JsonParser; +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.databind.DeserializationContext; +import com.fasterxml.jackson.databind.JsonNode; +import com.fasterxml.jackson.databind.node.IntNode; + +import java.io.IOException; + +public class StandardCVPipelineSettingsDeserializer extends BaseDeserializer { + public StandardCVPipelineSettingsDeserializer() { + this(null); + } + + private StandardCVPipelineSettingsDeserializer(Class vc) { + super(vc); + } + + @Override + public StandardCVPipelineSettings deserialize(JsonParser jsonParser, DeserializationContext ctxt) throws IOException, JsonProcessingException { + // set BaseDeserializer parser reference. + baseNode = jsonParser.getCodec().readTree(jsonParser); + + StandardCVPipelineSettings pipeline = new StandardCVPipelineSettings(); + + pipeline.index = getInt("index", pipeline.index); + + pipeline.flipMode = getEnum("flipMode", ImageFlipMode.class, pipeline.flipMode); + pipeline.rotationMode = getEnum("rotationMode", ImageRotationMode.class, pipeline.rotationMode); + + pipeline.nickname = getString("nickname", pipeline.nickname); + + pipeline.exposure = getDouble("exposure", pipeline.exposure); + pipeline.brightness = getDouble("brightness", pipeline.brightness); + pipeline.gain = getDouble("gain", pipeline.gain); + + pipeline.videoModeIndex = getInt("videoModeIndex", pipeline.videoModeIndex); + + pipeline.streamDivisor = getEnum("streamDivisor", StreamDivisor.class, pipeline.streamDivisor); + + pipeline.hue = getNumberList("hue", pipeline.hue); + pipeline.saturation = getNumberList("saturation", pipeline.saturation); + pipeline.value = getNumberList("value", pipeline.value); + + pipeline.erode = getBoolean("erode", pipeline.erode); + pipeline.dilate = getBoolean("dilate", pipeline.dilate); + + pipeline.area = getNumberList("area", pipeline.area); + pipeline.ratio = getNumberList("ratio", pipeline.ratio); + pipeline.extent = getNumberList("extent", pipeline.extent); + + pipeline.speckle = getInt("speckle", (Integer) pipeline.speckle); + + pipeline.isBinary = getBoolean("isBinary", pipeline.isBinary); + + pipeline.sortMode = getEnum("sortMode", SortMode.class, pipeline.sortMode); + pipeline.targetRegion = getEnum("targetRegion", TargetRegion.class, pipeline.targetRegion); + pipeline.targetOrientation = getEnum("targetOrientation", TargetOrientation.class, pipeline.targetOrientation); + + pipeline.multiple = getBoolean("multiple", pipeline.multiple); + + pipeline.targetGroup = getEnum("targetGroup", TargetGroup.class, pipeline.targetGroup); + pipeline.targetIntersection = getEnum("targetIntersection", TargetIntersection.class, pipeline.targetIntersection); + + pipeline.point = getNumberList("point", pipeline.point); + + pipeline.calibrationMode = getEnum("calibrationMode", CalibrationMode.class, pipeline.calibrationMode); + + pipeline.dualTargetCalibrationM = getDouble("dualTargetCalibrationM", pipeline.dualTargetCalibrationM); + pipeline.dualTargetCalibrationB = getDouble("dualTargetCalibrationB", pipeline.dualTargetCalibrationB); + + pipeline.is3D = getBoolean("is3D", pipeline.is3D); + pipeline.targetCornerMat = getMatOfPoint3f("targetCornerMat", pipeline.targetCornerMat); + + return pipeline; + } +} diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsSerializer.java b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsSerializer.java new file mode 100644 index 000000000..c787d3145 --- /dev/null +++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsSerializer.java @@ -0,0 +1,82 @@ +package com.chameleonvision.config.serializers; + +import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings; +import com.fasterxml.jackson.core.JsonGenerator; +import com.fasterxml.jackson.databind.SerializerProvider; + +import java.io.IOException; + +public class StandardCVPipelineSettingsSerializer extends BaseSerializer { + public StandardCVPipelineSettingsSerializer() { + this(null); + } + + private StandardCVPipelineSettingsSerializer(Class t) { + super(t); + } + + @Override + public void serialize(StandardCVPipelineSettings pipeline, JsonGenerator gen, SerializerProvider provider) throws IOException { + // set BaseSerializer generator reference. + generator = gen; + + gen.writeStartObject(); + + gen.writeNumberField("index", pipeline.index); + + writeEnum("flipMode", pipeline.flipMode); + writeEnum("rotationMode", pipeline.rotationMode); + + gen.writeStringField("nickname", pipeline.nickname); + + gen.writeNumberField("exposure", pipeline.exposure); + gen.writeNumberField("brightness", pipeline.brightness); + gen.writeNumberField("gain", pipeline.gain); + + gen.writeNumberField("videoModeIndex", pipeline.videoModeIndex); + + writeEnum("streamDivisor", pipeline.streamDivisor); + + writeNumberListAsNumberArray("hue", pipeline.hue); + writeNumberListAsNumberArray("saturation", pipeline.saturation); + writeNumberListAsNumberArray("value", pipeline.value); + + gen.writeBooleanField("erode", pipeline.erode); + gen.writeBooleanField("dilate", pipeline.dilate); + + writeNumberListAsNumberArray("area", pipeline.area); + writeNumberListAsNumberArray("ratio", pipeline.ratio); + writeNumberListAsNumberArray("extent", pipeline.extent); + + // speckle rejection + gen.writeNumberField("speckle", (Integer) pipeline.speckle); + + // stream output (camera feed, or thresholded feed) + gen.writeBooleanField("isBinary", pipeline.isBinary); + + writeEnum("sortMode", pipeline.sortMode); + writeEnum("targetRegion", pipeline.targetRegion); + writeEnum("targetOrientation", pipeline.targetOrientation); + + // show multiple targets when drawing + gen.writeBooleanField("multiple", pipeline.multiple); + + writeEnum("targetGroup", pipeline.targetGroup); + writeEnum("targetIntersection", pipeline.targetIntersection); + + // single calibration point + writeNumberListAsNumberArray("point", pipeline.point); + + // target X/Y calibration + writeEnum("calibrationMode", pipeline.calibrationMode); + + // TODO: better names? or use an array? + gen.writeNumberField("dualTargetCalibrationM", pipeline.dualTargetCalibrationM); + gen.writeNumberField("dualTargetCalibrationB", pipeline.dualTargetCalibrationB); + + + gen.writeBooleanField("is3D", pipeline.is3D); + writeMatOfPoint3f("targetCornerMat", pipeline.targetCornerMat); + gen.writeEndObject(); + } +} diff --git a/chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java b/chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java new file mode 100644 index 000000000..de020466c --- /dev/null +++ b/chameleon-server/src/main/java/com/chameleonvision/networktables/NetworkTablesManager.java @@ -0,0 +1,69 @@ +package com.chameleonvision.networktables; + +import com.chameleonvision.config.ConfigManager; +import com.chameleonvision.scripting.ScriptEventType; +import com.chameleonvision.scripting.ScriptManager; +import edu.wpi.first.networktables.LogMessage; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; + +import java.util.function.Consumer; + +public class NetworkTablesManager { + + private NetworkTablesManager() {} + + private static final NetworkTableInstance NTInst = NetworkTableInstance.getDefault(); + + public static final String kRootTableName = "/chameleon-vision"; + public static final NetworkTable kRootTable = NetworkTableInstance.getDefault().getTable(kRootTableName); + + public static boolean isServer = false; + + private static int getTeamNumber() { + return ConfigManager.settings.teamNumber; + } + + private static class NTLogger implements Consumer { + + private boolean hasReportedConnectionFailure = false; + + @Override + public void accept(LogMessage logMessage) { + if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) { + System.err.println("NT Connection has failed! Will retry in background."); + hasReportedConnectionFailure = true; + } else if (logMessage.message.contains("connected")) { + System.out.println("NT Connected!"); + hasReportedConnectionFailure = false; + ScriptManager.queueEvent(ScriptEventType.kNTConnected); + } + } + } + + static { + NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages + } + + public static void setClientMode(String host) { + isServer = false; + System.out.println("Starting NT Client"); + NTInst.stopServer(); + if (host != null) { + NTInst.startClient(host); + } else { + NTInst.startClientTeam(getTeamNumber()); + } + } + + public static void setTeamClientMode() { + setClientMode(null); + } + + public static void setServerMode() { + isServer = true; + System.out.println("Starting NT Server"); + NTInst.stopClient(); + NTInst.startServer(); + } +} diff --git a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java index 9385a13c3..f85e3fb61 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java +++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptManager.java @@ -1,24 +1,18 @@ package com.chameleonvision.scripting; import com.chameleonvision.Debug; -import com.chameleonvision.Main; import com.chameleonvision.config.ConfigManager; import com.chameleonvision.util.JacksonHelper; import com.chameleonvision.util.LoopingRunnable; import com.chameleonvision.util.Platform; -import com.chameleonvision.util.ProgramDirectoryUtilities; -import java.io.File; import java.io.IOException; import java.nio.file.Files; import java.nio.file.Path; import java.nio.file.Paths; import java.util.ArrayList; import java.util.List; -import java.util.Objects; -import java.util.concurrent.BlockingQueue; import java.util.concurrent.LinkedBlockingDeque; -import java.util.concurrent.LinkedBlockingQueue; public class ScriptManager { @@ -94,7 +88,7 @@ public class ScriptManager { static List loadConfig() { try { - var raw = JacksonHelper.deserializer(scriptConfigPath, ScriptConfig[].class); + var raw = JacksonHelper.deserialize(scriptConfigPath, ScriptConfig[].class); if (raw != null) { return List.of(raw); } diff --git a/chameleon-server/src/main/java/com/chameleonvision/util/FileHelper.java b/chameleon-server/src/main/java/com/chameleonvision/util/FileHelper.java index 13ff9e3a2..04d97fc2c 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/util/FileHelper.java +++ b/chameleon-server/src/main/java/com/chameleonvision/util/FileHelper.java @@ -1,5 +1,7 @@ package com.chameleonvision.util; +import com.chameleonvision.Debug; + import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -20,7 +22,7 @@ public class FileHelper { File thisFile = path.toFile(); Set perms = Files.readAttributes(path, PosixFileAttributes.class).permissions(); if (!perms.equals(allReadWriteExecutePerms)) { - System.out.printf("setting perms on %s\n", path.toString()); + Debug.printInfo("Setting perms on" + path.toString()); Files.setPosixFilePermissions(path, perms); if (thisFile.isDirectory()) { for (File subfile : thisFile.listFiles()) { diff --git a/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java b/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java index d63db5428..f63f5d1e7 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java +++ b/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java @@ -12,7 +12,7 @@ public class Helpers { } public static Scalar colorToScalar(Color color) { - return new Scalar(color.getRed(), color.getGreen(), color.getBlue()); + return new Scalar(color.getBlue(), color.getGreen(), color.getRed()); } public static HashMap VideoModeToHashMap(VideoMode videoMode) { diff --git a/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java b/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java index 8979b4621..d6da705a7 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java +++ b/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java @@ -1,9 +1,14 @@ package com.chameleonvision.util; +import com.chameleonvision.config.serializers.StandardCVPipelineSettingsDeserializer; +import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings; import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.databind.deser.std.StdDeserializer; import com.fasterxml.jackson.databind.json.JsonMapper; import com.fasterxml.jackson.databind.jsontype.BasicPolymorphicTypeValidator; import com.fasterxml.jackson.databind.jsontype.PolymorphicTypeValidator; +import com.fasterxml.jackson.databind.module.SimpleModule; +import com.fasterxml.jackson.databind.ser.std.StdSerializer; import java.io.File; import java.io.IOException; @@ -18,7 +23,7 @@ public class JacksonHelper { objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object); } - public static T deserializer(Path path, Class ref) throws IOException { + public static T deserialize(Path path, Class ref) throws IOException { PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build(); ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build(); File jsonFile = new File(path.toString()); @@ -27,4 +32,26 @@ public class JacksonHelper { } return null; } + + public static T deserialize(Path path, Class ref, StdDeserializer deserializer) throws IOException { + ObjectMapper objectMapper = new ObjectMapper(); + SimpleModule module = new SimpleModule(); + module.addDeserializer(ref, deserializer); + objectMapper.registerModule(module); + + File jsonFile = new File(path.toString()); + if (jsonFile.exists() && jsonFile.length() > 0) { + return objectMapper.readValue(jsonFile, ref); + } + return null; + } + + public static void serialize(Path path, T object, Class ref, StdSerializer serializer) throws IOException { + ObjectMapper objectMapper = new ObjectMapper(); + SimpleModule module = new SimpleModule(); + module.addSerializer(ref, serializer); + objectMapper.registerModule(module); + + objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object); + } } diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java index 17831d1ad..fdf464a13 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java @@ -15,9 +15,9 @@ import org.opencv.videoio.VideoCapture; import java.util.*; import java.util.stream.Collectors; +@SuppressWarnings("rawtypes") public class VisionManager { - private VisionManager() { - } + private VisionManager() {} private static final LinkedHashMap usbCameraInfosByCameraName = new LinkedHashMap<>(); private static final LinkedList loadedCameraConfigs = new LinkedList<>(); diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java index 573506c0c..a1776398c 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java @@ -4,6 +4,7 @@ import com.chameleonvision.Debug; import com.chameleonvision.config.CameraCalibrationConfig; import com.chameleonvision.config.CameraConfig; import com.chameleonvision.config.ConfigManager; +import com.chameleonvision.networktables.NetworkTablesManager; import com.chameleonvision.scripting.ScriptEventType; import com.chameleonvision.scripting.ScriptManager; import com.chameleonvision.config.FullCameraConfiguration; @@ -32,10 +33,10 @@ import java.util.concurrent.LinkedBlockingDeque; import java.util.stream.Collectors; +@SuppressWarnings("rawtypes") public class VisionProcess { - private final USBCameraCapture cameraCapture; -// private final CameraStreamerRunnable streamRunnable; + public final USBCameraCapture cameraCapture; private final VisionProcessRunnable visionRunnable; private final CameraConfig fileConfig; public final CameraStreamer cameraStreamer; @@ -43,8 +44,6 @@ public class VisionProcess { private volatile CVPipelineResult lastPipelineResult; - private BlockingQueue streamFrameQueue = new LinkedBlockingDeque<>(1); - // network table stuff private final NetworkTable defaultTable; private NetworkTableInstance tableInstance; @@ -59,6 +58,12 @@ public class VisionProcess { private NetworkTableEntry ntLatencyEntry; private NetworkTableEntry ntValidEntry; private NetworkTableEntry ntPoseEntry; + private NetworkTableEntry ntFittedHeightEntry; + private NetworkTableEntry ntFittedWidthEntry; + private NetworkTableEntry ntBoundingHeightEntry; + private NetworkTableEntry ntBoundingWidthEntry; + private NetworkTableEntry ntTargetRotation; + private ObjectMapper objectMapper = new ObjectMapper(); private long lastUIUpdateMs = 0; @@ -72,7 +77,6 @@ public class VisionProcess { // Thread to put frames on the dashboard this.cameraStreamer = new CameraStreamer(cameraCapture, config.cameraConfig.name, pipelineManager.getCurrentPipeline().settings.streamDivisor); -// this.streamRunnable = new CameraStreamerRunnable(30, cameraStreamer); // Thread to process vision data this.visionRunnable = new VisionProcessRunnable(); @@ -110,21 +114,26 @@ public class VisionProcess { public void setCameraNickname(String newName) { getCamera().getProperties().setNickname(newName); - var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName); - resetNT(newTable); + NetworkTable camTable = NetworkTablesManager.kRootTable.getSubTable(newName); + resetNT(camTable); } - private void initNT(NetworkTable newTable) { - tableInstance = newTable.getInstance(); - ntPipelineEntry = newTable.getEntry("pipeline"); - ntDriverModeEntry = newTable.getEntry("driver_mode"); - ntPitchEntry = newTable.getEntry("pitch"); - ntYawEntry = newTable.getEntry("yaw"); - ntAreaEntry = newTable.getEntry("area"); - ntLatencyEntry = newTable.getEntry("latency"); - ntValidEntry = newTable.getEntry("is_valid"); - ntAuxListEntry = newTable.getEntry("aux_targets"); - ntPoseEntry = newTable.getEntry("pose"); + private void initNT(NetworkTable camTable) { + tableInstance = camTable.getInstance(); + ntPipelineEntry = camTable.getEntry("pipeline"); + ntDriverModeEntry = camTable.getEntry("driverMode"); + ntPitchEntry = camTable.getEntry("targetPitch"); + ntYawEntry = camTable.getEntry("targetYaw"); + ntAreaEntry = camTable.getEntry("targetArea"); + ntLatencyEntry = camTable.getEntry("latency"); + ntValidEntry = camTable.getEntry("isValid"); + ntAuxListEntry = camTable.getEntry("auxTargets"); + ntPoseEntry = camTable.getEntry("targetPose"); + ntFittedHeightEntry = camTable.getEntry("targetFittedHeight"); + ntFittedWidthEntry = camTable.getEntry("targetFittedWidth"); + ntBoundingHeightEntry = camTable.getEntry("targetBoundingHeight"); + ntBoundingWidthEntry = camTable.getEntry("targetBoundingWidth"); + ntTargetRotation = camTable.getEntry("targetRotation"); ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate); ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate); ntDriverModeEntry.setBoolean(false); @@ -157,7 +166,6 @@ public class VisionProcess { } public void setDriverModeEntry(boolean isDriverMode) { - // if it's null, we haven't even started the program yet, so just return // otherwise, set it. if (ntDriverModeEntry != null) { @@ -176,7 +184,7 @@ public class VisionProcess { HashMap WebSend = new HashMap<>(); HashMap point = new HashMap<>(); HashMap pointMap = new HashMap<>(); - ArrayList webTargets = new ArrayList(); + ArrayList webTargets = new ArrayList<>(); List center = new ArrayList<>(); @@ -203,9 +211,8 @@ public class VisionProcess { } center.add(bestTarget.minAreaRect.center.x); center.add(bestTarget.minAreaRect.center.y); - } catch (ClassCastException ignored) { - + } } else { pointMap.put("pitch", null); @@ -236,17 +243,23 @@ public class VisionProcess { //noinspection unchecked List targets = (List) data.targets; + StandardCVPipeline.TrackedTarget bestTarget = targets.get(0); ntLatencyEntry.setDouble(MathHandler.roundTo(data.processTime * 1e-6, 3)); - ntPitchEntry.setDouble(targets.get(0).pitch); - ntYawEntry.setDouble(targets.get(0).yaw); - ntAreaEntry.setDouble(targets.get(0).area); + ntPitchEntry.setDouble(bestTarget.pitch); + ntYawEntry.setDouble(bestTarget.yaw); + ntAreaEntry.setDouble(bestTarget.area); + ntBoundingHeightEntry.setDouble(bestTarget.boundingRect.height); + ntBoundingWidthEntry.setDouble(bestTarget.boundingRect.width); + ntFittedHeightEntry.setDouble(bestTarget.minAreaRect.size.height); + ntFittedWidthEntry.setDouble(bestTarget.minAreaRect.size.width); + ntTargetRotation.setDouble(bestTarget.minAreaRect.angle); try { Pose2d targetPose = targets.get(0).cameraRelativePose; double[] targetArray = {targetPose.getTranslation().getX(), targetPose.getTranslation().getY(), targetPose.getRotation().getDegrees()}; ntPoseEntry.setDoubleArray(targetArray); // ntPoseEntry.setString(objectMapper.writeValueAsString(targets.get(0).cameraRelativePose)); ntAuxListEntry.setString(objectMapper.writeValueAsString(targets.stream() - .map(it -> List.of(it.pitch, it.yaw, it.area, it.cameraRelativePose)) + .map(it -> List.of(it.pitch, it.yaw, it.area, it.boundingRect.width, it.boundingRect.height, it.minAreaRect.size.width, it.minAreaRect.size.height, it.minAreaRect.angle, it.cameraRelativePose)) .collect(Collectors.toList()))); } catch (JsonProcessingException e) { e.printStackTrace(); @@ -260,7 +273,6 @@ public class VisionProcess { } } tableInstance.flush(); - } public void setVideoMode(VideoMode newMode) { @@ -343,8 +355,6 @@ public class VisionProcess { } try { -// streamFrameQueue.clear(); -// streamFrameQueue.add(lastPipelineResult.outputMat); var currentTime = System.currentTimeMillis(); if ((currentTime - lastStreamTimeMs) / 1000d > 1.0 / 30.0) { cameraStreamer.runStream(lastPipelineResult.outputMat); @@ -372,38 +382,5 @@ public class VisionProcess { temp /= 7.0; return temp; } - - } - - private class CameraStreamerRunnable extends LoopingRunnable { - - final CameraStreamer streamer; - private Mat bufferMat = new Mat(); - - private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) { - // add 2 FPS to allow for a bit of overhead - super(1000L / (cameraFPS + 2)); - this.streamer = streamer; - } - - @Override - protected void process() { - if (!streamFrameQueue.isEmpty()) { - try { - - bufferMat = streamFrameQueue.take(); - - try { - streamer.runStream(bufferMat); - bufferMat.release(); - } catch (Exception e) { - // do nothing - } - - } catch (InterruptedException e) { - e.printStackTrace(); - } - } - } } } diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java index 129558ba0..b83caf5d3 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java @@ -2,6 +2,7 @@ package com.chameleonvision.vision.camera; import com.chameleonvision.config.CameraCalibrationConfig; import com.chameleonvision.config.FullCameraConfiguration; +import com.chameleonvision.util.Helpers; import edu.wpi.cscore.CvSink; import edu.wpi.cscore.UsbCamera; import edu.wpi.cscore.VideoException; @@ -13,6 +14,7 @@ import org.opencv.core.Size; import org.opencv.imgcodecs.Imgcodecs; import java.util.ArrayList; +import java.util.Arrays; import java.util.List; public class USBCameraCapture implements CameraCapture { @@ -30,6 +32,12 @@ public class USBCameraCapture implements CameraCapture { cvSink = CameraServer.getInstance().getVideo(baseCamera); properties = new USBCaptureProperties(baseCamera, config); + var videoModes = properties.getVideoModes(); + if(videoModes.size() < 1) { + throw new VideoException("0 video modes are valid! Full list provided by camera: \n\n" + + Arrays.stream(baseCamera.enumerateVideoModes()).map(Helpers::VideoModeToHashMap).toString() ); + } + int videoMode = properties.videoModes.size() - 1 <= config.videomode ? config.videomode : 0; setVideoMode(videoMode); } diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java index 2abbef913..11a8d9dcb 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java @@ -17,15 +17,15 @@ public class USBCaptureProperties extends CaptureProperties { public static final double DEFAULT_FOV = 70; private static final int DEFAULT_EXPOSURE = 50; private static final int DEFAULT_BRIGHTNESS = 50; - private static final int MINIMUM_FPS = 30; + private static final int MINIMUM_FPS = 21; private static final int MINIMUM_WIDTH = 320; private static final int MINIMUM_HEIGHT = 200; private static final int MAX_INIT_MS = 1500; - private static final int PS3EYE_VID = 1415; - private static final int PS3EYE_PID = 2000; + private static final int PS3EYE_VID = 0x1415; + private static final int PS3EYE_PID = 0x2000; - private static final List ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG); + private static final List ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG, VideoMode.PixelFormat.kBGR); private static final Predicate kMinFPSPredicate = (videoMode -> videoMode.fps >= MINIMUM_FPS); private static final Predicate kMinSizePredicate = (videoMode -> videoMode.width >= MINIMUM_WIDTH && videoMode.height >= MINIMUM_HEIGHT); diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java index 11f6acafb..144cea278 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java @@ -118,7 +118,8 @@ public class PipelineManager { } public void setCurrentPipeline(int index) { - CVPipeline newPipeline=null; + CVPipeline newPipeline = null; + if (index == DRIVERMODE_INDEX) { newPipeline = driverModePipeline; @@ -165,6 +166,11 @@ public class PipelineManager { ntIndexEntry.setDouble(index); } } + + // gain setting quirk + if (!parentProcess.cameraCapture.getProperties().isPS3Eye) { + getCurrentPipeline().settings.gain = -1; + } } public void addPipeline(CVPipelineSettings setting) { diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java index f33e2ed31..bfa0eb790 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java @@ -235,7 +235,7 @@ public class StandardCVPipeline extends CVPipeline area = Arrays.asList(0.0, 100.0); public List ratio = Arrays.asList(0.0, 20.0); - public List extent = Arrays.asList(0, 100); + public List extent = Arrays.asList(0.0, 100.0); public Number speckle = 5; public boolean isBinary = false; public SortMode sortMode = SortMode.Largest; @@ -35,7 +32,22 @@ public class StandardCVPipelineSettings extends CVPipelineSettings { public double dualTargetCalibrationB = 0; // 3d stuff - public double targetWidth = 15.5, targetHeight = 6.0; + public MatOfPoint3f targetCornerMat = new MatOfPoint3f(); + private static MatOfPoint3f hexTargetMat = new MatOfPoint3f(); + + static { + hexTargetMat.fromList(List.of( + new Point3(-19.625, 0, 0), + new Point3(-9.819867, -17, 0), + new Point3(9.819867, -17, 0), + new Point3(19.625, 0, 0))); + } + + public StandardCVPipelineSettings() { + super(); + hexTargetMat.copyTo(targetCornerMat); + } + public boolean is3D = false; } diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java index 2dcf6d115..c5d75ad0b 100644 --- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java +++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java @@ -16,10 +16,12 @@ import java.util.List; public class DrawSolvePNPPipe implements Pipe>, Mat> { private MatOfPoint3f boxCornerMat = new MatOfPoint3f(); + private MatOfPoint tempMatOfPoints = new MatOfPoint(); public Scalar green = Helpers.colorToScalar(Color.GREEN); public Scalar blue = Helpers.colorToScalar(Color.BLUE); public Scalar red = Helpers.colorToScalar(Color.RED); + public Scalar orange = Helpers.colorToScalar(Color.orange); public DrawSolvePNPPipe(CameraCalibrationConfig settings) { setConfig(settings); @@ -46,14 +48,14 @@ public class DrawSolvePNPPipe implements Pipe, List, List corners = List.of( - new Point3(-16.25, 0, 0), + + new Point3(-19.625, 0, 0), new Point3(-9.819867, -17, 0), new Point3(9.819867, -17, 0), - new Point3(16.25, 0, 0)); + new Point3(19.625, 0, 0)); setObjectCorners(corners); } else { setBoundingBoxTarget(7, 11); @@ -81,6 +82,7 @@ public class SolvePNPPipe implements Pipe distanceProvider = Comparator.comparingDouble((Point point) -> FastMath.sqrt(FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2))); var contour = target.rawContour; + var convex = tempInt; + tempMatOfPoint.fromList(contour.toList()); + Imgproc.convexHull(tempMatOfPoint, convex); var combinedList = contour.toList(); // approx poly dp time - Imgproc.approxPolyDP(contour, polyOutput, 3, true); + + Point[] contourArray = contour.toArray(); + Point[] hullPoints = new Point[convex.rows()]; + List hullContourIdxList = convex.toList(); + for (int i = 0; i < hullContourIdxList.size(); i++) { + hullPoints[i] = contourArray[hullContourIdxList.get(i)]; + } + tempMat2f.fromArray(hullPoints); + + Imgproc.approxPolyDP(tempMat2f, polyOutput, 5, true); + var polyList = polyOutput.toList(); polyOutput.copyTo(target.approxPoly); - // start looking in the top left quadrant + // left top, left bottom, right bottom, right top + var boundingBoxCorners = findBoundingBoxCorners(target).toList(); + try { - var tl = polyList.stream().filter(point -> point.x < centroid.x && point.y < centroid.y).max(distanceProvider).get(); - var tr = polyList.stream().filter(point -> point.x > centroid.x && point.y < centroid.y).max(distanceProvider).get(); + + // top left and top right are the poly corners closest to the bouding box tl and tr + Point tl = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get(); + Point tr = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get(); + + +// var tl = polyList.stream().filter(point -> point.x < centroid.x && point.y < centroid.y).max(distanceProvider).get(); +// var tr = polyList.stream().filter(point -> point.x > centroid.x && point.y < centroid.y).max(distanceProvider).get(); var bl = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get(); var br = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get(); - boundingBoxResultMat.release(); - boundingBoxResultMat.fromList(List.of(tl, bl, br, tr)); + target2020ResultMat.release(); + target2020ResultMat.fromList(List.of(tl, bl, br, tr)); - return boundingBoxResultMat; + return target2020ResultMat; } catch (NoSuchElementException e) { return null; } @@ -215,6 +248,11 @@ public class SolvePNPPipe implements Pipe> list = new ArrayList<>(); @@ -300,8 +338,6 @@ public class SolvePNPPipe implements Pipe it.x).sorted(Double::compare).collect(Collectors.toList()); @@ -313,7 +349,6 @@ public class SolvePNPPipe implements Pipe> points = kObjectMapper.readValue(ctx.body(), List.class); + + // each entry should be an xy pair + var pointsList = new ArrayList(); + for (List point : points) { + double x, y; + x = point.get(0).doubleValue(); + y = point.get(1).doubleValue(); + var pointToAdd = new Point3(x, y, 0.0); + pointsList.add(pointToAdd); + } + System.out.println(pointsList.toString()); + if (VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings instanceof StandardCVPipelineSettings) { + var settings = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings; + settings.targetCornerMat.fromList(pointsList); + } } }