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added single point in pipeline and removed is calibrated for an enum

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2019-10-28 20:16:18 +02:00
parent f3eea5c913
commit a20d140531
10 changed files with 47 additions and 19 deletions
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2
Main/chameleon-vision.iml
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@@ -33,7 +33,7 @@
<orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-client:9.4.19.v20190610" level="project" />
<orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-servlet:9.4.19.v20190610" level="project" />
<orderEntry type="library" name="Maven: org.json:json:20190722" level="project" />
<orderEntry type="library" name="Maven: org.slf4j:slf4j-simple:1.7.26" level="project" />
<orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
<orderEntry type="library" name="Maven: org.apache.commons:commons-math3:3.6.1" level="project" />
<orderEntry type="library" name="Maven: com.google.code.gson:gson:2.8.5" level="project" />
<orderEntry type="library" name="Maven: org.msgpack:msgpack-core:0.8.18" level="project" />

2
Main/pom.xml
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@@ -75,7 +75,7 @@
<!--slf4j for javalin -->
<dependency>
<groupId>org.slf4j</groupId>
<artifactId>slf4j-simple</artifactId>
<artifactId>slf4j-nop</artifactId>
<version>1.7.26</version>
</dependency>

5
Main/src/main/java/com/chameleonvision/vision/CalibrationMode.java Normal file
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@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum CalibrationMode {
None,Single,Dual
}

3
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -22,6 +22,7 @@ public class Pipeline {
public TargetIntersection targetIntersection = TargetIntersection.Up;
public double m = 1;
public double b = 0;
public boolean isCalibrated = false;
public List<Number> point = Arrays.asList(0,0);
public CalibrationMode calibrationMode = CalibrationMode.None;
public String nickname;
}

24
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CalibrationMode;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
@@ -162,15 +163,24 @@ public class VisionProcess implements Runnable {
groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
if (!currentPipeline.isCalibrated) {
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
switch (currentPipeline.calibrationMode){
case None:
///use the center of the camera to find the pitch and yaw difference
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
break;
case Single:
// use the static point as a calibration method instead of the center
pipelineResult.CalibratedX = currentPipeline.point.get(0).doubleValue();
pipelineResult.CalibratedY = currentPipeline.point.get(1).doubleValue();
break;
case Dual:
// use the calculated line to find the difference in length between the point and the line
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);

1
Main/src/main/java/com/chameleonvision/web/Server.java
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@@ -11,6 +11,7 @@ public class Server {
handler = new ServerHandler();
Javalin app = Javalin.create();
app.config.addStaticFiles("web");
app.ws("/websocket", ws -> {
ws.onConnect(ctx -> {

17
chameleon-client/package-lock.json generated
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@@ -13493,7 +13493,8 @@
},
"code-point-at": {
"version": "1.1.0",
"bundled": true
"bundled": true,
"optional": true
},
"concat-map": {
"version": "0.0.1",
@@ -13502,7 +13503,8 @@
},
"console-control-strings": {
"version": "1.1.0",
"bundled": true
"bundled": true,
"optional": true
},
"core-util-is": {
"version": "1.0.2",
@@ -13605,7 +13607,8 @@
},
"inherits": {
"version": "2.0.3",
"bundled": true
"bundled": true,
"optional": true
},
"ini": {
"version": "1.3.5",
@@ -13615,6 +13618,7 @@
"is-fullwidth-code-point": {
"version": "1.0.0",
"bundled": true,
"optional": true,
"requires": {
"number-is-nan": "^1.0.0"
}
@@ -13640,6 +13644,7 @@
"minipass": {
"version": "2.2.4",
"bundled": true,
"optional": true,
"requires": {
"safe-buffer": "^5.1.1",
"yallist": "^3.0.0"
@@ -13656,6 +13661,7 @@
"mkdirp": {
"version": "0.5.1",
"bundled": true,
"optional": true,
"requires": {
"minimist": "0.0.8"
}
@@ -13728,7 +13734,8 @@
},
"number-is-nan": {
"version": "1.0.1",
"bundled": true
"bundled": true,
"optional": true
},
"object-assign": {
"version": "4.1.1",
@@ -13738,6 +13745,7 @@
"once": {
"version": "1.4.0",
"bundled": true,
"optional": true,
"requires": {
"wrappy": "1"
}
@@ -13843,6 +13851,7 @@
"string-width": {
"version": "1.0.2",
"bundled": true,
"optional": true,
"requires": {
"code-point-at": "^1.0.0",
"is-fullwidth-code-point": "^1.0.0",

6
chameleon-client/src/views/CameraViewes/OutputTab.vue
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@@ -5,7 +5,7 @@
@input="handleInput('sortMode',value.sortMode)"/>
<span>Calibrate:</span>
<v-divider dark color="white"/>
<CVselect name="Calibration Mode" v-model="value.calibrationMode" :list="['Single point','Dual point']"
<CVselect name="Calibration Mode" v-model="value.calibrationMode" :list="['None','Single point','Dual point']"
@input="handleInput('calibrationMode',value.calibrationMode)"/>
<component :raw-point="rawPoint" :is="selectedComponent"/>
<v-snackbar :timeout="3000" v-model="snackbar" top color="error">
@@ -41,8 +41,10 @@ import SingleCalibration from "./OutputViewes/SingleCalibration";
get(){
switch (this.value.calibrationMode) {
case 0:
return "SingleCalibration";
return "";
case 1:
return "SingleCalibration";
case 2:
return "DualCalibration"
}
return ""

1
chameleon-client/src/views/CameraViewes/OutputViewes/DualCalibration.vue
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@@ -49,7 +49,6 @@
sendSlope(m, b, valid) {
this.handleInput('m', m);
this.handleInput('b', b);
this.handleInput('isCalibrated', valid);
},
clearSlope() {
this.sendSlope(1, 0, false);

5
chameleon-client/src/views/CameraViewes/OutputViewes/SingleCalibration.vue
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@@ -14,12 +14,13 @@
<script>
export default {
name: "SingleCalibration",
props: ['rawPoint'],
methods:{
clearPoint(){
this.handleInput('point',[0,0]);
},
takePoint(){
this.handleInput('point',this.rawPoint);
}
}
}