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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 -> {