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Fix Driver Mode Rotation (#1097)

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Demoves duplicate image rotation. Frames are rotated from the frame source provided. Then were rotated again in the driver mode pipeline.
This commit is contained in:
Programmers3539
2023-12-31 19:07:07 -08:00
committed by GitHub
parent 2ecd988628
commit a9f1e50a19
2 changed files with 1 additions and 14 deletions
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14
photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
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@@ -20,19 +20,15 @@ package org.photonvision.vision.pipeline;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.raspi.LibCameraJNI;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
import org.photonvision.vision.pipe.impl.ResizeImagePipe;
import org.photonvision.vision.pipe.impl.RotateImagePipe;
import org.photonvision.vision.pipeline.result.DriverModePipelineResult;
public class DriverModePipeline
extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();
@@ -51,10 +47,6 @@ public class DriverModePipeline
@Override
protected void setPipeParamsImpl() {
RotateImagePipe.RotateImageParams rotateImageParams =
new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
rotateImagePipe.setParams(rotateImageParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
@@ -72,7 +64,6 @@ public class DriverModePipeline
@Override
public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
long totalNanos = 0;
boolean accelerated = LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
// apply pipes
var inputMat = frame.colorImage.getMat();
@@ -80,11 +71,6 @@ public class DriverModePipeline
boolean emptyIn = inputMat.empty();
if (!emptyIn) {
if (!accelerated) {
var rotateImageResult = rotateImagePipe.run(inputMat);
totalNanos += rotateImageResult.nanosElapsed;
}
totalNanos += resizeImagePipe.run(inputMat).nanosElapsed;
var draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(inputMat, List.of()));

1
photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
View File

@@ -75,6 +75,7 @@ public class VisionRunner {
// (pipeline-dependent). I kinda hate how much leak this has...
// TODO would a callback object be a better fit?
var wantedProcessType = pipeline.getThresholdType();
frameSupplier.requestFrameThresholdType(wantedProcessType);
var settings = pipeline.getSettings();
if (settings instanceof AdvancedPipelineSettings) {