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Miscellanous clean up

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This commit is contained in:
Gold856
2025-04-14 19:59:14 -04:00
committed by Matt Morley
parent 1b1f8029c8
commit ad1f51ba06
12 changed files with 60 additions and 76 deletions
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10
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
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@@ -52,7 +52,7 @@ public class TestUtils {
kRocketPanelAngleDark48in(1.2192),
kRocketPanelAngleDark60in(1.524);
public static double FOV = 68.5;
public static final double FOV = 68.5;
public final double distanceMeters;
public final Path path;
@@ -90,7 +90,7 @@ public class TestUtils {
kRedLoading_084in(2.1336),
kRedLoading_108in(2.7432);
public static double FOV = 68.5;
public static final double FOV = 68.5;
public final double distanceMeters;
public final Path path;
@@ -110,7 +110,7 @@ public class TestUtils {
kBackAmpZone_117in,
kSpeakerCenter_143in;
public static double FOV = 68.5;
public static final double FOV = 68.5;
public final Path path;
@@ -129,7 +129,7 @@ public class TestUtils {
k162_36_Straight,
k383_60_Angle2;
public static double FOV = 68.5;
public static final double FOV = 68.5;
public final Translation2d approxPose;
public final Path path;
@@ -156,7 +156,7 @@ public class TestUtils {
kTerminal12ft6in(Units.feetToMeters(12.5)),
kTerminal22ft6in(Units.feetToMeters(22.5));
public static double FOV = 68.5;
public static final double FOV = 68.5;
public final double distanceMeters;
public final Path path;

2
photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java
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@@ -110,7 +110,7 @@ public class JsonMatOfDouble implements Releasable {
if (wpilibMat == null) {
wpilibMat = new Matrix<R, C>(new SimpleMatrix(rows, cols, true, data));
}
return (Matrix<R, C>) wpilibMat;
return wpilibMat;
}
@Override

12
photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
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@@ -100,12 +100,6 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
// first.
var autoExpProp = findProperty("exposure_auto", "auto_exposure");
if (expProp.isPresent()) {
exposureAbsProp = expProp.get();
this.minExposure = exposureAbsProp.getMin();
this.maxExposure = exposureAbsProp.getMax();
}
if (autoExpProp.isPresent()) {
autoExposureProp = autoExpProp.get();
}
@@ -278,10 +272,8 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
continue;
}
if (configuration.cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
if (videoMode.fps > 100) {
continue;
}
if (configuration.cameraQuirks.hasQuirk(CameraQuirk.FPSCap100) && videoMode.fps > 100) {
continue;
}
videoModesList.add(videoMode);

28
photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
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@@ -62,19 +62,18 @@ public class CornerDetectionPipe
// find the bl/br/tr/tl corners
// first, min by left/right
var list_ = Arrays.asList(points);
list_.sort(leftRightComparator);
Arrays.sort(points, leftRightComparator);
// of this, we now have left and right
// sort to get top and bottom
var left = new ArrayList<>(List.of(list_.get(0), list_.get(1)));
left.sort(verticalComparator);
var right = new ArrayList<>(List.of(list_.get(2), list_.get(3)));
right.sort(verticalComparator);
Point[] left = {points[0], points[1]};
Arrays.sort(left, verticalComparator);
Point[] right = {points[2], points[3]};
Arrays.sort(right, verticalComparator);
var tl = left.get(0);
var bl = left.get(1);
var tr = right.get(0);
var br = right.get(1);
var tl = left[0];
var bl = left[1];
var tr = right[0];
var br = right[1];
return List.of(bl, br, tr, tl);
}
@@ -140,11 +139,9 @@ public class CornerDetectionPipe
// top left and top right are the poly corners closest to the bounding box tl and tr
pointList.sort(compareDistToTl);
var tl = pointList.get(0);
pointList.remove(tl);
var tl = pointList.remove(0);
pointList.sort(compareDistToTr);
var tr = pointList.get(0);
pointList.remove(tr);
var tr = pointList.remove(0);
// at this point we look for points on the left/right of the center of the remaining points
// and maximize their distance from the center of the min area rectangle
@@ -160,12 +157,13 @@ public class CornerDetectionPipe
for (var p : pointList) {
if (p.y
> target.m_mainContour.getBoundingRect().y
+ target.m_mainContour.getBoundingRect().height / 2.0)
+ target.m_mainContour.getBoundingRect().height / 2.0) {
if (p.x < averageXCoordinate) {
leftList.add(p);
} else {
rightList.add(p);
}
}
}
if (leftList.isEmpty() || rightList.isEmpty()) return null;
leftList.sort(compareCenterDist);

4
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
View File

@@ -67,9 +67,7 @@ public class FilterContoursPipe
double x = c.getCenterPoint().x;
double y = c.getCenterPoint().y;
if (Math.abs(x - meanX) > stdDevX * xTol) {
it.remove();
} else if (Math.abs(y - meanY) > stdDevY * yTol) {
if (Math.abs(x - meanX) > stdDevX * xTol || Math.abs(y - meanY) > stdDevY * yTol) {
it.remove();
}
// Otherwise we're good! Keep it in

2
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
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@@ -54,7 +54,7 @@ public class FindBoardCornersPipe
// Since we return results in real-time, we want to ensure it goes as fast as
// possible
// and fails as fast as possible.
final int findChessboardFlags =
static final int findChessboardFlags =
Calib3d.CALIB_CB_NORMALIZE_IMAGE
| Calib3d.CALIB_CB_ADAPTIVE_THRESH
| Calib3d.CALIB_CB_FILTER_QUADS

4
photon-core/src/main/java/org/photonvision/vision/pipe/impl/GrayscalePipe.java
View File

@@ -32,7 +32,5 @@ public class GrayscalePipe extends CVPipe<Mat, Mat, GrayscalePipe.GrayscaleParam
return outputMat;
}
public static class GrayscaleParams {
public GrayscaleParams() {}
}
public static class GrayscaleParams {}
}

14
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
View File

@@ -571,20 +571,20 @@ public class VisionModule {
var temp = new HashMap<Integer, HashMap<String, Object>>();
var videoModes = visionSource.getSettables().getAllVideoModes();
for (var k : videoModes.keySet()) {
for (var k : videoModes.entrySet()) {
var internalMap = new HashMap<String, Object>();
internalMap.put("width", videoModes.get(k).width);
internalMap.put("height", videoModes.get(k).height);
internalMap.put("fps", videoModes.get(k).fps);
internalMap.put("width", k.getValue().width);
internalMap.put("height", k.getValue().height);
internalMap.put("fps", k.getValue().fps);
internalMap.put(
"pixelFormat",
((videoModes.get(k) instanceof LibcameraGpuSource.FPSRatedVideoMode)
((k.getValue() instanceof LibcameraGpuSource.FPSRatedVideoMode)
? "kPicam"
: videoModes.get(k).pixelFormat.toString())
: k.getValue().pixelFormat.toString())
.substring(1)); // Remove the k prefix
temp.put(k, internalMap);
temp.put(k.getKey(), internalMap);
}
if (videoModes.size() == 0) {

33
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
View File

@@ -55,23 +55,22 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
@Override
public void onDataChangeEvent(DataChangeEvent<?> event) {
if (event instanceof IncomingWebSocketEvent wsEvent) {
// Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
if (wsEvent.cameraUniqueName != null
&& wsEvent.cameraUniqueName.equals(parentModule.uniqueName())) {
logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
changeListLock.lock();
try {
getSettingChanges()
.add(
new VisionModuleChange(
wsEvent.propertyName,
wsEvent.data,
parentModule.pipelineManager.getCurrentPipeline().getSettings(),
wsEvent.originContext));
} finally {
changeListLock.unlock();
}
// Camera index -1 means a "multicast event" (i.e. the event is received by all cameras)
if (event instanceof IncomingWebSocketEvent wsEvent
&& wsEvent.cameraUniqueName != null
&& wsEvent.cameraUniqueName.equals(parentModule.uniqueName())) {
logger.trace("Got PSC event - propName: " + wsEvent.propertyName);
changeListLock.lock();
try {
getSettingChanges()
.add(
new VisionModuleChange(
wsEvent.propertyName,
wsEvent.data,
parentModule.pipelineManager.getCurrentPipeline().getSettings(),
wsEvent.originContext));
} finally {
changeListLock.unlock();
}
}
}

15
photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
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@@ -112,14 +112,13 @@ public class DataSocketHandler {
var socketMessageType = DataSocketMessageType.fromEntryKey(entryKey);
logger.trace(
() ->
"Got WS message: ["
+ socketMessageType
+ "] ==> ["
+ entryKey
+ "], ["
+ entryValue
+ "]");
"Got WS message: ["
+ socketMessageType
+ "] ==> ["
+ entryKey
+ "], ["
+ entryValue
+ "]");
if (socketMessageType == null) {
logger.warn("Got unknown socket message type: " + entryKey);

10
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -641,7 +641,7 @@ public class RequestHandler {
}
public static void onCalibrationSnapshotRequest(Context ctx) {
logger.info(ctx.queryString().toString());
logger.info(ctx.queryString());
String cameraUniqueName = ctx.queryParam("cameraUniqueName");
var width = Integer.parseInt(ctx.queryParam("width"));
@@ -695,7 +695,7 @@ public class RequestHandler {
}
public static void onCalibrationExportRequest(Context ctx) {
logger.info(ctx.queryString().toString());
logger.info(ctx.queryString());
String cameraUniqueName = ctx.queryParam("cameraUniqueName");
var width = Integer.parseInt(ctx.queryParam("width"));
@@ -900,7 +900,7 @@ public class RequestHandler {
}
public static void onActivateMatchedCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
logger.info(ctx.queryString());
String cameraUniqueName = ctx.queryParam("cameraUniqueName");
@@ -914,7 +914,7 @@ public class RequestHandler {
}
public static void onAssignUnmatchedCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
logger.info(ctx.queryString());
PVCameraInfo camera;
try {
@@ -934,7 +934,7 @@ public class RequestHandler {
}
public static void onUnassignCameraRequest(Context ctx) {
logger.info(ctx.queryString().toString());
logger.info(ctx.queryString());
String cameraUniqueName = ctx.queryParam("cameraUniqueName");

2
photon-targeting/src/test/java/jni/FileLoggerTest.java
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@@ -15,7 +15,7 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package wpiutil_extras;
package jni;
import static org.junit.jupiter.api.Assertions.fail;
import static org.junit.jupiter.api.Assumptions.assumeTrue;