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re did key names and added new values

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ori agranat
2020-01-12 23:32:53 +02:00
parent 72c4a3ccb9
commit b2e44e448c
3 changed files with 34 additions and 12 deletions
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42
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpiutil.CircularBuffer;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -35,7 +36,7 @@ import java.util.stream.Collectors;
public class VisionProcess {
private final USBCameraCapture cameraCapture;
// private final CameraStreamerRunnable streamRunnable;
// private final CameraStreamerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
private final CameraConfig fileConfig;
public final CameraStreamer cameraStreamer;
@@ -59,6 +60,12 @@ 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;
@@ -117,14 +124,19 @@ public class VisionProcess {
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");
ntDriverModeEntry = newTable.getEntry("driverMode");
ntPitchEntry = newTable.getEntry("targetPitch");
ntYawEntry = newTable.getEntry("targetYaw");
ntAreaEntry = newTable.getEntry("targetArea");
ntLatencyEntry = newTable.getEntry("latency");
ntValidEntry = newTable.getEntry("is_valid");
ntAuxListEntry = newTable.getEntry("aux_targets");
ntPoseEntry = newTable.getEntry("pose");
ntValidEntry = newTable.getEntry("isValid");
ntAuxListEntry = newTable.getEntry("auxTargets");
ntPoseEntry = newTable.getEntry("targetPose");
ntFittedHeightEntry = newTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = newTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = newTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = newTable.getEntry("targetBoundingWidth");
ntTargetRotation = newTable.getEntry("targetRotation");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
@@ -236,17 +248,23 @@ public class VisionProcess {
//noinspection unchecked
List<StandardCVPipeline.TrackedTarget> targets = (List<StandardCVPipeline.TrackedTarget>) 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();

1
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
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@@ -260,6 +260,7 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta
public double area = 0.0;
public Point point = new Point();
public RotatedRect minAreaRect;
public Rect boundingRect;
// 3d stuff
public Pose2d cameraRelativePose = new Pose2d();

3
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
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@@ -7,6 +7,7 @@ import com.chameleonvision.vision.pipeline.Pipe;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.*;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
import org.opencv.imgproc.Moments;
@@ -60,9 +61,11 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<StandardCV
contourBuffer.fromArray(c.toArray());
if (contourBuffer.cols() != 0 && contourBuffer.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contourBuffer);
Rect boundingRect = Imgproc.boundingRect(contourBuffer);
var target = new StandardCVPipeline.TrackedTarget();
target.minAreaRect = rect;
target.rawContour = contourBuffer;
target.boundingRect = boundingRect;
groupedContours.add(target);
}
});