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Merge branch 'class-abstraction' into dev

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This commit is contained in:
Banks Troutman
2019-11-27 17:40:56 -05:00
parent 182ba8abe3 a0dddc0289
commit b5ca35fc73
83 changed files with 3387 additions and 1720 deletions
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5
.gitignore vendored
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@@ -111,9 +111,8 @@ Main/target
New client/chameleon-client/node_modules/
Main/dependency-reduced-pom.xml
Main/src/main/java/META-INF
Main/.settings/org.eclipse.jdt.core.prefs
Main/.classpath
Main/.project
*.prefs

437
LICENSE Normal file
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@@ -0,0 +1,437 @@
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5
Main/.gitignore vendored Normal file
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@@ -0,0 +1,5 @@
bin/*
.settings/*
.project
.classpath
*.prefs

56
Main/chameleon-vision.iml
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@@ -1,11 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?>
<module org.jetbrains.idea.maven.project.MavenProjectsManager.isMavenModule="true" type="JAVA_MODULE" version="4">
<module org.jetbrains.idea.maven.project.MavenProjectsManager.isMavenModule="true" version="4">
<component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_12">
<output url="file://$MODULE_DIR$/target/classes" />
<output-test url="file://$MODULE_DIR$/target/test-classes" />
<content url="file://$MODULE_DIR$">
<sourceFolder url="file://$MODULE_DIR$/src/main/java" isTestSource="false" />
<sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
<sourceFolder url="file://$MODULE_DIR$/src/test/java" isTestSource="true" />
<excludeFolder url="file://$MODULE_DIR$/classes" />
<excludeFolder url="file://$MODULE_DIR$/settings" />
<excludeFolder url="file://$MODULE_DIR$/target" />
</content>
<orderEntry type="inheritedJdk" />
@@ -39,27 +42,34 @@
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<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:linuxx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
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<orderEntry type="library" name="Maven: edu.wpi.first.ntcore:ntcore-jni:windowsx86-64:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.1-beta-2-98-gb058dcf" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxaarch64bionic:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxraspbian:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxx86-64:3.4.7-2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:osxx86-64:3.4.7-2" level="project" />
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</component>
</module>

71
Main/pom.xml
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@@ -85,12 +85,6 @@
<artifactId>commons-math3</artifactId>
<version>3.6.1</version>
</dependency>
<!--google json save and load library-->
<dependency>
<groupId>com.google.code.gson</groupId>
<artifactId>gson</artifactId>
<version>2.8.5</version>
</dependency>
<dependency>
<groupId>org.msgpack</groupId>
<artifactId>msgpack-core</artifactId>
@@ -106,10 +100,29 @@
<artifactId>commons-lang3</artifactId>
<version>3.9</version>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-core</artifactId>
<version>2.10.1</version>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-annotations</artifactId>
<version>2.10.1</version>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-databind</artifactId>
<version>2.10.0.pr1</version>
<version>2.10.1</version>
</dependency>
<dependency>
<groupId>org.junit.jupiter</groupId>
<artifactId>junit-jupiter-engine</artifactId>
<version>5.5.2</version>
</dependency>
<!-- supported platforms for wpilib JNI classifiers
@@ -123,37 +136,37 @@
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-java</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
</dependency>
<!--frc cscore interface libs-->
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxaarch64bionic</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxraspbian</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>osxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.cscore</groupId>
<artifactId>cscore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>windowsx86-64</classifier>
</dependency>
@@ -161,39 +174,45 @@
<dependency>
<groupId>edu.wpi.first.cameraserver</groupId>
<artifactId>cameraserver-java</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
</dependency>
<!--frc network table java libs-->
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-java</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
</dependency>
<!--frc network tables interface libs-->
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>osxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxraspbian</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>linuxaarch64bionic</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.ntcore</groupId>
<artifactId>ntcore-jni</artifactId>
<version>2020.1.1-beta-2-98-gb058dcf</version>
<classifier>windowsx86-64</classifier>
</dependency>
@@ -201,43 +220,43 @@
<dependency>
<groupId>edu.wpi.first.wpiutil</groupId>
<artifactId>wpiutil-java</artifactId>
<version>2019.4.1-213-g56d782b</version>
<version>2020.1.1-beta-2-98-gb058dcf</version>
</dependency>
<!-- WPI OpenCV for all supported platforms -->
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-java</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
<classifier>linuxaarch64bionic</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
<classifier>linuxraspbian</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
<classifier>linuxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
<classifier>osxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<version>3.4.7-2</version>
<classifier>windowsx86-64</classifier>
</dependency>
</dependencies>

19
Main/src/main/java/com/chameleonvision/Debug.java Normal file
View File

@@ -0,0 +1,19 @@
package com.chameleonvision;
public class Debug {
private Debug() {}
private static boolean isTestMode() {
return Main.testMode;
}
public static void printInfo(String infoMessage) {
if (isTestMode()) {
System.out.println(infoMessage);
}
}
public static void printInfo(String smallInfo, String largeInfo) {
System.out.println(isTestMode() ? String.format("%s - %s" , smallInfo, largeInfo) : smallInfo);
}
}

93
Main/src/main/java/com/chameleonvision/Main.java
View File

@@ -1,10 +1,10 @@
package com.chameleonvision;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkManager;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.util.Platform;
import com.chameleonvision.util.Utilities;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
@@ -14,13 +14,15 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.util.function.Consumer;
import static com.chameleonvision.util.Platform.CurrentPlatform;
public class Main {
private static final String PORT_KEY = "--port"; // expects integer
private static final String NT_SERVERMODE_KEY = "--nt-servermode"; // no args for this setting
private static final String NT_CLIENTMODESERVER_KEY = "--nt-client-server"; // expects String representing an IP address (hostnames will be rejected!)
private static final String NETWORK_MANAGE_KEY = "--unmanage-network"; // no args for this setting
private static final String IGNORE_ROOT = "--ignore-root"; // no args for this setting
private static final String IGNORE_ROOT_KEY = "--ignore-root"; // no args for this setting
private static final String TEST_MODE_KEY = "--cv-development";
private static final int DEFAULT_PORT = 5800;
@@ -28,6 +30,7 @@ public class Main {
private static boolean manageNetwork = true;
private static boolean ignoreRoot = false;
private static String ntClientModeServer = null;
public static boolean testMode = false;
private static class NTLogger implements Consumer<LogMessage> {
@@ -42,8 +45,6 @@ public class Main {
}
}
private static final Platform CurrentPlatform = Platform.getCurrentPlatform();
private static void handleArgs(String[] args) {
for (int i = 0; i < args.length; i++) {
var key = args[i].toLowerCase();
@@ -51,7 +52,6 @@ public class Main {
// this switch handles arguments with a value. Add any settings with a value here.
switch (key) {
case PORT_KEY:
case NT_CLIENTMODESERVER_KEY:
var potentialValue = args[i + 1];
// ensures this "value" isnt null, blank, nor another argument
@@ -62,21 +62,14 @@ public class Main {
break;
case NT_SERVERMODE_KEY:
case NETWORK_MANAGE_KEY:
case IGNORE_ROOT:
case IGNORE_ROOT_KEY:
case TEST_MODE_KEY:
// nothing
break;
}
// this switch actually handles the arguments.
switch (key) {
case PORT_KEY:
System.out.println("INFO - The \"--port\" argument is currently disabled.");
// try {
// if (value == null) throw new Exception("Bad or No argument value");
// webserverPort = Integer.parseInt(value);
// } catch (Exception ex) {
// System.err.printf("Argument for port was invalid, starting server at port %d\n", DEFAULT_PORT);
// }
break;
case NT_SERVERMODE_KEY:
ntServerMode = true;
break;
@@ -84,12 +77,12 @@ public class Main {
if (value != null) {
if (value.equals("localhost")) {
ntClientModeServer = "127.0.0.1";
return;
continue;
}
if (Utilities.isValidIPV4(value)) {
ntClientModeServer = value;
return;
continue;
}
}
System.err.println("Argument for NT Server Host was invalid, defaulting to team number host");
@@ -97,8 +90,12 @@ public class Main {
case NETWORK_MANAGE_KEY:
manageNetwork = false;
break;
case IGNORE_ROOT:
case IGNORE_ROOT_KEY:
ignoreRoot = true;
break;
case TEST_MODE_KEY:
testMode = true;
break;
}
}
}
@@ -115,7 +112,6 @@ public class Main {
if (!CurrentPlatform.isRoot()) {
if (ignoreRoot) {
// TODO: should we do this?
// manageNetwork = false;
System.out.println("Ignoring root, network will not be managed!");
} else {
@@ -129,31 +125,42 @@ public class Main {
CameraServerJNI.forceLoad();
CameraServerCvJNI.forceLoad();
} catch (UnsatisfiedLinkError | IOException e) {
if(Platform.getCurrentPlatform().isWindows())
System.err.println("Try to download the VC++ Redistributable, see announcements in discord");
if(CurrentPlatform.isWindows()) {
System.err.println("Try to download the VC++ Redistributable, https://aka.ms/vs/16/release/vc_redist.x64.exe");
}
throw new RuntimeException("Failed to load JNI Libraries!");
}
if (CameraManager.initializeCameras()) {
SettingsManager.initialize();
NetworkManager.initialize(manageNetwork);
CameraManager.initializeThreads();
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.teamNumber);
}
}
int webserverPort = DEFAULT_PORT;
System.out.printf("Starting Webserver at port %d\n", webserverPort);
Server.main(webserverPort);
ConfigManager.initializeSettings();
NetworkManager.initialize(manageNetwork);
if (ntServerMode) {
System.out.println("Starting NT Server");
NetworkTableInstance.getDefault().startServer();
} else {
System.err.println("No cameras connected!");
NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
if (ntClientModeServer != null) {
NetworkTableInstance.getDefault().startClient(ntClientModeServer);
} else {
NetworkTableInstance.getDefault().startClientTeam(ConfigManager.settings.teamNumber);
}
}
boolean visionSourcesOk = VisionManager.initializeSources();
if (!visionSourcesOk) {
System.out.println("No cameras connected!");
return;
}
boolean visionProcessesOk = VisionManager.initializeProcesses();
if (!visionProcessesOk) {
System.err.println("shit");
return;
}
VisionManager.startProcesses();
System.out.printf("Starting Webserver at port %d\n", DEFAULT_PORT);
Server.main(DEFAULT_PORT);
}
}

171
Main/src/main/java/com/chameleonvision/config/CameraConfig.java Normal file
View File

@@ -0,0 +1,171 @@
package com.chameleonvision.config;
import com.chameleonvision.util.JacksonHelper;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
public class CameraConfig {
private static final Path camerasConfigFolderPath = Paths.get(ConfigManager.SettingsPath.toString(), "cameras");
private final String cameraConfigName;
private final CameraJsonConfig preliminaryConfig;
CameraConfig(CameraJsonConfig config) {
preliminaryConfig = config;
cameraConfigName = preliminaryConfig.name.replace(' ', '_');
}
public CameraJsonConfig load() {
checkFolder();
checkConfig();
checkPipelines();
checkDriverMode();
return loadConfig();
}
private CameraJsonConfig loadConfig() {
CameraJsonConfig config = preliminaryConfig;
try {
config = JacksonHelper.deserializer(getConfigPath(), CameraJsonConfig.class);
} catch (IOException e) {
System.err.printf("Failed to load camera config: %s - using default.\n", getConfigPath().toString());
}
return config;
}
List<CVPipelineSettings> loadPipelines() {
List<CVPipelineSettings> pipelines = new ArrayList<>();
try {
var pipelineArray = JacksonHelper.deserializer(getPipelinesPath(), CVPipelineSettings[].class);
if (pipelineArray != null) {
pipelines = Arrays.asList(pipelineArray);
}
} catch (IOException e) {
System.err.println("Failed to load camera pipelines: " + getPipelinesPath().toString());
}
return pipelines;
}
CVPipelineSettings loadDriverMode() {
CVPipelineSettings driverMode = new CVPipelineSettings();
driverMode.nickname = "DRIVERMODE";
try {
driverMode = JacksonHelper.deserializer(getDriverModePath(), CVPipelineSettings.class);
} catch (IOException e) {
System.err.println("Failed to load camera drivermode: " + getDriverModePath().toString());
}
return driverMode;
}
void saveConfig(CameraJsonConfig config) {
try {
JacksonHelper.serializer(getConfigPath(), config);
} catch (IOException e) {
System.err.println("Failed to save camera config file: " + getConfigPath().toString());
}
}
void savePipelines(List<CVPipelineSettings> pipelines) {
try {
JacksonHelper.serializer(getPipelinesPath(), pipelines);
} catch (IOException e) {
System.err.println("Failed to save camera pipelines file: " + getConfigPath().toString());
}
}
void saveDriverMode(CVPipelineSettings driverMode) {
try {
JacksonHelper.serializer(getDriverModePath(), driverMode);
} catch (IOException e) {
System.err.println("Failed to save camera drivermode file: " + getDriverModePath().toString());
}
}
private void checkFolder() {
if (!folderExists()) {
try {
if (!(new File(getFolderPath().toUri()).mkdirs())) {
System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
}
} catch(Exception e) {
if(!(e instanceof java.nio.file.FileAlreadyExistsException || e instanceof java.nio.file.FileAlreadyExistsException))
System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
}
}
}
private void checkConfig() {
if (!configExists()) {
try {
JacksonHelper.serializer(getConfigPath(), preliminaryConfig);
} catch (IOException e) {
System.err.println("Failed to create camera config file: " + getConfigPath().toString());
}
}
}
private void checkPipelines() {
if (!pipelinesExists()) {
try {
Files.createFile(getPipelinesPath());
} catch (IOException e) {
System.err.println("Failed to create camera pipelines file: " + getPipelinesPath().toString());
}
}
}
private void checkDriverMode() {
if (!driverModeExists()) {
try {
CVPipelineSettings newDriverModeSettings = new CVPipelineSettings();
newDriverModeSettings.nickname = "DRIVERMODE";
JacksonHelper.serializer(getDriverModePath(), newDriverModeSettings);
} catch (IOException e) {
System.err.println("Failed to create camera drivermode file: " + getDriverModePath().toString());
}
}
}
private Path getFolderPath() {
return Paths.get(camerasConfigFolderPath.toString(), cameraConfigName);
}
private Path getConfigPath() {
return Paths.get(getFolderPath().toString(), "camera.json");
}
private Path getPipelinesPath() {
return Paths.get(getFolderPath().toString(), "pipelines.json");
}
private Path getDriverModePath() {
return Paths.get(getFolderPath().toString(), "drivermode.json");
}
private boolean folderExists() {
return Files.exists(getFolderPath());
}
private boolean configExists() {
return folderExists() && Files.exists(getConfigPath());
}
private boolean pipelinesExists() {
return folderExists() && Files.exists(getPipelinesPath());
}
private boolean driverModeExists() {
return folderExists() && Files.exists(getDriverModePath());
}
}

37
Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java Normal file
View File

@@ -0,0 +1,37 @@
package com.chameleonvision.config;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.camera.USBCameraProperties;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonProperty;
public class CameraJsonConfig {
public final double fov;
public final String path;
public final String name;
public final String nickname;
@JsonCreator
public CameraJsonConfig(
@JsonProperty("fov") double fov,
@JsonProperty("path") String path,
@JsonProperty("name") String name,
@JsonProperty("nickname") String nickname) {
this.fov = fov;
this.path = path;
this.name = name;
this.nickname = nickname;
}
public CameraJsonConfig(String path, String name) {
this.fov = USBCameraProperties.DEFAULT_FOV;
this.path = path;
this.name = name;
this.nickname = name;
}
public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) {
USBCameraProperties camProps = process.getProperties();
return new CameraJsonConfig(camProps.FOV, camProps.name, camProps.path, camProps.getNickname());
}
}

113
Main/src/main/java/com/chameleonvision/config/ConfigManager.java Normal file
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@@ -0,0 +1,113 @@
package com.chameleonvision.config;
import com.chameleonvision.util.ProgramDirectoryUtilities;
import com.chameleonvision.util.JacksonHelper;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;
public class ConfigManager {
private ConfigManager() {}
static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
private static final Path settingsFilePath = Paths.get(SettingsPath.toString(), "settings.json");
private static final LinkedHashMap<String, CameraConfig> cameraConfigs = new LinkedHashMap<>();
public static GeneralSettings settings = new GeneralSettings();
private static boolean settingsFolderExists() { return Files.exists(SettingsPath); }
private static boolean settingsFileExists() { return settingsFolderExists() && Files.exists(settingsFilePath); }
private static void checkSettingsFolder() {
if (!settingsFolderExists()) {
try {
if( !(new File(SettingsPath.toUri()).mkdirs()) ) {
System.err.println("Failed to create settings folder: " + SettingsPath.toString());
}
Files.createDirectory(SettingsPath);
} catch (IOException e) {
if(!(e instanceof java.nio.file.FileAlreadyExistsException))
e.printStackTrace();
}
}
}
private static void checkSettingsFile() {
boolean settingsFileEmpty = settingsFileExists() && new File(settingsFilePath.toString()).length() == 0;
if (settingsFileEmpty || !settingsFileExists()) {
try {
JacksonHelper.serializer(settingsFilePath, settings);
} catch (IOException e) {
e.printStackTrace();
}
} else {
try {
settings = JacksonHelper.deserializer(settingsFilePath, GeneralSettings.class);
} catch (IOException e) {
System.err.println("Failed to load settings.json, using defaults.");
}
}
}
public static void initializeSettings() {
System.out.println("Settings folder: " + SettingsPath.toString());
checkSettingsFolder();
checkSettingsFile();
}
private static void saveSettingsFile() {
try {
JacksonHelper.serializer(settingsFilePath, settings);
} catch (IOException e) {
System.err.println("Failed to save settings.json!");
}
}
public static void saveGeneralSettings() {
checkSettingsFolder();
saveSettingsFile();
}
public static List<FullCameraConfiguration> initializeCameras(List<CameraJsonConfig> preliminaryConfigs) {
List<FullCameraConfiguration> configList = new ArrayList<>();
checkSettingsFolder();
// loop over all the camera names and try to create settings folders for it
for (CameraJsonConfig preliminaryConfig : preliminaryConfigs) {
CameraConfig cameraConfiguration = new CameraConfig(preliminaryConfig);
cameraConfigs.put(preliminaryConfig.name, cameraConfiguration);
CameraJsonConfig camJsonConfig = cameraConfiguration.load();
List<CVPipelineSettings> pipelines = cameraConfiguration.loadPipelines();
CVPipelineSettings driverMode = cameraConfiguration.loadDriverMode();
configList.add(new FullCameraConfiguration(camJsonConfig, pipelines, driverMode));
}
return configList;
}
public static void saveCameraConfig(String cameraName, CameraJsonConfig config) {
var camConf = cameraConfigs.get(cameraName);
camConf.saveConfig(config);
}
public static void saveCameraPipelines(String cameraName, List<CVPipelineSettings> pipelines) {
var camConf = cameraConfigs.get(cameraName);
camConf.savePipelines(pipelines);
}
public static void saveCameraDriverMode(String cameraName, CVPipelineSettings driverMode) {
var camConf = cameraConfigs.get(cameraName);
camConf.saveDriverMode(driverMode);
}
}

18
Main/src/main/java/com/chameleonvision/config/FullCameraConfiguration.java Normal file
View File

@@ -0,0 +1,18 @@
package com.chameleonvision.config;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import java.util.List;
public class FullCameraConfiguration {
public final CameraJsonConfig cameraConfig;
public final List<CVPipelineSettings> pipelines;
public final CVPipelineSettings drivermode;
public FullCameraConfiguration(CameraJsonConfig cameraConfig, List<CVPipelineSettings> pipelines, CVPipelineSettings drivermode) {
this.cameraConfig = cameraConfig;
this.pipelines = pipelines;
this.drivermode = drivermode;
}
}

2
Main/src/main/java/com/chameleonvision/settings/GeneralSettings.java → Main/src/main/java/com/chameleonvision/config/GeneralSettings.java
View File

@@ -1,4 +1,4 @@
package com.chameleonvision.settings;
package com.chameleonvision.config;
import com.chameleonvision.network.NetworkIPMode;

2
Main/src/main/java/com/chameleonvision/network/NetworkInterface.java
View File

@@ -19,7 +19,7 @@ public class NetworkInterface {
IPAddress = inetAddress.getHostAddress();
Netmask = getIPv4LocalNetMask(ifaceAddress);
// TODO: hack to "get" gateway, this is gross and bad, pls fix
// TODO: (low) hack to "get" gateway, this is gross and bad, pls fix
var splitIPAddr = IPAddress.split("\\.");
splitIPAddr[3] = "1";
Gateway = String.join(".", splitIPAddr);

8
Main/src/main/java/com/chameleonvision/network/NetworkManager.java
View File

@@ -1,8 +1,8 @@
package com.chameleonvision.network;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.util.Platform;
import java.net.SocketException;
import java.util.ArrayList;
@@ -43,7 +43,7 @@ public class NetworkManager {
e.printStackTrace();
}
var teamBytes = NetworkManager.GetTeamNumberIPBytes(SettingsManager.GeneralSettings.teamNumber);
var teamBytes = NetworkManager.GetTeamNumberIPBytes(ConfigManager.settings.teamNumber);
if (interfaces.size() > 0) {
for (var inetface : interfaces) {
@@ -85,7 +85,7 @@ public class NetworkManager {
return true;
}
var genSettings = SettingsManager.GeneralSettings;
var genSettings = ConfigManager.settings;
boolean isStatic = genSettings.connectionType.equals(NetworkIPMode.STATIC);
if (isStatic) {

65
Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
View File

@@ -1,65 +0,0 @@
package com.chameleonvision.settings;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.vision.camera.CameraManager;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.Path;
import java.nio.file.Paths;
public class SettingsManager {
public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "settings");
public static com.chameleonvision.settings.GeneralSettings GeneralSettings;
private SettingsManager() {}
public static void initialize() {
initGeneralSettings();
var allCameras = CameraManager.getAllCamerasByName();
if (!allCameras.containsKey(GeneralSettings.currentCamera) && allCameras.size() > 0) {
var cam = allCameras.entrySet().stream().findFirst().get().getValue();
GeneralSettings.currentCamera = cam.name;
GeneralSettings.currentPipeline = cam.getCurrentPipelineIndex();
}
}
private static void initGeneralSettings() {
FileHelper.CheckPath(SettingsPath);
try {
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "settings.json").toString()), com.chameleonvision.settings.GeneralSettings.class);
} catch (FileNotFoundException e) {
GeneralSettings = new GeneralSettings();
}
}
public static void updateCameraSetting(String cameraName, int pipelineNumber) {
GeneralSettings.currentCamera = cameraName;
GeneralSettings.currentPipeline = pipelineNumber;
}
public static void updatePipelineSetting(int pipelineNumber) {
GeneralSettings.currentPipeline = pipelineNumber;
}
public static void saveSettings() {
CameraManager.saveCameras();
saveGeneralSettings();
}
private static void saveGeneralSettings() {
try {
Gson gson = new GsonBuilder().setPrettyPrinting().create();
FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "settings.json").toString());
gson.toJson(GeneralSettings, writer);
writer.flush();
writer.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}

25
Main/src/main/java/com/chameleonvision/util/FileHelper.java
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@@ -1,25 +0,0 @@
package com.chameleonvision.util;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
public class FileHelper {
private FileHelper() {} // no construction, utility class
public static void CheckPath(String path) {
if (path.equals("")) return;
Path realPath = Path.of(path);
CheckPath(realPath);
}
public static void CheckPath(Path path) {
if (!Files.exists(path)) {
try {
Files.createDirectories(path);
} catch (IOException e) {
e.printStackTrace();
}
}
}
}

18
Main/src/main/java/com/chameleonvision/util/Helpers.java Normal file
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@@ -0,0 +1,18 @@
package com.chameleonvision.util;
import edu.wpi.cscore.VideoMode;
import org.opencv.core.Scalar;
import java.awt.*;
public class Helpers {
private Helpers() {}
public static Scalar colorToScalar(Color color) {
return new Scalar(color.getRed(), color.getGreen(), color.getBlue());
}
public static String VideoModeToString(VideoMode videoMode) {
return String.format("%dx%d@%dFPS in %s", videoMode.width, videoMode.height, videoMode.fps, videoMode.pixelFormat.toString());
}
}

30
Main/src/main/java/com/chameleonvision/util/JacksonHelper.java Normal file
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@@ -0,0 +1,30 @@
package com.chameleonvision.util;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.json.JsonMapper;
import com.fasterxml.jackson.databind.jsontype.BasicPolymorphicTypeValidator;
import com.fasterxml.jackson.databind.jsontype.PolymorphicTypeValidator;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
public class JacksonHelper {
private JacksonHelper() {} // no construction, utility class
public static void serializer(Path path, Object object) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(Object.class).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv, ObjectMapper.DefaultTyping.JAVA_LANG_OBJECT).build();
objectMapper.writerWithDefaultPrettyPrinter().writeValue(new File(path.toString()), object);
}
public static <T> T deserializer(Path path, Class<T> ref) throws IOException {
PolymorphicTypeValidator ptv = BasicPolymorphicTypeValidator.builder().allowIfBaseType(ref).build();
ObjectMapper objectMapper = JsonMapper.builder().activateDefaultTyping(ptv).build();
File jsonFile = new File(path.toString());
if (jsonFile.exists() && jsonFile.length() > 0) {
return objectMapper.readValue(jsonFile, ref);
}
return null;
}
}

37
Main/src/main/java/com/chameleonvision/util/LoopingRunnable.java Normal file
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@@ -0,0 +1,37 @@
package com.chameleonvision.util;
/**
* A thread that tries to run at a specified loop time
*/
public abstract class LoopingRunnable implements Runnable {
protected volatile Long loopTimeMs;
protected abstract void process();
public LoopingRunnable(Long loopTimeMs) {
this.loopTimeMs = loopTimeMs;
}
@Override
public void run() {
while(!Thread.interrupted()) {
var now = System.currentTimeMillis();
// Do the thing
process();
// sleep for the remaining time
var timeElapsed = System.currentTimeMillis() - now;
var delta = loopTimeMs - timeElapsed;
try {
if(delta > 0.0) {
Thread.sleep(delta, 0);
} else {
Thread.sleep(1);
}
} catch (Exception ignored) {}
}
}
}

5
Main/src/main/java/com/chameleonvision/settings/Platform.java → Main/src/main/java/com/chameleonvision/util/Platform.java
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@@ -1,6 +1,4 @@
package com.chameleonvision.settings;
import com.chameleonvision.util.ShellExec;
package com.chameleonvision.util;
import java.io.BufferedReader;
import java.io.IOException;
@@ -23,6 +21,7 @@ public enum Platform {
private static final String OS_NAME = System.getProperty("os.name");
private static final String OS_ARCH = System.getProperty("os.arch");
public static final Platform CurrentPlatform = getCurrentPlatform();
public boolean isWindows() {
return this == WINDOWS_64;

52
Main/src/main/java/com/chameleonvision/util/ProgramDirectoryUtilities.java Normal file
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@@ -0,0 +1,52 @@
package com.chameleonvision.util;
import java.io.File;
import java.net.URISyntaxException;
public class ProgramDirectoryUtilities
{
private static String getJarName()
{
return new File(ProgramDirectoryUtilities.class.getProtectionDomain()
.getCodeSource()
.getLocation()
.getPath())
.getName();
}
private static boolean runningFromJAR()
{
String jarName = getJarName();
return jarName.contains(".jar");
}
public static String getProgramDirectory()
{
if (runningFromJAR())
{
return getCurrentJARDirectory();
} else
{
return System.getProperty("user.dir");
// return getCurrentProjectDirectory();
}
}
private static String getCurrentProjectDirectory()
{
return new File("").getAbsolutePath();
}
private static String getCurrentJARDirectory()
{
try
{
return new File(ProgramDirectoryUtilities.class.getProtectionDomain().getCodeSource().getLocation().toURI().getPath()).getParent();
} catch (URISyntaxException exception)
{
exception.printStackTrace();
}
return null;
}
}

5
Main/src/main/java/com/chameleonvision/vision/Orientation.java
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@@ -1,5 +0,0 @@
package com.chameleonvision.vision;
public enum Orientation {
Normal,Inverted//TODO add 90 and 270 deg rotation?
}

28
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
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@@ -1,28 +0,0 @@
package com.chameleonvision.vision;
import java.util.Arrays;
import java.util.List;
public class Pipeline {
public int exposure = 50;
public int brightness = 50;
public Orientation orientation = Orientation.Normal;
public List<Number> hue = Arrays.asList(50, 180);
public List<Number> saturation = Arrays.asList(50, 255);
public List<Number> value = Arrays.asList(50, 255);
public boolean erode = false;
public boolean dilate = false;
public List<Number> area = Arrays.asList(0.0, 100.0);
public List<Number> ratio = Arrays.asList(0.0, 20.0);
public List<Number> extent = Arrays.asList(0, 100);
public Number speckle = 5;
public boolean isBinary = false;
public SortMode sortMode = SortMode.Largest;
public TargetGroup targetGroup = TargetGroup.Single;
public TargetIntersection targetIntersection = TargetIntersection.Up;
public double m = 1;
public double b = 0;
public List<Number> point = Arrays.asList(0,0);
public CalibrationMode calibrationMode = CalibrationMode.None;
public String nickname;
}

5
Main/src/main/java/com/chameleonvision/vision/TargetGroup.java
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@@ -1,5 +0,0 @@
package com.chameleonvision.vision;
public enum TargetGroup {
Single,Dual
}

183
Main/src/main/java/com/chameleonvision/vision/VisionManager.java Normal file
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@@ -0,0 +1,183 @@
package com.chameleonvision.vision;
import com.chameleonvision.config.CameraJsonConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.config.FullCameraConfiguration;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.util.Platform;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.opencv.videoio.VideoCapture;
import java.io.IOException;
import java.util.*;
import java.util.stream.Collectors;
public class VisionManager {
private VisionManager() {
}
private static final LinkedHashMap<String, UsbCameraInfo> usbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<FullCameraConfiguration> loadedCameraConfigs = new LinkedList<>();
private static final LinkedList<VisionProcessManageable> visionProcesses = new LinkedList<>();
private static class VisionProcessManageable {
public final int index;
public final String name;
public final VisionProcess visionProcess;
public VisionProcessManageable(int index, String name, VisionProcess visionProcess) {
this.index = index;
this.name = name;
this.visionProcess = visionProcess;
}
}
private static VisionProcess currentUIVisionProcess;
public static boolean initializeSources() {
int suffix = 0;
for (UsbCameraInfo info : UsbCamera.enumerateUsbCameras()) {
VideoCapture cap = new VideoCapture(info.dev);
if (cap.isOpened()) {
cap.release();
String name = info.name;
while (usbCameraInfosByCameraName.containsKey(name)) {
suffix++;
name = String.format("%s (%d)", name, suffix);
}
usbCameraInfosByCameraName.put(name, info);
}
}
if (usbCameraInfosByCameraName.isEmpty()) {
return false;
}
// load the config
List<CameraJsonConfig> preliminaryConfigs = new ArrayList<>();
usbCameraInfosByCameraName.values().forEach((cameraInfo) -> {
String truePath;
if (Platform.CurrentPlatform.isWindows()) {
truePath = cameraInfo.path;
} else {
truePath = Arrays.stream(cameraInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst().orElse(cameraInfo.path);
}
preliminaryConfigs.add(new CameraJsonConfig(truePath, cameraInfo.name));
});
loadedCameraConfigs.addAll(ConfigManager.initializeCameras(preliminaryConfigs));
// TODO: (HIGH) Load pipelines from json
// UsbCameraInfosByCameraName.forEach((cameraName, cameraInfo) -> {
// Path cameraConfigFolder = Paths.get(CamConfigPath.toString(), String.format("%s\\", cameraName));
// Path cameraConfigPath = Paths.get(cameraConfigFolder.toString(), String.format("%s.json", cameraName));
// Path cameraPipelinesPath = Paths.get(cameraConfigFolder.toString(), "pipelines.json");
// Path cameraDrivermodePath = Paths.get(cameraConfigFolder.toString(), "drivermode.json");
return true;
}
public static boolean initializeProcesses() {
for (int i = 0; i < loadedCameraConfigs.size(); i++) {
FullCameraConfiguration config = loadedCameraConfigs.get(i);
CameraJsonConfig cameraJsonConfig = config.cameraConfig;
CameraCapture camera = new USBCameraCapture(cameraJsonConfig);
VisionProcess process = new VisionProcess(camera, cameraJsonConfig.name);
config.pipelines.forEach(process::addPipeline);
process.setDriverModeSettings(config.drivermode);
visionProcesses.add(new VisionProcessManageable(i, cameraJsonConfig.name, process));
}
currentUIVisionProcess = getVisionProcessByIndex(0);
ConfigManager.settings.currentCamera = visionProcesses.get(0).name;
return true;
}
public static void startProcesses() {
visionProcesses.forEach((vpm) -> {
vpm.visionProcess.start();
});
}
public static VisionProcess getCurrentUIVisionProcess() {
return currentUIVisionProcess;
}
public static void setCurrentProcessByIndex(int processIndex) {
if (processIndex > visionProcesses.size() - 1) {
return;
}
currentUIVisionProcess = getVisionProcessByIndex(processIndex);
ConfigManager.settings.currentCamera = visionProcesses.get(processIndex).name;
}
public static VisionProcess getVisionProcessByIndex(int processIndex) {
if (processIndex > visionProcesses.size() - 1) {
return null;
}
VisionProcessManageable vpm = visionProcesses.stream().filter(manageable -> manageable.index == processIndex).findFirst().orElse(null);
return vpm != null ? vpm.visionProcess : null;
}
public static List<String> getAllCameraNicknames() {
return visionProcesses.stream().map(vpm -> vpm.visionProcess.getCamera()
.getProperties().getNickname()).collect(Collectors.toList());
}
public static List<String> getCurrentCameraPipelineNicknames() {
return currentUIVisionProcess.getPipelines().stream().map(cvPipeline -> cvPipeline.settings.nickname).collect(Collectors.toList());
}
public static void saveAllCameras() {
visionProcesses.forEach((vpm) -> {
VisionProcess process = vpm.visionProcess;
String cameraName = process.getCamera().getProperties().name;
List<CVPipelineSettings> pipelines = process.getPipelines().stream().map(cvPipeline -> cvPipeline.settings).collect(Collectors.toList());
CVPipelineSettings driverMode = process.getDriverModeSettings();
CameraJsonConfig config = CameraJsonConfig.fromUSBCameraProcess((USBCameraCapture) process.getCamera());
ConfigManager.saveCameraPipelines(cameraName, pipelines);
ConfigManager.saveCameraDriverMode(cameraName, driverMode);
ConfigManager.saveCameraConfig(cameraName, config);
});
}
private static String getCurrentCameraName() {
return currentUIVisionProcess.getCamera().getProperties().name;
}
public static void saveCurrentCameraSettings() {
CameraJsonConfig config = CameraJsonConfig.fromUSBCameraProcess((USBCameraCapture) currentUIVisionProcess.getCamera());
ConfigManager.saveCameraConfig(getCurrentCameraName(), config);
}
public static void saveCurrentCameraPipelines() {
List<CVPipelineSettings> pipelineSettings = currentUIVisionProcess.getPipelines().stream().map(pipeline -> pipeline.settings).collect(Collectors.toList());
ConfigManager.saveCameraPipelines(getCurrentCameraName(), pipelineSettings);
}
public static void saveCurrentCameraDriverMode() {
CVPipelineSettings driverModeSettings = currentUIVisionProcess.getDriverModeSettings();
ConfigManager.saveCameraDriverMode(getCurrentCameraName(), driverModeSettings);
}
public static List<String> getCurrentCameraResolutionList() {
return currentUIVisionProcess.getCamera().getProperties().getVideoModes().stream().map(Helpers::VideoModeToString).collect(Collectors.toList());
}
public static int getCurrentUIVisionProcessIndex() {
VisionProcessManageable vpm = visionProcesses.stream().filter(v -> v.visionProcess == currentUIVisionProcess).findFirst().orElse(null);
return vpm != null ? vpm.index : -1;
}
}

353
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java Normal file
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@@ -0,0 +1,353 @@
package com.chameleonvision.vision;
import com.chameleonvision.Debug;
import com.chameleonvision.Main;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.util.LoopingRunnable;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CameraStreamer;
import com.chameleonvision.vision.pipeline.*;
import com.chameleonvision.web.ServerHandler;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.networktables.*;
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;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingDeque;
public class VisionProcess {
private final CameraCapture cameraCapture;
private final List<CVPipeline> pipelines = new ArrayList<>();
private final CameraStreamerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
public final CameraStreamer cameraStreamer;
private CVPipeline currentPipeline;
private int currentPipelineIndex = 0;
private CVPipeline driverModePipeline = new DriverVisionPipeline(new CVPipelineSettings());
private volatile CVPipelineResult lastPipelineResult;
private BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
// network table stuff
private final NetworkTable defaultTable;
private NetworkTableEntry ntPipelineEntry;
private NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntAuxListEntry;
private NetworkTableEntry ntAreaEntry;
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
private ObjectMapper objectMapper = new ObjectMapper();
VisionProcess(CameraCapture cameraCapture, String name) {
this.cameraCapture = cameraCapture;
pipelines.add(new CVPipeline2d("New Pipeline"));
setPipeline(0, false);
// Thread to put frames on the dashboard
this.cameraStreamer = new CameraStreamer(cameraCapture, name);
this.streamRunnable = new CameraStreamerRunnable(30, cameraStreamer);
// Thread to process vision data
this.visionRunnable = new VisionProcessRunnable();
// network table
defaultTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraCapture.getProperties().name);
}
public void start() {
System.out.println("Starting NetworkTables.");
initNT(defaultTable);
System.out.println("Starting vision thread.");
new Thread(visionRunnable).start();
System.out.println("Starting stream thread.");
new Thread(streamRunnable).start();
}
/**
* Removes the old value change listeners
* calls {@link #initNT}
*
* @param newTable passed to {@link #initNT}
*/
public void resetNT(NetworkTable newTable) {
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
private void initNT(NetworkTable newTable) {
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntAreaEntry = newTable.getEntry("area");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntAuxListEntry = newTable.getEntry("aux_targets");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(0);
}
private void setDriverMode(EntryNotification driverModeEntryNotification) {
setDriverMode(driverModeEntryNotification.value.getBoolean());
}
public void setDriverMode(boolean driverMode) {
if (driverMode) {
setPipelineInternal(driverModePipeline);
} else {
setPipeline(currentPipelineIndex, true);
}
}
/**
* Method called by the nt entry listener to update the next pipeline.
* @param notification the notification
*/
private void setPipeline(EntryNotification notification) {
var wantedPipelineIndex = (int) notification.value.getDouble();
if (wantedPipelineIndex >= pipelines.size()) {
ntPipelineEntry.setNumber(currentPipelineIndex);
} else {
currentPipelineIndex = wantedPipelineIndex;
setPipeline(wantedPipelineIndex, true);
}
}
public void setPipeline(int pipelineIndex, boolean updateUI) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
setPipelineInternal(newPipeline);
currentPipelineIndex = pipelineIndex;
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraCapture.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
if (updateUI) {
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", pipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
ServerHandler.sendFullSettings();
}
}
}
}
private void setPipelineInternal(CVPipeline pipeline) {
currentPipeline = pipeline;
currentPipeline.initPipeline(cameraCapture);
}
private void updateUI(CVPipelineResult data) {
if(cameraCapture.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> calculated = new HashMap<>();
List<Double> center = new ArrayList<>();
if (data.hasTarget) {
if(data instanceof CVPipeline2d.CVPipeline2dResult) {
CVPipeline2d.CVPipeline2dResult result = (CVPipeline2d.CVPipeline2dResult) data;
CVPipeline2d.Target2d bestTarget = result.targets.get(0);
center.add(bestTarget.rawPoint.center.x);
center.add(bestTarget.rawPoint.center.y);
calculated.put("pitch", bestTarget.pitch);
calculated.put("yaw", bestTarget.yaw);
calculated.put("area", bestTarget.area);
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff in UI
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
}
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
}
point.put("fps", visionRunnable.fps);
point.put("calculated", calculated);
point.put("rawPoint", center);
WebSend.put("point", point);
ServerHandler.broadcastMessage(WebSend);
}
}
private void updateNetworkTableData(CVPipelineResult data) {
ntValidEntry.setBoolean(data.hasTarget);
if(data.hasTarget && !(data instanceof DriverVisionPipeline.DriverPipelineResult)) {
if(data instanceof CVPipeline2d.CVPipeline2dResult) {
//noinspection unchecked
List<CVPipeline2d.Target2d> targets = (List<CVPipeline2d.Target2d>) data.targets;
ntTimeStampEntry.setDouble(data.imageTimestamp);
ntPitchEntry.setDouble(targets.get(0).pitch);
ntYawEntry.setDouble(targets.get(0).yaw);
ntAreaEntry.setDouble(targets.get(0).area);
try {
ntAreaEntry.setString(objectMapper.writeValueAsString(targets));
} catch (JsonProcessingException e) {
e.printStackTrace();
}
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff...
}
} else {
ntPitchEntry.setDouble(0.0);
ntYawEntry.setDouble(0.0);
ntAreaEntry.setDouble(0.0);
ntTimeStampEntry.setDouble(0.0);
ntAuxListEntry.setString("");
}
}
public void setVideoMode(VideoMode newMode) {
cameraCapture.setVideoMode(newMode);
cameraStreamer.setNewVideoMode(newMode);
}
public List<CVPipeline> getPipelines() {
return pipelines;
}
public CVPipeline getCurrentPipeline() {
return currentPipeline;
}
public int getCurrentPipelineIndex() {
return currentPipelineIndex;
}
public void addPipeline() {
// TODO: (2.1) add to UI option between 2d and 3d pipeline
pipelines.add(new CVPipeline2d());
}
public void addPipeline(CVPipeline pipeline) {
pipelines.add(pipeline);
}
public void addPipeline(CVPipelineSettings settings) {
if (settings instanceof CVPipeline2dSettings) {
pipelines.add(new CVPipeline2d((CVPipeline2dSettings) settings));
}
}
public CameraCapture getCamera() {
return cameraCapture;
}
public boolean getDriverMode() {
return (currentPipeline == driverModePipeline);
}
public void setDriverModeSettings(CVPipelineSettings settings) {
driverModePipeline.settings = settings;
}
public CVPipelineSettings getDriverModeSettings() {
return driverModePipeline.settings;
}
public CVPipeline getPipelineByIndex(int pipelineIndex) {
return pipelines.get(pipelineIndex);
}
/**
* VisionProcessRunnable will process images as quickly as possible
*/
private class VisionProcessRunnable implements Runnable {
volatile Double fps = 0.0;
private CircularBuffer fpsAveragingBuffer = new CircularBuffer(7);
@Override
public void run() {
var lastUpdateTimeNanos = System.nanoTime();
while(!Thread.interrupted()) {
// blocking call, will block until camera has a new frame.
Pair<Mat, Long> camData = cameraCapture.getFrame();
Mat camFrame = camData.getLeft();
if (camFrame.cols() > 0 && camFrame.rows() > 0) {
CVPipelineResult result = currentPipeline.runPipeline(camFrame);
if (result != null) {
result.setTimestamp(camData.getRight());
lastPipelineResult = result;
updateNetworkTableData(lastPipelineResult);
updateUI(lastPipelineResult);
}
}
try {
streamFrameQueue.clear();
streamFrameQueue.add(lastPipelineResult.outputMat);
} catch (Exception e) {
Debug.printInfo("Vision running faster than stream.");
}
var deltaTimeNanos = lastUpdateTimeNanos - System.nanoTime();
fpsAveragingBuffer.addFirst(1.0 / (deltaTimeNanos * 1E-09));
lastUpdateTimeNanos = System.nanoTime();
fps = getAverageFPS();
}
}
double getAverageFPS() {
var temp = 0.0;
for(int i = 0; i < 7; i++) {
temp += fpsAveragingBuffer.get(i);
}
temp /= 7.0;
return temp;
}
}
private class CameraStreamerRunnable extends LoopingRunnable {
final CameraStreamer streamer;
private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
// add 2 FPS to allow for a bit of overhead
super(1000L/(cameraFPS + 2));
this.streamer = streamer;
}
@Override
protected void process() {
if (!streamFrameQueue.isEmpty()) {
try {
streamer.runStream(streamFrameQueue.take());
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}
}

53
Main/src/main/java/com/chameleonvision/vision/camera/CamVideoMode.java
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@@ -1,53 +0,0 @@
package com.chameleonvision.vision.camera;
import edu.wpi.cscore.VideoMode;
@SuppressWarnings("WeakerAccess")
public class CamVideoMode {
public final int fps;
public final int width;
public final int height;
public final String pixel_format;
public CamVideoMode(VideoMode videoMode) {
fps = videoMode.fps;
width = videoMode.width;
height = videoMode.height;
pixel_format = videoMode.pixelFormat.name();
}
public VideoMode.PixelFormat getActualPixelFormat() {
return VideoMode.PixelFormat.valueOf(pixel_format);
}
public boolean isEqualToVideoMode(VideoMode videoMode) {
return videoMode.fps == fps && videoMode.width == width && videoMode.height == height && videoMode.pixelFormat == getActualPixelFormat();
}
public boolean equals(VideoMode vm) {
return vm.fps == fps &&
vm.width == width &&
vm.height == height &&
vm.pixelFormat == getActualPixelFormat();
}
@Override
public boolean equals(Object obj) {
if (obj == this) {
return true;
}
if (obj instanceof CamVideoMode) {
var cvm = (CamVideoMode) obj;
return cvm.fps == fps &&
cvm.width == width &&
cvm.height == height &&
cvm.pixel_format.equals(pixel_format);
} else if (obj instanceof VideoMode) {
var vm = (VideoMode) obj;
return equals(vm);
} else {
return false;
}
}
}

355
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.SocketHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
public static final int DEFAULT_EXPOSURE = 50;
public static final int DEFAULT_BRIGHTNESS = 50;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);
public final String name;
public final String path;
private String nickname;
private final UsbCamera UsbCam;
private final VideoMode[] availableVideoModes;
private final CameraServer cs = CameraServer.getInstance();
private final CvSink cvSink;
private final Object cvSourceLock = new Object();
private CvSource cvSource;
private Double FOV;
private StreamDivisor streamDivisor;
private CameraValues camVals;
private CamVideoMode camVideoMode;
private int currentPipelineIndex;
private List<Pipeline> pipelines;
//Driver mode camera settings
private int driverExposure;
private int driverBrightness;
private boolean isDriver;
public Camera(String cameraName) {
this(cameraName, DEFAULT_FOV);
}
public Camera(String cameraName, double fov) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
}
public Camera(String cameraName, UsbCameraInfo usbCameraInfo, double fov) {
this(cameraName, usbCameraInfo, fov, DEFAULT_STREAMDIVISOR);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor, false);
}
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
FOV = fov;
name = cameraName;
if (Platform.getCurrentPlatform().isWindows()) {
path = usbCamInfo.path;
} else {
var truePath = Arrays.stream(usbCamInfo.otherPaths).filter(x -> x.contains("/dev/v4l/by-path")).findFirst();
path = truePath.orElse(null);
}
streamDivisor = divisor;
UsbCam = new UsbCamera(name, path);
this.pipelines = pipelines;
// set up video modes according to minimums
if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while (!UsbCam.isConnected()) {
if (((System.nanoTime() - initTimeout) / 1e6) >= MAX_INIT_MS) {
break;
}
}
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v ->
v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && ALLOWED_PIXEL_FORMATS.contains(v.pixelFormat)).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
}
if (videoModeIndex <= availableVideoModes.length - 1) {
setCamVideoMode(videoModeIndex, false);
} else {
setCamVideoMode(0, false);
}
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth / streamDivisor.value , camVals.ImageHeight / streamDivisor.value);
}
VideoMode[] getAvailableVideoModes() {
return availableVideoModes;
}
public int getStreamPort() {
var s = (MjpegServer) cs.getServer("serve_" + name);
return s.getPort();
}
public void setCamVideoMode(int videoMode, boolean updateCvSource) {
setCamVideoMode(new CamVideoMode(availableVideoModes[videoMode]), updateCvSource);
}
private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
var prevVideoMode = this.camVideoMode;
this.camVideoMode = newVideoMode;
// update camera values
camVals = new CameraValues(this);
boolean hasPrevVideoMode = prevVideoMode != null;
boolean newVideoModeIsNew = hasPrevVideoMode && !prevVideoMode.equals(newVideoMode);
if (newVideoModeIsNew || !hasPrevVideoMode) {
UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
if (updateCvSource) {
updateCvSource();
}
}
}
private void updateCvSource() {
CameraManager.getVisionProcessByCameraName(name).cameraProcess.updateFrameSize();
synchronized (cvSourceLock) {
var newWidth = camVideoMode.width / streamDivisor.value;
var newHeight = camVideoMode.height / streamDivisor.value;
cvSource = cs.putVideo(name, newWidth, newHeight);
}
SocketHandler.sendFullSettings();
}
public void addPipeline() {
Pipeline p = new Pipeline();
p.nickname = "New pipeline " + pipelines.size();
addPipeline(p);
}
public void addPipeline(Pipeline p) {
this.pipelines.add(p);
}
public void deletePipeline(int index) {
pipelines.remove(index);
}
public void deletePipeline() {
deletePipeline(getCurrentPipelineIndex());
}
public Pipeline getCurrentPipeline() {
return getPipelineByIndex(currentPipelineIndex);
}
public Pipeline getPipelineByIndex(int pipelineIndex) {
return pipelines.get(pipelineIndex);
}
public int getCurrentPipelineIndex() {
return currentPipelineIndex;
}
public void setCurrentPipelineIndex(int pipelineNumber) {
if (pipelineNumber - 1 > pipelines.size()) return;
currentPipelineIndex = pipelineNumber;
}
public StreamDivisor getStreamDivisor() {
return streamDivisor;
}
public void setStreamDivisor(int divisor, boolean updateCvSource) {
streamDivisor = StreamDivisor.values()[divisor];
if (updateCvSource) {
updateCvSource();
}
}
public List<Pipeline> getPipelines() {
return pipelines;
}
public List<String> getPipelinesNickname() {
var pipelines = getPipelines();
return pipelines.stream().map(pipeline -> pipeline.nickname).collect(Collectors.toList());
}
public CamVideoMode getVideoMode() {
return camVideoMode;
}
public int getVideoModeIndex() {
return IntStream.range(0, availableVideoModes.length)
.filter(i -> camVideoMode.equals(availableVideoModes[i]))
.findFirst()
.orElse(-1);
}
public double getFOV() {
return FOV;
}
public void setFOV(Number fov) {
FOV = fov.doubleValue();
camVals = new CameraValues(this);
}
public void setDriverMode(boolean state)
{
isDriver = state;
if( isDriver ) {
setBrightness(driverBrightness); //We call setBrightness because it updates after 2 calls
setBrightness(driverBrightness); //Check it after we update to 2020 libraries
setExposure(driverExposure);
}
else{
UsbCam.setBrightness(getCurrentPipeline().brightness);
UsbCam.setBrightness(getCurrentPipeline().brightness);
try{UsbCam.setExposureManual(getCurrentPipeline().exposure);}
catch (VideoException e)
{
System.out.println("Exposure change isn't supported");
}
}
}
public boolean getDriverMode()
{
return isDriver;
}
public int getBrightness() {
return UsbCam.getBrightness();
}
public void setBrightness(int brightness) {
if (isDriver) {
driverBrightness = brightness;
UsbCam.setBrightness(brightness); // set twice to reduce timeout
}
else {
getCurrentPipeline().brightness = brightness;
}
UsbCam.setBrightness(brightness);
}
public void setExposure(int exposure) {
if (isDriver) {
driverExposure = exposure;
}
else {
getCurrentPipeline().exposure = exposure;
}
try {
UsbCam.setExposureManual(exposure);
} catch (VideoException e) {
System.err.println("Camera Does not support exposure change");
}
}
public long grabFrame(Mat image) {
return cvSink.grabFrame(image);
}
public CameraValues getCamVals() {
return camVals;
}
public void putFrame(Mat image) {
synchronized (cvSourceLock) {
cvSource.putFrame(image);
}
}
public List<HashMap> getResolutionList() {
return Arrays.stream(availableVideoModes)
.map(res -> new HashMap<String,Object>(){{
put("width", res.width);
put("height", res.height);
put("fps", res.fps);
put("pixelFormat", res.pixelFormat);
}})
.collect(Collectors.toList());
}
public void setNickname(String newNickname) {
//Deletes old camera nt table
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
nickname = newNickname;
if (CameraManager.AllVisionProcessesByName.containsKey(this.name)) {
NetworkTable newNT = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname);
CameraManager.AllVisionProcessesByName.get(this.name).resetNT(newNT);
}
}
public String getNickname() {
return nickname == null ? name : nickname;
}
public void setDriverExposure(int exposure) {
driverExposure = exposure;
if (isDriver) {
setExposure(exposure);
}
}
public void setDriverBrightness(int brightness) {
driverBrightness = brightness;
if (isDriver) {
setBrightness(brightness);
}
}
public int getDriverExposure() {
return driverExposure;
}
public int getDriverBrightness() {
return driverBrightness;
}
}

33
Main/src/main/java/com/chameleonvision/vision/camera/CameraCapture.java Normal file
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package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.image.ImageCapture;
import edu.wpi.cscore.VideoMode;
public interface CameraCapture extends ImageCapture {
USBCameraProperties getProperties();
/**
* Set the exposure of the camera
* @param exposure the new exposure to set the camera to
*/
void setExposure(int exposure);
/**
* Set the brightness of the camera
* @param brightness the new brightness to set the camera to
*/
void setBrightness(int brightness);
/**
* Set the video mode (fps and resolution) of the camera
* @param mode the wanted mode
*/
void setVideoMode(VideoMode mode);
/**
* Set the gain of the camera
* NOTE - Not all cameras support this.
* @param gain the new gain to set the camera to
*/
void setGain(int gain);
}

64
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.Pipeline;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JavaType;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.type.MapType;
import com.fasterxml.jackson.databind.type.ArrayType;
import com.fasterxml.jackson.databind.type.TypeFactory;
import com.google.gson.*;
import java.lang.reflect.Type;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class CameraDeserializer implements JsonDeserializer<Camera> {
@Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
try {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camName = jsonObj.get("name").getAsString();
var camNickname = jsonObj.get("nickname").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();
// new for 2.0
var isDriverObj = jsonObj.get("isDriver");
var driverExposureObj = jsonObj.get("driverExposure");
var driverBrightnessObj = jsonObj.get("driverBrightness");
var divisorObj = jsonObj.get("streamDivisor");
// always null-check new features
boolean isDriver = isDriverObj != null && isDriverObj.getAsBoolean();
int driverExposure = driverExposureObj == null ? Camera.DEFAULT_EXPOSURE : driverExposureObj.getAsInt();
int driverBrightness = driverBrightnessObj == null ? Camera.DEFAULT_BRIGHTNESS : driverBrightnessObj.getAsInt();
StreamDivisor divisor = divisorObj == null ? StreamDivisor.none : StreamDivisor.values()[divisorObj.getAsInt()];
var pipelines = jsonObj.get("pipelines");
List<Pipeline> actualPipelines = new ArrayList<>();
ObjectMapper mapper = new ObjectMapper();
TypeFactory typeFactory = mapper.getTypeFactory();
JavaType arrayType = typeFactory.constructCollectionType(List.class, Pipeline.class);
try {
actualPipelines = mapper.readValue(pipelines.toString(), arrayType);
} catch (JsonProcessingException e) {
e.printStackTrace();
}
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor, isDriver) : new Camera(camName, camFOV, videoModeIndex, divisor, isDriver);
newCamera.setNickname(camNickname != null ? camNickname : "");
newCamera.setDriverExposure(driverExposure);
newCamera.setDriverBrightness(driverBrightness);
return newCamera;
}
catch (NullPointerException e)
{
System.err.println("Error while reading json, value doesn't exist!");
System.err.println("Try to delete the camera settings in settings/cameras/YOURCAMERA.json");
e.printStackTrace();
return null;
}
}
}

25
Main/src/main/java/com/chameleonvision/vision/camera/CameraException.java
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package com.chameleonvision.vision.camera;
public class CameraException extends Exception {
public enum CameraExceptionType {
NO_CAMERA,
BAD_CAMERA,
BAD_PIPELINE,
BAD_SETTING;
@Override
public String toString() {
switch (this) {
case NO_CAMERA: return "No camera connected!";
case BAD_CAMERA: return "Invalid camera!";
case BAD_PIPELINE: return "Invalid pipeline!";
case BAD_SETTING: return "Invalid camera/pipeline setting!";
default: return "Unknown camera exception!";
}
}
}
CameraException(CameraExceptionType camExceptionType) {
super(camExceptionType.toString());
}
}

162
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -1,162 +0,0 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.util.FileHelper;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.process.VisionProcess;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import org.opencv.videoio.VideoCapture;
import java.io.*;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.*;
import java.util.stream.Collectors;
public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
private static LinkedHashMap<String, Camera> AllCamerasByName = new LinkedHashMap<>();
public static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;
for (var info : UsbCamera.enumerateUsbCameras()) {
var cap = new VideoCapture(info.dev);
if (cap.isOpened()) {
cap.release();
var name = info.name;
while (this.containsKey(name)) {
suffix++;
name = String.format("%s(%s)", info.name, suffix);
}
put(name, info);
}
}
}};
public static HashMap<String, Camera> getAllCamerasByName() {
return AllCamerasByName;
}
public static List<String> getAllCameraByNickname(){
var cameras = getAllCamerasByName();
return cameras.values().stream().map(Camera::getNickname).collect(Collectors.toList());
}
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
AllUsbCameraInfosByName.forEach((key, value) -> {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", key));
File camJsonFile = new File(camPath.toString());
if (camJsonFile.exists() && camJsonFile.length() != 0) {
try {
Gson gson = new GsonBuilder().registerTypeAdapter(Camera.class, new CameraDeserializer()).create();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(key, gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(key), key)) {
System.err.println("Failed to add camera! Already exists!");
}
}
});
return true;
}
public static void initializeThreads(){
AllCamerasByName.forEach((key, value) -> {
VisionProcess visionProcess = new VisionProcess(value);
AllVisionProcessesByName.put(key, visionProcess);
new Thread(visionProcess).start();
});
}
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
camera.addPipeline();
AllCamerasByName.put(cameraName, camera);
return true;
}
private static Camera getCamera(String cameraName) {
return AllCamerasByName.get(cameraName);
}
public static Camera getCameraByIndex(int index) {
return AllCamerasByName.get( (AllCamerasByName.keySet().toArray())[ index ] );
}
public static Camera getCurrentCamera() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = AllCamerasByName.get(SettingsManager.GeneralSettings.currentCamera);
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
}
public static Integer getCurrentCameraIndex() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
List<String> arr = new ArrayList<>(AllCamerasByName.keySet());
for (var i = 0; i < AllCamerasByName.size(); i++){
if (SettingsManager.GeneralSettings.currentCamera.equals(arr.get(i))){
return i;
}
}
return null;
}
public static void setCurrentCamera(String cameraName) throws CameraException {
if (!AllCamerasByName.containsKey(cameraName))
throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
SettingsManager.GeneralSettings.currentCamera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
public static void setCurrentCamera(int cameraIndex) throws CameraException {
List<String> s = new ArrayList<String>(AllCamerasByName.keySet());
setCurrentCamera(s.get(cameraIndex));
}
public static Pipeline getCurrentPipeline() throws CameraException {
return getCurrentCamera().getCurrentPipeline();
}
public static void setCurrentPipeline(int pipelineNumber) throws CameraException {
if (pipelineNumber >= getCurrentCamera().getPipelines().size()){
throw new CameraException(CameraException.CameraExceptionType.BAD_PIPELINE);
}
getCurrentCamera().setCurrentPipelineIndex(pipelineNumber);
SettingsManager.updatePipelineSetting(pipelineNumber);
}
public static VisionProcess getVisionProcessByCameraName(String cameraName) {
return AllVisionProcessesByName.get(cameraName);
}
public static VisionProcess getCurrentVisionProcess() throws CameraException {
if (!SettingsManager.GeneralSettings.currentCamera.equals("")){
return AllVisionProcessesByName.get(SettingsManager.GeneralSettings.currentCamera);
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}
public static void saveCameras() {
for (var entry : AllCamerasByName.entrySet()) {
try {
Gson gson = new GsonBuilder().setPrettyPrinting().registerTypeAdapter(Camera.class, new CameraSerializer()).create();
FileWriter writer = new FileWriter(Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
gson.toJson(entry.getValue(), writer);
writer.flush();
writer.close();
} catch (IOException ex) {
ex.printStackTrace();
}
}
}
}

24
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -1,24 +0,0 @@
package com.chameleonvision.vision.camera;
import com.google.gson.*;
import java.lang.reflect.Type;
public class CameraSerializer implements JsonSerializer<Camera> {
@Override
public JsonElement serialize(Camera camera, Type type, JsonSerializationContext context) {
JsonObject obj = new JsonObject();
obj.addProperty("FOV", camera.getFOV());
obj.addProperty("path", camera.path);
obj.addProperty("name", camera.name);
obj.addProperty("nickname", camera.getNickname());
obj.addProperty("streamDivisor", camera.getStreamDivisor().ordinal());
var pipelines = context.serialize(camera.getPipelines());
obj.add("pipelines", pipelines);
obj.addProperty("resolution", camera.getVideoModeIndex());
// obj.add("camVideoMode", context.serialize(camera.getVideoMode()));
obj.add("isDriver",context.serialize(camera.getDriverMode()));
obj.add("driverExposure",context.serialize(camera.getDriverExposure()));
obj.add("driverBrightness",context.serialize(camera.getDriverBrightness()));
return obj;
}
}

73
Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java Normal file
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package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.MjpegServer;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
public class CameraStreamer {
private final CameraCapture cameraCapture;
private final String name;
private StreamDivisor divisor = StreamDivisor.NONE;
private CvSource cvSource;
private final Object streamBufferLock = new Object();
private Mat streamBuffer = new Mat();
public CameraStreamer(CameraCapture cameraCapture, String name) {
this.cameraCapture = cameraCapture;
this.name = name;
this.cvSource = CameraServer.getInstance().putVideo(name,
cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
setDivisor(divisor, false);
}
public void setDivisor(StreamDivisor newDivisor, boolean updateUI) {
this.divisor = newDivisor;
var camValues = cameraCapture.getProperties();
var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
synchronized (streamBufferLock) {
this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
this.cvSource = CameraServer.getInstance().putVideo(this.name,
cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
}
if (updateUI) {
ServerHandler.sendFullSettings();
}
}
public StreamDivisor getDivisor() {
return divisor;
}
public void setNewVideoMode(VideoMode newVideoMode) {
// Trick to update cvSource and streamBuffer to the new resolution
// Must change the cameraProcess resolution first
setDivisor(divisor, true);
}
public int getStreamPort() {
var s = (MjpegServer) CameraServer.getInstance().getServer("serve_" + name);
return s.getPort();
}
public void runStream(Mat image) {
synchronized (streamBufferLock) {
streamBuffer = image;
}
// if (divisor.value != 1) {
// var camVal = cameraProcess.getProperties().staticProperties;
// var newWidth = camVal.imageWidth / divisor.value;
// var newHeight = camVal.imageHeight / divisor.value;
// Size newSize = new Size(newWidth, newHeight);
// Imgproc.resize(streamBuffer, streamBuffer, newSize);
// }
cvSource.putFrame(streamBuffer);
}
}

52
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
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@@ -1,52 +0,0 @@
package com.chameleonvision.vision.camera;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
@SuppressWarnings("WeakerAccess")
public class CameraValues {
public final int ImageWidth;
public final int ImageHeight;
public final double FOV;
public final double ImageArea;
public final double CenterX;
public final double CenterY;
public final double DiagonalView;
public final double DiagonalAspect;
public final Fraction AspectFraction;
public final int HorizontalRatio;
public final int VerticalRatio;
public final double HorizontalView;
public final double VerticalView;
public final double HorizontalFocalLength;
public final double VerticalFocalLength;
public CameraValues(Camera camera) {
this(camera.getVideoMode().width, camera.getVideoMode().height, camera.getFOV());
}
public CameraValues(int imageWidth, int imageHeight, double fov) {
ImageWidth = imageWidth;
ImageHeight = imageHeight;
FOV = fov;
ImageArea = ImageWidth * ImageHeight;
CenterX = ((double) ImageWidth / 2) - 0.5;
CenterY = ((double) ImageHeight / 2) - 0.5;
DiagonalView = FastMath.toRadians(FOV);
AspectFraction = new Fraction(ImageWidth, ImageHeight);
HorizontalRatio = AspectFraction.getNumerator();
VerticalRatio = AspectFraction.getDenominator();
DiagonalAspect = FastMath.hypot(HorizontalRatio, VerticalRatio);
HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalAspect)) * 2;
VerticalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (VerticalRatio / DiagonalAspect)) * 2;
HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(HorizontalView /2));
VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
}
public double CalculatePitch(double PixelY, double centerY){
double pitch = FastMath.toDegrees(FastMath.atan((PixelY - centerY) / VerticalFocalLength));
return (pitch * -1);
}
public double CalculateYaw(double PixelX, double centerX){
return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / HorizontalFocalLength));
}
}

36
Main/src/main/java/com/chameleonvision/vision/camera/CaptureStaticProperties.java Normal file
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package com.chameleonvision.vision.camera;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
public class CaptureStaticProperties {
public final int imageWidth;
public final int imageHeight;
public final double fov;
public final double imageArea;
public final double centerX;
public final double centerY;
public final double horizontalFocalLength;
public final double verticalFocalLength;
public CaptureStaticProperties(int imageWidth, int imageHeight, double fov) {
this.imageWidth = imageWidth;
this.imageHeight = imageHeight;
this.fov = fov;
imageArea = this.imageWidth * this.imageHeight;
centerX = ((double) this.imageWidth / 2) - 0.5;
centerY = ((double) this.imageHeight / 2) - 0.5;
// pinhole model calculations
double diagonalView = FastMath.toRadians(this.fov);
Fraction aspectFraction = new Fraction(this.imageWidth, this.imageHeight);
int horizontalRatio = aspectFraction.getNumerator();
int verticalRatio = aspectFraction.getDenominator();
double diagonalAspect = FastMath.hypot(horizontalRatio, verticalRatio);
double horizontalView = FastMath.atan(FastMath.tan(diagonalView / 2) * (horizontalRatio / diagonalAspect)) * 2;
double verticalView = FastMath.atan(FastMath.tan(diagonalView / 2) * (verticalRatio / diagonalAspect)) * 2;
horizontalFocalLength = this.imageWidth / (2 * FastMath.tan(horizontalView /2));
verticalFocalLength = this.imageHeight / (2 * FastMath.tan(verticalView /2));
}
}

78
Main/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java Normal file
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package com.chameleonvision.vision.camera;
import com.chameleonvision.config.CameraJsonConfig;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoException;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.cameraserver.CameraServer;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
public class USBCameraCapture implements CameraCapture {
private final UsbCamera baseCamera;
private final CvSink cvSink;
private Mat imageBuffer = new Mat();
private USBCameraProperties properties;
public USBCameraCapture(CameraJsonConfig config) {
baseCamera = new UsbCamera(config.name, config.path);
cvSink = CameraServer.getInstance().getVideo(baseCamera);
properties = new USBCameraProperties(baseCamera, config);
setVideoMode(properties.videoModes.get(0));
}
@Override
public USBCameraProperties getProperties() {
return properties;
}
@Override
public Pair<Mat, Long> getFrame() {
Long deltaTime;
// TODO: Why multiply by 1000 here?
deltaTime = cvSink.grabFrame(imageBuffer) * 1000L;
return Pair.of(imageBuffer, deltaTime);
}
@Override
public void setExposure(int exposure) {
try {
baseCamera.setExposureManual(exposure);
} catch (VideoException e) {
System.err.println("Failed to change camera exposure!");
}
}
@Override
public void setBrightness(int brightness) {
try {
baseCamera.setBrightness(brightness);
} catch (VideoException e) {
System.err.println("Failed to change camera brightness!");
}
}
@Override
public void setVideoMode(VideoMode mode) {
try {
baseCamera.setVideoMode(mode);
properties.updateVideoMode(mode);
} catch (VideoException e) {
System.err.println("Failed to change camera video mode!");
}
}
@Override
public void setGain(int gain) {
if (properties.isPS3Eye) {
try {
baseCamera.getProperty("gain_automatic").set(0);
baseCamera.getProperty("gain").set(gain);
} catch (Exception e) {
System.err.println("Failed to change camera gain!");
}
}
}
}

91
Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java Normal file
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package com.chameleonvision.vision.camera;
import com.chameleonvision.config.CameraJsonConfig;
import com.chameleonvision.util.Platform;
import com.chameleonvision.vision.image.CaptureProperties;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoMode;
import java.util.Arrays;
import java.util.List;
import java.util.function.Predicate;
import java.util.stream.Collectors;
import java.util.stream.Stream;
public class USBCameraProperties extends CaptureProperties {
public static final double DEFAULT_FOV = 70;
private static final int DEFAULT_EXPOSURE = 50;
private static final int DEFAULT_BRIGHTNESS = 50;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
private static final int PS3EYE_VID = 1415;
private static final int PS3EYE_PID = 2000;
private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);
private static final Predicate<VideoMode> kMinFPSPredicate = (videoMode -> videoMode.fps >= MINIMUM_FPS);
private static final Predicate<VideoMode> kMinSizePredicate = (videoMode -> videoMode.width >= MINIMUM_WIDTH && videoMode.height >= MINIMUM_HEIGHT);
private static final Predicate<VideoMode> kPixelFormatPredicate = (videoMode -> ALLOWED_PIXEL_FORMATS.contains(videoMode.pixelFormat));
public final String name;
public final String path;
public final List<VideoMode> videoModes;
private final UsbCamera baseCamera;
public final boolean isPS3Eye;
private String nickname;
public double FOV;
USBCameraProperties(UsbCamera baseCamera, CameraJsonConfig config) {
FOV = config.fov;
name = config.name;
path = config.path;
nickname = config.nickname;
this.baseCamera = baseCamera;
int usbVID = baseCamera.getInfo().vendorId;
int usbPID = baseCamera.getInfo().productId;
// wait for camera USB init on Windows, Windows USB is slow...
if (Platform.CurrentPlatform == Platform.WINDOWS_64 && !baseCamera.isConnected()) {
System.out.print("Waiting on camera... ");
long initTimeout = System.nanoTime();
while (!baseCamera.isConnected()) {
if (((System.nanoTime() - initTimeout) / 1e6) >= MAX_INIT_MS) {
break;
}
}
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("USBCameraProcess initialized in %.2fms\n", initTimeMs);
}
isPS3Eye = (usbVID == PS3EYE_VID && usbPID == PS3EYE_PID);
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
}
public void setNickname(String nickname) {
this.nickname = nickname;
}
public String getNickname() {
return nickname;
}
private List<VideoMode> filterVideoModes(VideoMode[] videoModes) {
Predicate<VideoMode> fullPredicate = kMinFPSPredicate.and(kMinSizePredicate).and(kPixelFormatPredicate);
Stream<VideoMode> validModes = Arrays.stream(videoModes).filter(fullPredicate);
return validModes.collect(Collectors.toList());
}
void updateVideoMode(VideoMode videoMode) {
staticProperties = new CaptureStaticProperties(videoMode.width, videoMode.height, FOV);
}
public List<VideoMode> getVideoModes() {
return videoModes;
}
}

2
Main/src/main/java/com/chameleonvision/vision/CalibrationMode.java → Main/src/main/java/com/chameleonvision/vision/enums/CalibrationMode.java
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@@ -1,4 +1,4 @@
package com.chameleonvision.vision;
package com.chameleonvision.vision.enums;
public enum CalibrationMode {
None,Single,Dual

14
Main/src/main/java/com/chameleonvision/vision/enums/ImageFlipMode.java Normal file
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package com.chameleonvision.vision.enums;
public enum ImageFlipMode {
NONE(Integer.MIN_VALUE),
VERTICAL(1),
HORIZONTAL(0),
BOTH(-1);
public final int value;
ImageFlipMode(int value) {
this.value = value;
}
}

16
Main/src/main/java/com/chameleonvision/vision/enums/ImageRotationMode.java Normal file
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package com.chameleonvision.vision.enums;
import org.opencv.core.Core;
public enum ImageRotationMode {
DEG_0(-1),
DEG_90(Core.ROTATE_90_CLOCKWISE),
DEG_180(Core.ROTATE_180),
DEG_270(Core.ROTATE_90_COUNTERCLOCKWISE);
public final int value;
ImageRotationMode(int value) {
this.value = value;
}
}

2
Main/src/main/java/com/chameleonvision/vision/SortMode.java → Main/src/main/java/com/chameleonvision/vision/enums/SortMode.java
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@@ -1,4 +1,4 @@
package com.chameleonvision.vision;
package com.chameleonvision.vision.enums;
public enum SortMode {
Largest,Smallest,Highest,Lowest,Rightmost,Leftmost,Centermost

10
Main/src/main/java/com/chameleonvision/vision/camera/StreamDivisor.java → Main/src/main/java/com/chameleonvision/vision/enums/StreamDivisor.java
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@@ -1,10 +1,10 @@
package com.chameleonvision.vision.camera;
package com.chameleonvision.vision.enums;
public enum StreamDivisor {
none(1),
half(2),
quarter(4),
eighth(8);
NONE(1),
HALF(2),
QUARTER(4),
SIXTH(6);
public final Integer value;

6
Main/src/main/java/com/chameleonvision/vision/enums/TargetGroup.java Normal file
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package com.chameleonvision.vision.enums;
public enum TargetGroup {
Single,
Dual
}

2
Main/src/main/java/com/chameleonvision/vision/TargetIntersection.java → Main/src/main/java/com/chameleonvision/vision/enums/TargetIntersection.java
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@@ -1,4 +1,4 @@
package com.chameleonvision.vision;
package com.chameleonvision.vision.enums;
public enum TargetIntersection {
None,Up,Down,Left,Right

20
Main/src/main/java/com/chameleonvision/vision/image/CaptureProperties.java Normal file
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package com.chameleonvision.vision.image;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import org.opencv.core.Mat;
public class CaptureProperties {
protected CaptureStaticProperties staticProperties;
protected CaptureProperties() {
}
public CaptureProperties(Mat staticImage, double fov) {
staticProperties = new CaptureStaticProperties(staticImage.cols(), staticImage.rows(), fov);
}
public CaptureStaticProperties getStaticProperties() {
return staticProperties;
}
}

12
Main/src/main/java/com/chameleonvision/vision/image/ImageCapture.java Normal file
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package com.chameleonvision.vision.image;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
public interface ImageCapture {
/**
* Get the next camera frame
* @return a Pair of the captured image and the Linux epoch of when the frame was grabbed (in uS)
*/
Pair<Mat, Long> getFrame();
}

32
Main/src/main/java/com/chameleonvision/vision/image/StaticImageCapture.java Normal file
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package com.chameleonvision.vision.image;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.imgcodecs.Imgcodecs;
import java.nio.file.Files;
import java.nio.file.Path;
public class StaticImageCapture implements ImageCapture {
private final Mat image = new Mat();
public StaticImageCapture(Path imagePath) {
if (!Files.exists(imagePath)) throw new RuntimeException("Invalid path for image!");
Mat tempMat = new Mat();
try {
tempMat = Imgcodecs.imread(imagePath.toString());
} catch (Exception e) {
System.err.println("Failed to read image!");
} finally {
tempMat.copyTo(image);
}
}
@Override
public Pair<Mat, Long> getFrame() {
return Pair.of(image, System.nanoTime());
}
}

30
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java Normal file
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package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.camera.CameraCapture;
import org.opencv.core.Mat;
/**
*
* @param <R> Pipeline result type
*/
public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
protected Mat outputMat = new Mat();
CameraCapture cameraCapture;
public S settings;
protected CVPipeline(S settings) {
this.settings = settings;
}
protected CVPipeline(String pipelineName, S settings) {
this.settings = settings;
settings.nickname = pipelineName;
}
public void initPipeline(CameraCapture camera) {
cameraCapture = camera;
cameraCapture.setExposure((int) settings.exposure);
cameraCapture.setBrightness((int) settings.brightness);
}
abstract public R runPipeline(Mat inputMat);
}

194
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java Normal file
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package com.chameleonvision.vision.pipeline;
import com.chameleonvision.Main;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.pipeline.pipes.*;
import com.chameleonvision.vision.enums.ImageRotationMode;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.*;
import java.util.List;
import static com.chameleonvision.vision.pipeline.CVPipeline2d.*;
@SuppressWarnings("WeakerAccess")
public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {
private Mat rawCameraMat = new Mat();
private RotateFlipPipe rotateFlipPipe;
private BlurPipe blurPipe;
private ErodeDilatePipe erodeDilatePipe;
private HsvPipe hsvPipe;
private FindContoursPipe findContoursPipe;
private FilterContoursPipe filterContoursPipe;
private SpeckleRejectPipe speckleRejectPipe;
private GroupContoursPipe groupContoursPipe;
private SortContoursPipe sortContoursPipe;
private Collect2dTargetsPipe collect2dTargetsPipe;
private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings;
private Draw2dContoursPipe draw2dContoursPipe;
private OutputMatPipe outputMatPipe;
private StringBuilder pipelineTimeStringBuilder = new StringBuilder();
private CaptureStaticProperties camProps;
private Scalar hsvLower, hsvUpper;
public CVPipeline2d() {
super(new CVPipeline2dSettings());
}
public CVPipeline2d(String name) {
super(name, new CVPipeline2dSettings());
}
public CVPipeline2d(CVPipeline2dSettings settings) {
super(settings);
}
@Override
public void initPipeline(CameraCapture process) {
super.initPipeline(process);
camProps = cameraCapture.getProperties().getStaticProperties();
hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
rotateFlipPipe = new RotateFlipPipe(ImageRotationMode.DEG_0, settings.flipMode);
blurPipe = new BlurPipe(5);
erodeDilatePipe = new ErodeDilatePipe(settings.erode, settings.dilate, 7);
hsvPipe = new HsvPipe(hsvLower, hsvUpper);
findContoursPipe = new FindContoursPipe();
filterContoursPipe = new FilterContoursPipe(settings.area, settings.ratio, settings.extent, camProps);
speckleRejectPipe = new SpeckleRejectPipe(settings.speckle.doubleValue());
groupContoursPipe = new GroupContoursPipe(settings.targetGroup, settings.targetIntersection);
sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps, 5);
collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode, settings.point,
settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
// TODO: make settable from UI? config?
draw2dContoursSettings.showCentroid = false;
draw2dContoursSettings.showCrosshair = true;
draw2dContoursSettings.boxOutlineSize = 2;
draw2dContoursSettings.showRotatedBox = true;
draw2dContoursSettings.showMaximumBox = true;
draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
outputMatPipe = new OutputMatPipe(settings.isBinary);
}
@Override
public CVPipeline2dResult runPipeline(Mat inputMat) {
long totalPipelineTimeNanos = 0;
long pipelineStartTimeNanos = System.nanoTime();
if (cameraCapture == null) {
throw new RuntimeException("Pipeline was not initialized before being run!");
}
if (inputMat.cols() <= 1) {
throw new RuntimeException("Input Mat is empty!");
}
pipelineTimeStringBuilder = new StringBuilder();
inputMat.copyTo(rawCameraMat);
// prepare pipes
hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
rotateFlipPipe.setConfig(ImageRotationMode.DEG_0, settings.flipMode);
blurPipe.setConfig(0);
erodeDilatePipe.setConfig(settings.erode, settings.dilate, 7);
hsvPipe.setConfig(hsvLower, hsvUpper);
filterContoursPipe.setConfig(settings.area, settings.ratio, settings.extent, camProps);
speckleRejectPipe.setConfig(settings.speckle.doubleValue());
groupContoursPipe.setConfig(settings.targetGroup, settings.targetIntersection);
sortContoursPipe.setConfig(settings.sortMode, camProps, 5);
collect2dTargetsPipe.setConfig(settings.calibrationMode, settings.point,
settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
draw2dContoursPipe.setConfig(camProps);
outputMatPipe.setConfig(settings.isBinary);
long pipeInitTimeNanos = System.nanoTime() - pipelineStartTimeNanos;
// run pipes
Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
totalPipelineTimeNanos += rotateFlipResult.getRight();
Pair<Mat, Long> blurResult = blurPipe.run(rotateFlipResult.getLeft());
totalPipelineTimeNanos += blurResult.getRight();
Pair<Mat, Long> erodeDilateResult = erodeDilatePipe.run(blurResult.getLeft());
totalPipelineTimeNanos += erodeDilateResult.getRight();
Pair<Mat, Long> hsvResult = hsvPipe.run(erodeDilateResult.getLeft());
totalPipelineTimeNanos += hsvResult.getRight();
Pair<List<MatOfPoint>, Long> findContoursResult = findContoursPipe.run(hsvResult.getLeft());
totalPipelineTimeNanos += findContoursResult.getRight();
Pair<List<MatOfPoint>, Long> filterContoursResult = filterContoursPipe.run(findContoursResult.getLeft());
totalPipelineTimeNanos += filterContoursResult.getRight();
Pair<List<MatOfPoint>, Long> speckleRejectResult = speckleRejectPipe.run(filterContoursResult.getLeft());
totalPipelineTimeNanos += speckleRejectResult.getRight();
Pair<List<RotatedRect>, Long> groupContoursResult = groupContoursPipe.run(speckleRejectResult.getLeft());
totalPipelineTimeNanos += groupContoursResult.getRight();
Pair<List<RotatedRect>, Long> sortContoursResult = sortContoursPipe.run(groupContoursResult.getLeft());
totalPipelineTimeNanos += sortContoursResult.getRight();
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
totalPipelineTimeNanos += collect2dTargetsResult.getRight();
// takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvResult.getLeft()));
totalPipelineTimeNanos += outputMatResult.getRight();
// takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(outputMatResult.getLeft(), sortContoursResult.getLeft()));
totalPipelineTimeNanos += draw2dContoursResult.getRight();
pipelineTimeStringBuilder.append(String.format("PipeInit: %.2fms, ", pipeInitTimeNanos / 1000000.0));
pipelineTimeStringBuilder.append(String.format("RotateFlip: %.2fms, ", rotateFlipResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Blur: %.2fms, ", blurResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("ErodeDilate: %.2fms, ", erodeDilateResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("HSV: %.2fms, ", hsvResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("FindContours: %.2fms, ", findContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("FilterContours: %.2fms, ", filterContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("SpeckleReject: %.2fms, ", speckleRejectResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("GroupContours: %.2fms, ", groupContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("SortContours: %.2fms, ", sortContoursResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Collect2dTargets: %.2fms, ", collect2dTargetsResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("OutputMat: %.2fms, ", outputMatResult.getRight() / 1000000.0));
pipelineTimeStringBuilder.append(String.format("Draw2dContours: %.2fms, ", draw2dContoursResult.getRight() / 1000000.0));
if (Main.testMode) {
System.out.println(pipelineTimeStringBuilder.toString());
double totalPipelineTimeMillis = totalPipelineTimeNanos / 1000000.0;
double totalPipelineTimeFPS = 1.0 / (totalPipelineTimeMillis / 1000.0);
double truePipelineTimeMillis = (System.nanoTime() - pipelineStartTimeNanos) / 1000000.0;
double truePipelineFPS = 1.0 / (truePipelineTimeMillis / 1000.0);
System.out.printf("Pipeline processed in %.3fms (%.2fFPS), ", totalPipelineTimeMillis, totalPipelineTimeFPS);
System.out.printf("full pipeline run time was %.3fms (%.2fFPS)\n", truePipelineTimeMillis, truePipelineFPS);
}
return new CVPipeline2dResult(collect2dTargetsResult.getLeft(), draw2dContoursResult.getLeft(), totalPipelineTimeNanos);
}
public static class CVPipeline2dResult extends CVPipelineResult<Target2d> {
public CVPipeline2dResult(List<Target2d> targets, Mat outputMat, long processTimeNanos) {
super(targets, outputMat, processTimeNanos);
}
}
public static class Target2d {
public double calibratedX = 0.0;
public double calibratedY = 0.0;
public double pitch = 0.0;
public double yaw = 0.0;
public double area = 0.0;
public RotatedRect rawPoint;
}
}

29
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java Normal file
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package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.enums.SortMode;
import com.chameleonvision.vision.enums.TargetGroup;
import com.chameleonvision.vision.enums.TargetIntersection;
import java.util.Arrays;
import java.util.List;
public class CVPipeline2dSettings extends CVPipelineSettings {
public List<Number> hue = Arrays.asList(50, 180);
public List<Number> saturation = Arrays.asList(50, 255);
public List<Number> value = Arrays.asList(50, 255);
public boolean erode = false;
public boolean dilate = false;
public List<Number> area = Arrays.asList(0.0, 100.0);
public List<Number> ratio = Arrays.asList(0.0, 20.0);
public List<Number> extent = Arrays.asList(0, 100);
public Number speckle = 5;
public boolean isBinary = false;
public SortMode sortMode = SortMode.Largest;
public TargetGroup targetGroup = TargetGroup.Single;
public TargetIntersection targetIntersection = TargetIntersection.Up;
public List<Number> point = Arrays.asList(0, 0);
public CalibrationMode calibrationMode = CalibrationMode.None;
public double dualTargetCalibrationM = 1;
public double dualTargetCalibrationB = 0;
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3d.java Normal file
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package com.chameleonvision.vision.pipeline;
import org.opencv.core.Mat;
import java.util.List;
import static com.chameleonvision.vision.pipeline.CVPipeline3d.*;
public class CVPipeline3d extends CVPipeline<CVPipeline3dResult, CVPipeline3dSettings> {
protected CVPipeline3d(CVPipeline3dSettings settings) {
super(settings);
}
@Override
public CVPipeline3dResult runPipeline(Mat inputMat) {
return null;
}
public static class CVPipeline3dResult extends CVPipelineResult<Target3d> {
public CVPipeline3dResult(List<Target3d> targets, Mat outputMat, long processTime) {
super(targets, outputMat, processTime);
}
}
public static class Target3d {
// TODO: (2.1) Define 3d-specific target data
}
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3dSettings.java Normal file
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package com.chameleonvision.vision.pipeline;
public class CVPipeline3dSettings extends CVPipeline2dSettings {
// TODO: (2.1) define 3d-specific pipeline settings
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineResult.java Normal file
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package com.chameleonvision.vision.pipeline;
import org.opencv.core.Mat;
import java.util.List;
public abstract class CVPipelineResult<T> {
public final List<T> targets;
public final boolean hasTarget;
public final Mat outputMat = new Mat();
public final long processTime;
public long imageTimestamp = 0;
public CVPipelineResult(List<T> targets, Mat outputMat, long processTime) {
this.targets = targets;
hasTarget = targets != null && !targets.isEmpty();
outputMat.copyTo(this.outputMat);
this.processTime = processTime;
}
public void setTimestamp(long timestamp) {
imageTimestamp = timestamp;
}
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipelineSettings.java Normal file
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package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.enums.ImageFlipMode;
@SuppressWarnings("ALL")
public class CVPipelineSettings {
public ImageFlipMode flipMode = ImageFlipMode.NONE;
public String nickname = "New Pipeline";
public double exposure = 50.0;
public double brightness = 50.0;
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java Normal file
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package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.pipeline.pipes.Draw2dContoursPipe;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import java.util.List;
import static com.chameleonvision.vision.pipeline.DriverVisionPipeline.DriverPipelineResult;
public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPipelineSettings> {
public DriverVisionPipeline(CVPipelineSettings settings) {
super(settings);
}
@Override
public DriverPipelineResult runPipeline(Mat inputMat) {
outputMat = inputMat;
var camProps = cameraCapture.getProperties().getStaticProperties();
Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
draw2dContoursSettings.showCrosshair = true;
Draw2dContoursPipe draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
outputMat = draw2dContoursPipe.run(Pair.of(outputMat, null)).getLeft();
return new DriverPipelineResult(null, inputMat, 0);
}
public static class DriverPipelineResult extends CVPipelineResult<Void> {
public DriverPipelineResult(List<Void> targets, Mat outputMat, long processTime) {
super(targets, outputMat, processTime);
}
}
}

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Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/BlurPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.CvException;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class BlurPipe implements Pipe<Mat, Mat> {
private int blurSize;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public BlurPipe(int blurSize) {
this.blurSize = blurSize;
}
public void setConfig(int blurSize) {
this.blurSize = blurSize;
}
@Override
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
if (blurSize > 0) {
input.copyTo(processBuffer);
try {
Imgproc.blur(processBuffer, processBuffer, new Size(blurSize, blurSize));
processBuffer.copyTo(outputMat);
processBuffer.release();
} catch (CvException e) {
System.err.println("(BlurPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
} else {
input.copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
}

85
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import com.chameleonvision.vision.enums.CalibrationMode;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.RotatedRect;
import java.util.ArrayList;
import java.util.List;
public class Collect2dTargetsPipe implements Pipe<List<RotatedRect>, List<CVPipeline2d.Target2d>> {
private CalibrationMode calibrationMode;
private CaptureStaticProperties camProps;
private List<Number> calibrationPoint;
private double calibrationM, calibrationB;
private List<CVPipeline2d.Target2d> targets = new ArrayList<>();
public Collect2dTargetsPipe(CalibrationMode calibrationMode, List<Number> calibrationPoint,
double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
this.calibrationMode = calibrationMode;
this.camProps = camProps;
this.calibrationPoint = calibrationPoint;
this.calibrationM = calibrationM;
this.calibrationB = calibrationB;
}
public void setConfig(CalibrationMode calibrationMode, List<Number> calibrationPoint,
double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
this.calibrationMode = calibrationMode;
this.camProps = camProps;
this.calibrationPoint = calibrationPoint;
this.calibrationM = calibrationM;
this.calibrationB = calibrationB;
}
@Override
public Pair<List<CVPipeline2d.Target2d>, Long> run(List<RotatedRect> input) {
long processStartNanos = System.nanoTime();
targets.clear();
if (input.size() > 0) {
for (RotatedRect r : input) {
CVPipeline2d.Target2d t = new CVPipeline2d.Target2d();
t.rawPoint = r;
switch (calibrationMode) {
case None:
t.calibratedX = camProps.centerX;
t.calibratedY = camProps.centerY;
break;
case Single:
t.calibratedX = calibrationPoint.get(0).doubleValue();
t.calibratedY = calibrationPoint.get(1).doubleValue();
break;
case Dual:
t.calibratedX = (r.center.y - calibrationB) / calibrationM;
t.calibratedY = (r.center.x * calibrationM) + calibrationB;
break;
}
t.pitch = calculatePitch(r.center.y, t.calibratedY);
t.yaw = calculateYaw(r.center.x, t.calibratedX);
t.area = r.size.area();
targets.add(t);
}
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(targets, processTime);
}
private double calculatePitch(double pixelY, double centerY) {
double pitch = FastMath.toDegrees(FastMath.atan((pixelY - centerY) / camProps.verticalFocalLength));
return (pitch * -1);
}
private double calculateYaw(double pixelX, double centerX) {
return FastMath.toDegrees(FastMath.atan((pixelX - centerX) / camProps.horizontalFocalLength));
}
}

94
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.util.Helpers;
import com.chameleonvision.vision.image.CaptureProperties;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Point;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import java.awt.*;
import java.util.ArrayList;
import java.util.List;
public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<RotatedRect>>, Mat> {
private final Draw2dContoursSettings settings;
private CaptureStaticProperties camProps;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public Draw2dContoursPipe(Draw2dContoursSettings settings, CaptureStaticProperties camProps) {
this.settings = settings;
this.camProps = camProps;
}
public void setConfig(CaptureStaticProperties captureProps) {
camProps = captureProps;
}
@Override
public Pair<Mat, Long> run(Pair<Mat, List<RotatedRect>> input) {
long processStartNanos = System.nanoTime();
if (settings.showCrosshair || settings.showCentroid || settings.showMaximumBox || settings.showRotatedBox) {
input.getLeft().copyTo(processBuffer);
if (input.getRight().size() > 0) {
for (RotatedRect r : input.getRight()) {
if (r == null) continue;
List<MatOfPoint> drawnContour = new ArrayList<>();
Point[] vertices = new Point[4];
r.points(vertices);
MatOfPoint contour = new MatOfPoint(vertices);
drawnContour.add(contour);
if (settings.showCentroid) {
Imgproc.circle(processBuffer, r.center, 3, Helpers.colorToScalar(settings.centroidColor));
}
if (settings.showRotatedBox) {
Imgproc.drawContours(processBuffer, drawnContour, 0, Helpers.colorToScalar(settings.rotatedBoxColor), settings.boxOutlineSize);
}
if (settings.showMaximumBox) {
Rect box = Imgproc.boundingRect(contour);
Imgproc.rectangle(processBuffer, new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), Helpers.colorToScalar(settings.maximumBoxColor), settings.boxOutlineSize);
}
}
}
if (settings.showCrosshair) {
Point xMax = new Point(camProps.centerX + 10, camProps.centerY);
Point xMin = new Point(camProps.centerX - 10, camProps.centerY);
Point yMax = new Point(camProps.centerX, camProps.centerY + 10);
Point yMin = new Point(camProps.centerX, camProps.centerY - 10);
Imgproc.line(processBuffer, xMax, xMin, Helpers.colorToScalar(settings.crosshairColor), 2);
Imgproc.line(processBuffer, yMax, yMin, Helpers.colorToScalar(settings.crosshairColor), 2);
}
processBuffer.copyTo(outputMat);
processBuffer.release();
} else {
input.getLeft().copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
public static class Draw2dContoursSettings {
public boolean showCentroid = false;
public boolean showCrosshair = false;
public int boxOutlineSize = 0;
public boolean showRotatedBox = false;
public boolean showMaximumBox = false;
public Color centroidColor = Color.GREEN;
public Color crosshairColor = Color.GREEN;
public Color rotatedBoxColor = Color.BLUE;
public Color maximumBoxColor = Color.RED;
}
}

53
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/ErodeDilatePipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class ErodeDilatePipe implements Pipe<Mat, Mat> {
private boolean erode;
private boolean dilate;
private Mat kernel;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public ErodeDilatePipe(boolean erode, boolean dilate, int kernelSize) {
this.erode = erode;
this.dilate = dilate;
kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(kernelSize, kernelSize));
}
public void setConfig(boolean erode, boolean dilate, int kernelSize) {
this.erode = erode;
this.dilate = dilate;
kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(kernelSize, kernelSize));
}
@Override
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
if (erode || dilate) {
input.copyTo(processBuffer);
if (erode) {
Imgproc.erode(processBuffer, processBuffer, kernel);
}
if (dilate) {
Imgproc.dilate(processBuffer, processBuffer, kernel);
}
processBuffer.copyTo(outputMat);
processBuffer.release();
} else {
input.copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
}

75
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.util.MathHandler;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.MatOfPoint;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Rect;
import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.List;
public class FilterContoursPipe implements Pipe<List<MatOfPoint>, List<MatOfPoint>> {
private List<Number> area;
private List<Number> ratio;
private List<Number> extent;
private CaptureStaticProperties camProps;
private List<MatOfPoint> filteredContours = new ArrayList<>();
public FilterContoursPipe(List<Number> area, List<Number> ratio, List<Number> extent, CaptureStaticProperties camProps) {
this.area = area;
this.ratio = ratio;
this.extent = extent;
this.camProps = camProps;
}
public void setConfig(List<Number> area, List<Number> ratio, List<Number> extent, CaptureStaticProperties camProps) {
this.area = area;
this.ratio = ratio;
this.extent = extent;
this.camProps = camProps;
}
@Override
public Pair<List<MatOfPoint>, Long> run(List<MatOfPoint> input) {
long processStartNanos = System.nanoTime();
filteredContours.clear();
if (input.size() > 0) {
for (MatOfPoint Contour : input) {
try {
double contourArea = Imgproc.contourArea(Contour);
double AreaRatio = (contourArea / camProps.imageArea) * 100;
double minArea = (MathHandler.sigmoid(area.get(0)));
double maxArea = (MathHandler.sigmoid(area.get(1)));
if (AreaRatio < minArea || AreaRatio > maxArea) {
continue;
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
double minExtent = (extent.get(0).doubleValue() * rect.size.area()) / 100;
double maxExtent = (extent.get(1).doubleValue() * rect.size.area()) / 100;
if (contourArea <= minExtent || contourArea >= maxExtent) {
continue;
}
Rect bb = Imgproc.boundingRect(Contour);
double aspectRatio = ((double)bb.width / bb.height);
if (aspectRatio < ratio.get(0).doubleValue() || aspectRatio > ratio.get(1).doubleValue()) {
continue;
}
filteredContours.add(Contour);
} catch (Exception e) {
System.err.println("Error while filtering contours");
e.printStackTrace();
}
}
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(filteredContours, processTime);
}
}

28
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/FindContoursPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.List;
public class FindContoursPipe implements Pipe<Mat, List<MatOfPoint>> {
private List<MatOfPoint> foundContours = new ArrayList<>();
public FindContoursPipe() {}
@Override
public Pair<List<MatOfPoint>, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
foundContours.clear();
Imgproc.findContours(input, foundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(foundContours, processTime);
}
}

166
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.util.MathHandler;
import com.chameleonvision.vision.enums.TargetGroup;
import com.chameleonvision.vision.enums.TargetIntersection;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import org.opencv.imgproc.Moments;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRect>> {
private static final Comparator<MatOfPoint> sortByMomentsX =
Comparator.comparingDouble(GroupContoursPipe::calcMomentsX);
private TargetGroup group;
private TargetIntersection intersection;
private List<RotatedRect> groupedContours = new ArrayList<>();
private MatOfPoint2f intersectMatA = new MatOfPoint2f();
private MatOfPoint2f intersectMatB = new MatOfPoint2f();
public GroupContoursPipe(TargetGroup group, TargetIntersection intersection) {
this.group = group;
this.intersection = intersection;
}
public void setConfig(TargetGroup group, TargetIntersection intersection) {
this.group = group;
this.intersection = intersection;
}
@Override
public Pair<List<RotatedRect>, Long> run(List<MatOfPoint> input) {
long processStartNanos = System.nanoTime();
groupedContours.clear();
if (input.size() > 0) {
List<MatOfPoint> sorted = new ArrayList<>(input);
sorted.sort(sortByMomentsX);
Collections.reverse(sorted);
switch (group) {
case Single: {
input.forEach(c -> {
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromArray(c.toArray());
if (contour.cols() != 0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
groupedContours.add(rect);
}
});
break;
}
case Dual: {
for (var i = 0; i < input.size(); i++) {
List<Point> finalContourList = new ArrayList<>(input.get(i).toList());
try {
MatOfPoint firstContour = input.get(i);
MatOfPoint secondContour = input.get(i + 1);
if (isIntersecting(firstContour, secondContour)) {
finalContourList.addAll(secondContour.toList());
} else {
finalContourList.clear();
continue;
}
intersectMatA.release();
intersectMatB.release();
firstContour.release();
secondContour.release();
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromList(finalContourList);
if (contour.cols() != 0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
groupedContours.add(rect);
}
} catch (IndexOutOfBoundsException e) {
System.err.println("GroupContours: WTF");
finalContourList.clear();
}
}
break;
}
}
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(groupedContours, processTime);
}
private static double calcMomentsX(MatOfPoint c) {
Moments m = Imgproc.moments(c);
return (m.get_m10() / m.get_m00());
}
private boolean isIntersecting(MatOfPoint contourOne, MatOfPoint contourTwo) {
if (intersection.equals(TargetIntersection.None)) {
return true;
}
try {
intersectMatA.fromArray(contourOne.toArray());
intersectMatB.fromArray(contourTwo.toArray());
RotatedRect a = Imgproc.fitEllipse(intersectMatA);
RotatedRect b = Imgproc.fitEllipse(intersectMatB);
double mA = MathHandler.toSlope(a.angle);
double mB = MathHandler.toSlope(b.angle);
double x0A = a.center.x;
double y0A = a.center.y;
double x0B = b.center.x;
double y0B = b.center.y;
double intersectionX = ((mA * x0A) - y0A - (mB * x0B) + y0B) / (mA - mB);
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
double massX = (x0A + x0B) / 2;
double massY = (y0A + y0B) / 2;
switch (intersection) {
case Up: {
if (intersectionY < massY) {
if (mA > 0 && mB < 0) {
return true;
}
}
break;
}
case Down: {
if (intersectionY > massY) {
if (mA < 0 && mB > 0) {
return true;
}
}
break;
}
case Left: {
if (intersectionX < massX) {
return true;
}
break;
}
case Right: {
if (intersectionX > massX) {
return true;
}
break;
}
}
return false;
} catch (Exception e) {
return false;
}
}
}

48
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/HsvPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Core;
import org.opencv.core.CvException;
import org.opencv.core.Mat;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
public class HsvPipe implements Pipe<Mat, Mat> {
private Scalar hsvLower;
private Scalar hsvUpper;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public HsvPipe(Scalar hsvLower, Scalar hsvUpper) {
this.hsvLower = hsvLower;
this.hsvUpper = hsvUpper;
}
public void setConfig(Scalar hsvLower, Scalar hsvUpper) {
this.hsvLower = hsvLower;
this.hsvUpper = hsvUpper;
}
@Override
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
input.copyTo(processBuffer);
try {
Imgproc.cvtColor(processBuffer, processBuffer, Imgproc.COLOR_BGR2HSV, 3);
Core.inRange(processBuffer, hsvLower, hsvUpper, processBuffer);
} catch (CvException e) {
System.err.println("(HsvPipe) Exception thrown by OpenCV: \n" + e.getMessage());
}
processBuffer.copyTo(outputMat);
processBuffer.release();
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
}

49
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/OutputMatPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.CvException;
import org.opencv.core.Mat;
import org.opencv.imgproc.Imgproc;
public class OutputMatPipe implements Pipe<Pair<Mat, Mat>, Mat> {
private boolean showThresholded;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public OutputMatPipe(boolean showThresholded) {
this.showThresholded = showThresholded;
}
public void setConfig(boolean showThresholded) {
this.showThresholded = showThresholded;
}
/**
*
* @param input Input object for pipe
* Left is raw camera mat (8UC3), Right is HSV threshold mat (8UC1)
* @return Returns desired output Mat, and processing time in nanoseconds
*/
@Override
public Pair<Mat, Long> run(Pair<Mat, Mat> input) {
long processStartNanos = System.nanoTime();
if (showThresholded) {
try {
input.getRight().copyTo(processBuffer);
Imgproc.cvtColor(processBuffer, processBuffer, Imgproc.COLOR_GRAY2BGR, 3);
processBuffer.copyTo(outputMat);
processBuffer.release();
} catch (CvException e) {
System.err.println("(OutputMat) Exception thrown by OpenCV: \n" + e.getMessage());
}
} else {
input.getLeft().copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
}

13
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Pipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
public interface Pipe<I, O> {
/**
*
* @param input Input object for pipe
* @return Returns a Pair containing the process time in Nanoseconds,
* and the output object
*/
Pair<O, Long> run(I input);
}

54
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/RotateFlipPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.enums.ImageFlipMode;
import com.chameleonvision.vision.enums.ImageRotationMode;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Core;
import org.opencv.core.Mat;
public class RotateFlipPipe implements Pipe<Mat, Mat> {
private ImageRotationMode rotation;
private ImageFlipMode flip;
private Mat processBuffer = new Mat();
private Mat outputMat = new Mat();
public RotateFlipPipe(ImageRotationMode rotation, ImageFlipMode flip) {
this.rotation = rotation;
this.flip = flip;
}
public void setConfig(ImageRotationMode rotation, ImageFlipMode flip) {
this.rotation = rotation;
this.flip = flip;
}
@Override
public Pair<Mat, Long> run(Mat input) {
long processStartNanos = System.nanoTime();
boolean shouldFlip = !flip.equals(ImageFlipMode.NONE);
boolean shouldRotate = !rotation.equals(ImageRotationMode.DEG_0);
if (shouldFlip || shouldRotate) {
input.copyTo(processBuffer);
if (shouldFlip) {
Core.flip(processBuffer, processBuffer, flip.value);
}
if (shouldRotate) {
Core.rotate(processBuffer, processBuffer, rotation.value);
}
processBuffer.copyTo(outputMat);
processBuffer.release();
} else {
input.copyTo(outputMat);
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(outputMat, processTime);
}
}

87
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.enums.SortMode;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.RotatedRect;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRect>> {
private final Comparator<RotatedRect> SortByCentermostComparator = Comparator.comparingDouble(this::calcCenterDistance);
private static final Comparator<RotatedRect> SortByLargestComparator = (rect1, rect2) -> Double.compare(rect2.size.area(), rect1.size.area());
private static final Comparator<RotatedRect> SortBySmallestComparator = SortByLargestComparator.reversed();
private static final Comparator<RotatedRect> SortByHighestComparator = (rect1, rect2) -> Double.compare(rect2.center.y, rect1.center.y);
private static final Comparator<RotatedRect> SortByLowestComparator = SortByHighestComparator.reversed();
private static final Comparator<RotatedRect> SortByLeftmostComparator = Comparator.comparingDouble(rect -> rect.center.x);
private static final Comparator<RotatedRect> SortByRightmostComparator = SortByLeftmostComparator.reversed();
private SortMode sort;
private CaptureStaticProperties camProps;
private int maxTargets;
private List<RotatedRect> sortedContours = new ArrayList<>();
public SortContoursPipe(SortMode sort, CaptureStaticProperties camProps, int maxTargets) {
this.sort = sort;
this.camProps = camProps;
this.maxTargets = maxTargets;
}
public void setConfig(SortMode sort, CaptureStaticProperties camProps, int maxTargets) {
this.sort = sort;
this.camProps = camProps;
this.maxTargets = maxTargets;
}
@Override
public Pair<List<RotatedRect>, Long> run(List<RotatedRect> input) {
long processStartNanos = System.nanoTime();
sortedContours.clear();
if (input.size() > 0) {
sortedContours.addAll(input.subList(0, Math.min(input.size(), maxTargets - 1)));
switch (sort) {
case Largest:
sortedContours.sort(SortByLargestComparator);
break;
case Smallest:
sortedContours.sort(SortBySmallestComparator);
break;
case Highest:
sortedContours.sort(SortByHighestComparator);
break;
case Lowest:
sortedContours.sort(SortByLowestComparator);
break;
case Leftmost:
sortedContours.sort(SortByLeftmostComparator);
break;
case Rightmost:
sortedContours.sort(SortByRightmostComparator);
break;
case Centermost:
sortedContours.sort(SortByCentermostComparator);
break;
default:
break;
}
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(sortedContours, processTime);
}
private double calcCenterDistance(RotatedRect rect) {
return FastMath.sqrt(FastMath.pow(camProps.centerX - rect.center.x, 2) + FastMath.pow(camProps.centerY - rect.center.y, 2));
}
}

51
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java Normal file
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package com.chameleonvision.vision.pipeline.pipes;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.MatOfPoint;
import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.List;
public class SpeckleRejectPipe implements Pipe<List<MatOfPoint>, List<MatOfPoint>> {
private double minPercentOfAvg;
private List<MatOfPoint> despeckledContours = new ArrayList<>();
public SpeckleRejectPipe(double minPercentOfAvg) {
this.minPercentOfAvg = minPercentOfAvg;
}
public void setConfig(double minPercentOfAvg) {
this.minPercentOfAvg = minPercentOfAvg;
}
@Override
public Pair<List<MatOfPoint>, Long> run(List<MatOfPoint> input) {
long processStartNanos = System.nanoTime();
despeckledContours.clear();
if (input.size() > 0) {
double averageArea = 0.0;
for (MatOfPoint c : input) {
averageArea += Imgproc.contourArea(c);
}
averageArea /= input.size();
double minAllowedArea = minPercentOfAvg / 100.0 * averageArea;
for (MatOfPoint c : input) {
if (Imgproc.contourArea(c) >= minAllowedArea) {
despeckledContours.add(c);
}
}
}
long processTime = System.nanoTime() - processStartNanos;
return Pair.of(despeckledContours, processTime);
}
}

233
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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package com.chameleonvision.vision.process;
import com.chameleonvision.vision.SortMode;
import com.chameleonvision.vision.TargetGroup;
import com.chameleonvision.vision.TargetIntersection;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.util.MathHandler;
import org.apache.commons.math3.util.FastMath;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import org.opencv.imgproc.Moments;
import java.util.*;
@SuppressWarnings("WeakerAccess")
public class CVProcess {
private final CameraValues cameraValues;
private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Size blur = new Size(3, 3);
private Mat hsvImage = new Mat();
private List<MatOfPoint> foundContours = new ArrayList<>();
private Mat binaryMat = new Mat();
private List<MatOfPoint> filteredContours = new ArrayList<>();
private Comparator<RotatedRect> sortByCentermostComparator = Comparator.comparingDouble(this::calcDistance);
private List<MatOfPoint> speckleRejectedContours = new ArrayList<>();
private Comparator<MatOfPoint> sortByMomentsX = Comparator.comparingDouble(this::calcMomentsX);
private List<RotatedRect> finalCountours = new ArrayList<>();
private MatOfPoint2f intersectMatA = new MatOfPoint2f();
private MatOfPoint2f intersectMatB = new MatOfPoint2f();
CVProcess(CameraValues cameraValues) {
this.cameraValues = cameraValues;
}
void hsvThreshold(Mat srcImage, Mat dst, @NotNull Scalar hsvLower, @NotNull Scalar hsvUpper, boolean shouldErode, boolean shouldDilate) {
Imgproc.cvtColor(srcImage, hsvImage, Imgproc.COLOR_RGB2HSV, 3);
Imgproc.blur(hsvImage, hsvImage, blur);
Core.inRange(hsvImage, hsvLower, hsvUpper, dst);
if (shouldErode) {
Imgproc.erode(dst, dst, kernel);
}
if (shouldDilate) {
Imgproc.dilate(dst, dst, kernel);
}
hsvImage.release();
}
List<MatOfPoint> findContours(Mat src) {
src.copyTo(binaryMat);
foundContours.clear();
Imgproc.findContours(binaryMat, foundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
binaryMat.release();
return foundContours;
}
List<MatOfPoint> filterContours(List<MatOfPoint> inputContours, List<Number> area, List<Number> ratio, List<Number> extent) {
for (MatOfPoint Contour : inputContours) {
try {
double contourArea = Imgproc.contourArea(Contour);
double AreaRatio = (contourArea / cameraValues.ImageArea) * 100;
double minArea = (MathHandler.sigmoid(area.get(0)));
double maxArea = (MathHandler.sigmoid(area.get(1)));
if (AreaRatio < minArea || AreaRatio > maxArea) {
continue;
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = contourArea;
double minExtent = (double) (extent.get(0).doubleValue() * rect.size.area()) / 100;
double maxExtent = (double) (extent.get(1).doubleValue() * rect.size.area()) / 100;
if (targetFullness <= minExtent || contourArea >= maxExtent) {
continue;
}
Rect bb = Imgproc.boundingRect(Contour);
double aspectRatio = (bb.width / bb.height);
if (aspectRatio < ratio.get(0).doubleValue() || aspectRatio > ratio.get(1).doubleValue()) {
continue;
}
filteredContours.add(Contour);
} catch (Exception e) {
System.err.println("Error while filtering contours");
e.printStackTrace();
}
}
return filteredContours;
}
List<MatOfPoint> rejectSpeckles(List<MatOfPoint> inputContours, Double minimumPercentOfAverage) {
double averageArea = 0.0;
for (MatOfPoint c : inputContours) {
averageArea += Imgproc.contourArea(c);
}
averageArea /= inputContours.size();
var minimumAllowableArea = minimumPercentOfAverage / 100.0 * averageArea;
speckleRejectedContours.clear();
for (MatOfPoint c : inputContours) {
if (Imgproc.contourArea(c) >= minimumAllowableArea) speckleRejectedContours.add(c);
}
return speckleRejectedContours;
}
private double calcDistance(RotatedRect rect) {
return FastMath.sqrt(FastMath.pow(cameraValues.CenterX - rect.center.x, 2) + FastMath.pow(cameraValues.CenterY - rect.center.y, 2));
}
private double calcMomentsX(MatOfPoint c) {
Moments m = Imgproc.moments(c);
return (m.get_m10() / m.get_m00());
}
RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, SortMode sortMode) {
switch (sortMode) {
case Largest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area()));
case Smallest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area()));
case Highest:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y));
case Lowest:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y));
case Leftmost:
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x));
case Rightmost:
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case Centermost:
return Collections.min(inputRects, sortByCentermostComparator);
default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen
}
}
List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
finalCountours.clear();
inputContours.sort(sortByMomentsX);
Collections.reverse(inputContours);
if (targetGroup.equals(TargetGroup.Dual)) {
for (var i = 0; i < inputContours.size(); i++) {
List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
try {
MatOfPoint firstContour = inputContours.get(i);
MatOfPoint secondContour = inputContours.get(i + 1);
if (isIntersecting(firstContour, secondContour, intersectionPoint)) {
FinalContourList.addAll(secondContour.toList());
} else {
FinalContourList.clear();
continue;
}
firstContour.release();
secondContour.release();
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromList(FinalContourList);
if (contour.cols() != 0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
finalCountours.add(rect);
}
} catch (IndexOutOfBoundsException e) {
FinalContourList.clear();
}
}
} else if (targetGroup.equals(TargetGroup.Single)) {
for (MatOfPoint inputContour : inputContours) {
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromArray(inputContour.toArray());
if (contour.cols() != 0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
finalCountours.add(rect);
}
}
}
return finalCountours;
}
private boolean isIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, TargetIntersection intersectionPoint) {
if (intersectionPoint.equals(TargetIntersection.None)) {
return true;
}
try {
intersectMatA.fromArray(ContourOne.toArray());
intersectMatB.fromArray(ContourTwo.toArray());
RotatedRect a = Imgproc.fitEllipse(intersectMatA);
RotatedRect b = Imgproc.fitEllipse(intersectMatB);
double mA = MathHandler.toSlope(a.angle);
double mB = MathHandler.toSlope(b.angle);
double x0A = a.center.x;
double y0A = a.center.y;
double x0B = b.center.x;
double y0B = b.center.y;
double intersectionX = ((mA * x0A) - y0A - (mB * x0B) + y0B) / (mA - mB);
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
double massX = (x0A + x0B) / 2;
double massY = (y0A + y0B) / 2;
switch (intersectionPoint) {
case Up: {
if (intersectionY < massY) {
if (mA > 0 && mB < 0) {
return true;
}
}
break;
}
case Down: {
if (intersectionY > massY) {
if (mA < 0 && mB > 0) {
return true;
}
}
break;
}
case Left: {
if (intersectionX < massX) {
return true;
}
break;
}
case Right: {
if (intersectionX > massX) {
return true;
}
break;
}
}
return false;
} catch (Exception e) {
return false;
}
}
}

76
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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package com.chameleonvision.vision.process;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.StreamDivisor;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class CameraProcess implements Runnable {
private final Camera camera;
private final Object outputFrameLock = new Object();
private final Object inputFrameLock = new Object();
private int maxFPS;
private Mat outputFrame;
private Mat inputFrame;
private long timestamp;
private StreamDivisor divisor;
CameraProcess(Camera camera) {
this.camera = camera;
updateFrameSize();
}
public void updateFrameSize() {
maxFPS = camera.getVideoMode().fps;
divisor = camera.getStreamDivisor();
var camVidMode = camera.getVideoMode();
var newWidth = camVidMode.width / divisor.value;
var newHeight = camVidMode.height / divisor.value;
synchronized (outputFrameLock) {
outputFrame = new Mat(newWidth, newHeight, CvType.CV_8UC3);
}
inputFrame = new Mat(camVidMode.width, camVidMode.height, CvType.CV_8UC3);
}
void setOutputFrame(Mat inputFrame) {
synchronized (outputFrameLock) {
inputFrame.copyTo(this.outputFrame);
}
}
long getInputFrame(Mat inputFrame) {
synchronized (inputFrameLock) {
this.inputFrame.copyTo(inputFrame);
return timestamp;
}
}
@Override
public void run() {
while (!Thread.interrupted()) {
synchronized (inputFrameLock) {
timestamp = camera.grabFrame(inputFrame);
}
synchronized (outputFrameLock) {
if (divisor.value != 1) {
var camVidMode = camera.getVideoMode();
var newWidth = camVidMode.width / divisor.value;
var newHeight = camVidMode.height / divisor.value;
Size newSize = new Size(newWidth, newHeight);
Imgproc.resize(outputFrame, outputFrame, newSize);
}
camera.putFrame(outputFrame);
}
var msToWait = (long) 1000 / maxFPS;
try {
Thread.sleep(msToWait);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}

13
Main/src/main/java/com/chameleonvision/vision/process/PipelineResult.java
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package com.chameleonvision.vision.process;
import org.opencv.core.RotatedRect;
public class PipelineResult {
public boolean IsValid = false;
public double CalibratedX = 0.0;
public double CalibratedY = 0.0;
public double Pitch = 0.0;
public double Yaw = 0.0;
public double Area = 0.0;
RotatedRect RawPoint;
}

297
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.SocketHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class VisionProcess implements Runnable {
private final Camera camera;
private final String cameraName;
public final CameraProcess cameraProcess;
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntDistanceEntry;
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
// chameleon specific
private Pipeline currentPipeline;
private CVProcess cvProcess;
// pipeline process items
private List<MatOfPoint> foundContours = new ArrayList<>();
private List<MatOfPoint> filteredContours = new ArrayList<>();
private List<MatOfPoint> deSpeckledContours = new ArrayList<>();
private List<RotatedRect> groupedContours = new ArrayList<>();
private Mat cameraInputMat = new Mat();
private Mat hsvThreshMat = new Mat();
private Mat streamOutputMat = new Mat();
private Scalar contourRectColor = new Scalar(255, 0, 0);
private Scalar BoxRectColor = new Scalar(0, 0, 233);
private long timeStamp = 0;
public VisionProcess(Camera processCam) {
camera = processCam;
this.cameraName = camera.name;
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/"+processCam.getNickname()));
// camera settings
cvProcess = new CVProcess(camera.getCamVals());
cameraProcess = new CameraProcess(camera);
}
private void driverModeListener(EntryNotification entryNotification) {
camera.setDriverMode(entryNotification.value.getBoolean());
}
private void pipelineListener(EntryNotification entryNotification) {
var ntPipelineIndex = (int) entryNotification.value.getDouble();
if (ntPipelineIndex >= camera.getPipelines().size()) {
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
} else {
var pipeline = camera.getCurrentPipeline();
camera.setCurrentPipelineIndex(ntPipelineIndex);
try {
camera.setExposure(pipeline.exposure);
} catch (VideoException e) {
System.err.println(e.toString());
}
camera.setBrightness(pipeline.brightness);
if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)) {
SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", ntPipelineIndex);
SocketHandler.broadcastMessage(pipeChange);
SocketHandler.sendFullSettings();
}
}
}
private void drawContour(Mat inputMat, RotatedRect contourRect) {
if (contourRect == null) return;
List<MatOfPoint> drawnContour = new ArrayList<>();
Point[] vertices = new Point[4];
contourRect.points(vertices);
MatOfPoint contour = new MatOfPoint(vertices);
drawnContour.add(contour);
Rect box = Imgproc.boundingRect(contour);
Imgproc.drawContours(inputMat, drawnContour, 0, contourRectColor, 3);
Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
Imgproc.rectangle(inputMat, new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), BoxRectColor, 2);
}
private void updateNetworkTables(PipelineResult pipelineResult) {
if (pipelineResult.IsValid) {
ntValidEntry.setBoolean(true);
ntYawEntry.setNumber(pipelineResult.Yaw);
ntPitchEntry.setNumber(pipelineResult.Pitch);
ntDistanceEntry.setNumber(pipelineResult.Area);
ntTimeStampEntry.setNumber(timeStamp);
NetworkTableInstance.getDefault().flush();
} else {
ntYawEntry.setNumber(0.0);
ntPitchEntry.setNumber(0.0);
ntDistanceEntry.setNumber(0.0);
ntTimeStampEntry.setNumber(timeStamp);
ntValidEntry.setBoolean(false);
}
}
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
var pipelineResult = new PipelineResult();
if (currentPipeline == null) {
return pipelineResult;
}
if (currentPipeline.orientation.equals(Orientation.Inverted)) {
Core.flip(inputImage, inputImage, -1);
}
if (camera.getDriverMode()) {
inputImage.copyTo(outputImage);
return pipelineResult;
}
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
if (currentPipeline.isBinary) {
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
} else {
inputImage.copyTo(outputImage);
}
foundContours = cvProcess.findContours(hsvThreshMat);
if (foundContours.size() > 0) {
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours.size() > 0) {
deSpeckledContours = cvProcess.rejectSpeckles(filteredContours, currentPipeline.speckle.doubleValue());
if (deSpeckledContours.size() > 0) {
groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
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;
}
// var camVals = camera.getCamVals();
// if (currentPipeline.isCalibrated) {
// pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
// pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
// } else {
// pipelineResult.CalibratedX = camVals.CenterX;
// pipelineResult.CalibratedY = camVals.CenterY;
// }
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
drawContour(outputImage, finalRect);
}
}
}
}
return pipelineResult;
}
@Override
public void run() {
// processing time tracking
long startTime;
long fpsLastTime = 0;
double processTimeMs;
double fps = 0;
double uiFps = 0;
int maxFps = camera.getVideoMode().fps;
new Thread(cameraProcess).start();
long lastFrameEndNanosec = 0;
while (!Thread.interrupted()) {
startTime = System.nanoTime();
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
foundContours.clear();
filteredContours.clear();
groupedContours.clear();
// update FPS for ui only every 0.5 seconds
if ((startTime - fpsLastTime) * 1e-6 >= 500) {
if (fps >= maxFps) {
uiFps = maxFps;
} else {
uiFps = fps;
}
fpsLastTime = System.nanoTime();
}
currentPipeline = camera.getCurrentPipeline();
// start fps counter right before grabbing input frame
timeStamp = cameraProcess.getInputFrame(cameraInputMat);
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
continue;
}
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> calculated = new HashMap<>();
List<Double> center = new ArrayList<>();
if (pipelineResult.IsValid) {
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
calculated.put("pitch", pipelineResult.Pitch);
calculated.put("yaw", pipelineResult.Yaw);
} else {
center.add(0.0);
center.add(0.0);
calculated.put("pitch", 0);
calculated.put("yaw", 0);
}
point.put("fps", uiFps);
point.put("calculated", calculated);
point.put("rawPoint", center);
WebSend.put("point", point);
SocketHandler.broadcastMessage(WebSend);
}
cameraProcess.setOutputFrame(streamOutputMat);
cameraInputMat.release();
hsvThreshMat.release();
// calculate FPS
lastFrameEndNanosec = System.nanoTime();
processTimeMs = (lastFrameEndNanosec - startTime) * 1e-6;
fps = 1000 / processTimeMs;
//please dont enable if you are not debugging
// System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
}
}
}
/**
* Removes the old value change listeners
* calls {@link #initNT}
*
* @param newTable passed to {@link #initNT}
*/
public void resetNT(NetworkTable newTable) {
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
/**
* Rebases the writing location for the vision process - pipeline output
*
* @param newTable the new writing location
*/
private void initNT(NetworkTable newTable) {
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntDistanceEntry = newTable.getEntry("distance");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
}
}

6
Main/src/main/java/com/chameleonvision/web/Server.java
View File

@@ -1,6 +1,6 @@
package com.chameleonvision.web;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.config.ConfigManager;
import io.javalin.Javalin;
public class Server {
@@ -22,7 +22,7 @@ public class Server {
ws.onClose(ctx -> {
socketHandler.onClose(ctx);
System.out.println("Socket Disconnected");
SettingsManager.saveSettings();
ConfigManager.saveGeneralSettings();
});
ws.onBinaryMessage(ctx -> {
socketHandler.onBinaryMessage(ctx);
@@ -32,4 +32,4 @@ public class Server {
app.post("/api/settings/camera", Requesthandler::onCameraSettings);
app.start(port);
}
}
}

228
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
View File

@@ -1,23 +1,24 @@
package com.chameleonvision.web;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.vision.*;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.config.GeneralSettings;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.enums.CalibrationMode;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoException;
import io.javalin.websocket.*;
import org.apache.commons.lang3.ArrayUtils;
import org.msgpack.jackson.dataformat.MessagePackFactory;
import java.io.IOException;
import java.lang.reflect.Field;
import java.lang.reflect.ParameterizedType;
import java.nio.ByteBuffer;
import java.util.*;
@@ -37,34 +38,40 @@ public class SocketHandler {
sendFullSettings();
}
public void onClose(WsCloseContext context) {
void onClose(WsCloseContext context) {
users.remove(context);
}
@SuppressWarnings("unchecked")
void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<Map<String, Object>>() {
Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<>() {
});
for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
try {
VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
CameraCapture currentCamera = currentProcess.getCamera();
CVPipeline currentPipeline = currentProcess.getCurrentPipeline();
switch (entry.getKey()) {
case "driverMode": {
for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
setField(CameraManager.getCurrentCamera(), e.getKey(), e.getValue());
}
CameraManager.getCurrentCamera().setDriverMode((Boolean) ((HashMap<String, Object>) entry.getValue()).get("isDriver"));
CameraManager.saveCameras();
HashMap<String, Object> data = (HashMap<String, Object>) entry.getValue();
currentProcess.getDriverModeSettings().exposure = (Integer) data.get("exposure");
currentProcess.getDriverModeSettings().brightness = (Integer) data.get("brightness");
currentProcess.setDriverMode((Boolean) data.get("isDriver"));
VisionManager.saveCurrentCameraDriverMode();
break;
}
case "changeCameraName": {
CameraManager.getCurrentCamera().setNickname((String) entry.getValue());
currentCamera.getProperties().setNickname((String) entry.getValue());
sendFullSettings();
SettingsManager.saveSettings();
VisionManager.saveCurrentCameraSettings();
break;
}
case "changePipelineName": {
CameraManager.getCurrentPipeline().nickname = (String) entry.getValue();
currentPipeline.settings.nickname = ((String) entry.getValue());
sendFullSettings();
SettingsManager.saveSettings();
VisionManager.saveCurrentCameraPipelines();
break;
}
case "duplicatePipeline": {
@@ -72,70 +79,69 @@ public class SocketHandler {
int pipelineIndex = (int) pipelineVals.get("pipeline");
int cameraIndex = (int) pipelineVals.get("camera");
Pipeline origPipeline = CameraManager.getCurrentCamera().getPipelineByIndex(pipelineIndex);
CVPipeline origPipeline = currentProcess.getPipelineByIndex(pipelineIndex);
if (cameraIndex != -1) {
CameraManager.getCameraByIndex(cameraIndex).addPipeline(origPipeline);
VisionProcess newProcess = VisionManager.getVisionProcessByIndex(cameraIndex);
if(newProcess != null) {
newProcess.addPipeline(origPipeline);
}
} else {
CameraManager.getCurrentCamera().addPipeline(origPipeline);
currentProcess.addPipeline(origPipeline);
}
SettingsManager.saveSettings();
VisionManager.saveCurrentCameraPipelines();
break;
}
case "command": {
var cam = CameraManager.getCurrentCamera();
switch ((String) entry.getValue()) {
case "addNewPipeline":
cam.addPipeline();
currentProcess.addPipeline();
sendFullSettings();
SettingsManager.saveSettings();
VisionManager.saveCurrentCameraPipelines();
break;
// TODO: (HIGH) this never worked before, re-visit now that VisionProcess is written sanely
case "deleteCurrentPipeline":
int currentIndex = cam.getCurrentPipelineIndex();
int nextIndex;
if (currentIndex == cam.getPipelines().size() - 1) {
nextIndex = currentIndex - 1;
} else {
nextIndex = currentIndex;
}
cam.deletePipeline();
cam.setCurrentPipelineIndex(nextIndex);
sendFullSettings();
SettingsManager.saveSettings();
// int currentIndex = currentProcess.getCurrentPipelineIndex();
// int nextIndex;
// if (currentIndex == currentProcess.getPipelines().size() - 1) {
// nextIndex = currentIndex - 1;
// } else {
// nextIndex = currentIndex;
// }
// cam.deletePipeline();
// cam.setCurrentPipelineIndex(nextIndex);
// sendFullSettings();
// VisionManager.saveCurrentCameraPipelines();
break;
case "save":
SettingsManager.saveSettings();
System.out.println("saved Settings");
ConfigManager.saveGeneralSettings();
VisionManager.saveAllCameras();
System.out.println("Saved Settings");
break;
}
// used to define all incoming commands
break;
}
case "currentCamera": {
CameraManager.setCurrentCamera((Integer) entry.getValue());
VisionManager.setCurrentProcessByIndex((Integer) entry.getValue());
sendFullSettings();
break;
}
case "currentPipeline": {
var cam = CameraManager.getCurrentCamera();
cam.setCurrentPipelineIndex((Integer) entry.getValue());
currentProcess.setPipeline((Integer) entry.getValue(), true);
sendFullSettings();
try {
cam.setBrightness(cam.getCurrentPipeline().brightness);
cam.setExposure(cam.getCurrentPipeline().exposure);
} catch (Exception e) {
continue;
}
break;
}
default: {
setField(CameraManager.getCurrentCamera().getCurrentPipeline(), entry.getKey(), entry.getValue());
setField(currentPipeline.settings, entry.getKey(), entry.getValue());
switch (entry.getKey()) {
case "exposure": {
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
currentCamera.setExposure((Integer) entry.getValue());
VisionManager.saveCurrentCameraPipelines();
}
case "brightness": {
CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
currentCamera.setBrightness((Integer) entry.getValue());
VisionManager.saveCurrentCameraPipelines();
}
}
break;
@@ -150,36 +156,11 @@ public class SocketHandler {
private void setField(Object obj, String fieldName, Object value) {
try {
if (obj instanceof Camera) {
var cam = (Camera) obj;
switch (fieldName) {
case "driverBrightness":
cam.setDriverBrightness((Integer) value);
break;
case "driverExposure":
cam.setDriverExposure((Integer) value);
break;
case "isDriver":
cam.setDriverMode((boolean) value);
break;
default:
Field field = obj.getClass().getField(fieldName);
if (field.getType().isEnum()) {
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
} else {
field.set(obj, value);
}
break;
}
} else {
Field field = obj.getClass().getField(fieldName);
if (field.getType().isEnum()) {
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
} else {
field.set(obj, value);
}
}
Field field = obj.getClass().getField(fieldName);
if (field.getType().isEnum())
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
else
field.set(obj, value);
} catch (NoSuchFieldException | IllegalAccessException ex) {
ex.printStackTrace();
}
@@ -187,7 +168,7 @@ public class SocketHandler {
private static void broadcastMessage(Object obj, WsContext userToSkip) {
if (users != null)
for (var user : users) {
for (WsContext user : users) {
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
continue;
}
@@ -204,14 +185,18 @@ public class SocketHandler {
broadcastMessage(obj, null);//Broadcasts the message to every user
}
private static HashMap<String, Object> getOrdinalPipeline() throws CameraException, IllegalAccessException {
private static HashMap<String, Object> getOrdinalPipeline(Class cvClass) throws IllegalAccessException {
HashMap<String, Object> tmp = new HashMap<>();
for (Field f : Pipeline.class.getFields()) {
if (!f.getType().isEnum()) {
tmp.put(f.getName(), f.get(CameraManager.getCurrentCamera().getCurrentPipeline()));
} else {
var i = (Enum) f.get(CameraManager.getCurrentCamera().getCurrentPipeline());
tmp.put(f.getName(), i.ordinal());
for (Field field :cvClass.getFields()) { // iterate over every field in CVPipelineSettings
try {
if (!field.getType().isEnum()) { // if the field is not an enum, get it based on the current pipeline
tmp.put(field.getName(), field.get(VisionManager.getCurrentUIVisionProcess().getCurrentPipeline().settings));
} else {
var ordinal = (Enum) field.get(VisionManager.getCurrentUIVisionProcess().getCurrentPipeline().settings);
tmp.put(field.getName(), ordinal.ordinal());
}
} catch (IllegalArgumentException e) {
e.printStackTrace();
}
}
return tmp;
@@ -219,57 +204,58 @@ public class SocketHandler {
private static HashMap<String, Object> getOrdinalSettings() {
HashMap<String, Object> tmp = new HashMap<>();
tmp.put("teamNumber", SettingsManager.GeneralSettings.teamNumber);
tmp.put("connectionType", SettingsManager.GeneralSettings.connectionType.ordinal());
tmp.put("ip", SettingsManager.GeneralSettings.ip);
tmp.put("gateway", SettingsManager.GeneralSettings.gateway);
tmp.put("netmask", SettingsManager.GeneralSettings.netmask);
tmp.put("hostname", SettingsManager.GeneralSettings.hostname);
tmp.put("teamNumber", ConfigManager.settings.teamNumber);
tmp.put("connectionType", ConfigManager.settings.connectionType.ordinal());
tmp.put("ip", ConfigManager.settings.ip);
tmp.put("gateway", ConfigManager.settings.gateway);
tmp.put("netmask", ConfigManager.settings.netmask);
tmp.put("hostname", ConfigManager.settings.hostname);
return tmp;
}
private static HashMap<String, Object> getOrdinalCameraSettings() {
HashMap<String, Object> tmp = new HashMap<>();
try {
var currentCamera = CameraManager.getCurrentCamera();
tmp.put("fov", currentCamera.getFOV());
tmp.put("streamDivisor", currentCamera.getStreamDivisor().ordinal());
tmp.put("resolution", currentCamera.getVideoModeIndex());
} catch (CameraException e) {
e.printStackTrace();
}
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
CameraCapture currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
tmp.put("fov", currentCamera.getProperties().FOV);
tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
// TODO: (HIGH) get videomode index!
// tmp.put("resolution", currentCamera.getVideoModeIndex());
return tmp;
}
private static HashMap<String, Object> getOrdinalDriver() {
HashMap<String, Object> tmp = new HashMap<>();
try {
var currentCamera = CameraManager.getCurrentCamera();
tmp.put("isDriver", currentCamera.getDriverMode());
tmp.put("driverBrightness", currentCamera.getDriverBrightness());
tmp.put("driverExposure", currentCamera.getDriverExposure());
} catch (CameraException e) {
e.printStackTrace();
}
VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
CVPipelineSettings driverModeSettings = currentProcess.getDriverModeSettings();
tmp.put("isDriver", currentProcess.getDriverMode());
tmp.put("driverBrightness", driverModeSettings.brightness);
tmp.put("driverExposure", driverModeSettings.exposure);
return tmp;
}
public static void sendFullSettings() {
//General settings
Map<String, Object> fullSettings = new HashMap<>();
VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
CameraCapture currentCamera = currentProcess.getCamera();
CVPipeline currentPipeline = currentProcess.getCurrentPipeline();
try {
// fullSettings.putAll(settingsToMap(ConfigManager.settings));
// fullSettings.putAll(pipelineToMap(currentPipeline.settings));
fullSettings.put("settings", getOrdinalSettings());
fullSettings.put("cameraSettings", getOrdinalCameraSettings());
fullSettings.put("cameraList", CameraManager.getAllCameraByNickname());
fullSettings.put("pipeline", getOrdinalPipeline());
var currentCamera = CameraManager.getCurrentCamera();
fullSettings.put("cameraList", VisionManager.getAllCameraNicknames());
fullSettings.put("pipeline", getOrdinalPipeline(currentPipeline.settings.getClass()));
fullSettings.put("driverMode", getOrdinalDriver());
fullSettings.put("pipelineList", currentCamera.getPipelinesNickname());
fullSettings.put("resolutionList", currentCamera.getResolutionList());
fullSettings.put("port", currentCamera.getStreamPort());
fullSettings.put("currentPipelineIndex", CameraManager.getCurrentCamera().getCurrentPipelineIndex());
fullSettings.put("currentCameraIndex", CameraManager.getCurrentCameraIndex());
} catch (CameraException | IllegalAccessException e) {
fullSettings.put("pipelineList", VisionManager.getCurrentCameraPipelineNicknames());
fullSettings.put("resolutionList", VisionManager.getCurrentCameraResolutionList());
fullSettings.put("port", currentProcess.cameraStreamer.getStreamPort());
fullSettings.put("currentPipelineIndex", VisionManager.getCurrentUIVisionProcess().getCurrentPipelineIndex());
fullSettings.put("currentCameraIndex", VisionManager.getCurrentUIVisionProcessIndex());
} catch (IllegalAccessException e) {
System.err.println("No camera found!");
}
broadcastMessage(fullSettings);

19
Main/src/test/java/com/chameleonvision/config/ConfigManagerTest.java Normal file
View File

@@ -0,0 +1,19 @@
package com.chameleonvision.config;
import org.junit.jupiter.api.BeforeAll;
import java.io.IOException;
import java.nio.file.Files;
public class ConfigManagerTest {
@BeforeAll
public void deleteConfig() {
try {
Files.delete(ConfigManager.SettingsPath);
} catch (IOException e) {
e.printStackTrace();
}
}
}

3
README.md
View File

@@ -1,5 +1,8 @@
# Chameleon-Vision
![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/dev?label=dev&logo=name)
![CircleCI](https://img.shields.io/circleci/build/github/Chameleon-Vision/chameleon-vision/master?label=master&logo=name)
Chameleon Vision is free open-source software for FRC teams to use for vision proccesing on their robots.
## Getting started

2
chameleon-client/src/store.js
View File

@@ -20,7 +20,7 @@ export default new Vuex.Store({
pipeline: {
exposure: 0,
brightness: 0,
orientation: 0,
flipMode: 0,
hue: [0, 15],
saturation: [0, 15],
value: [0, 25],

2
chameleon-client/src/views/CameraViewes/InputTab.vue
View File

@@ -2,7 +2,7 @@
<div>
<CVslider name="Exposure" v-model="value.exposure" :min="0" :max="100" @input="handleData('exposure')"/>
<CVslider name="Brightness" v-model="value.brightness" :min="0" :max="100" @input="handleData('brightness')"/>
<CVselect name="Orientation" v-model="value.orientation" :list="['Normal','Inverted']"
<CVselect name="Orientation" v-model="value.flipMode" :list="['Normal','Inverted']"
@input="handleData('orientation')"/>
</div>
</template>

4
tets/src/main/java/com/animal.java Normal file
View File

@@ -0,0 +1,4 @@
public class animal{
String name;
}

3
tets/src/main/java/com/cat.java Normal file
View File

@@ -0,0 +1,3 @@
public class cat extends animal{
String meow = "mowe";
}

3
tets/src/main/java/com/cow.java Normal file
View File

@@ -0,0 +1,3 @@
public class cow extends animal{
String moo = "mooo";
}

4
tets/src/main/java/main.java Normal file
View File

@@ -0,0 +1,4 @@
package PACKAGE_NAME;
public class main {
}