Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' of https://gitlab.com/chameleon-vision/Chameleon-Vision into dev

Browse Source 
# Conflicts:
#	chameleon-client/src/views/CameraViewes/OutputTab.vue
This commit is contained in:
Omer
2019-10-30 14:34:19 +02:00
parent 120fa64f3c 1e02f114e1
commit bb49cddd1a
30 changed files with 737 additions and 543 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
Main/src/main/java/com/chameleonvision/vision/CalibrationMode.java Normal file
View File

@@ -0,0 +1,5 @@
package com.chameleonvision.vision;
public enum CalibrationMode {
None,Single,Dual
}

3
Main/src/main/java/com/chameleonvision/vision/Pipeline.java
View File

@@ -22,6 +22,7 @@ public class Pipeline {
public TargetIntersection targetIntersection = TargetIntersection.Up;
public double m = 1;
public double b = 0;
public boolean isCalibrated = false;
public List<Number> point = Arrays.asList(0,0);
public CalibrationMode calibrationMode = CalibrationMode.None;
public String nickname;
}

6
Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
View File

@@ -12,6 +12,7 @@ public class CameraValues {
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;
@@ -35,8 +36,9 @@ public class CameraValues {
AspectFraction = new Fraction(ImageWidth, ImageHeight);
HorizontalRatio = AspectFraction.getNumerator();
VerticalRatio = AspectFraction.getDenominator();
HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalView)) * 2;
VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
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));
}

24
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
View File

@@ -1,6 +1,7 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CalibrationMode;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
@@ -155,15 +156,24 @@ public class VisionProcess implements Runnable {
groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
if (!currentPipeline.isCalibrated) {
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
switch (currentPipeline.calibrationMode){
case None:
///use the center of the camera to find the pitch and yaw difference
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
break;
case Single:
// use the static point as a calibration method instead of the center
pipelineResult.CalibratedX = currentPipeline.point.get(0).doubleValue();
pipelineResult.CalibratedY = currentPipeline.point.get(1).doubleValue();
break;
case Dual:
// use the calculated line to find the difference in length between the point and the line
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);

14
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
View File

@@ -52,6 +52,7 @@ public class ServerHandler {
setField(SettingsManager.GeneralSettings, e.getKey(), e.getValue());
}
SettingsManager.saveSettings();
sendFullSettings();
break;
}
case "cameraSettings": {
@@ -60,16 +61,19 @@ public class ServerHandler {
CameraManager.getCurrentCamera().setStreamDivisor((Integer) camSettings.get("streamDivisor"));
CameraManager.getCurrentCamera().setCamVideoMode((Integer) camSettings.get("resolution"), true);
SettingsManager.saveSettings();
sendFullSettings();
break;
}
case "changeCameraName": {
CameraManager.getCurrentCamera().setNickname((String) entry.getValue());
sendFullSettings();
SettingsManager.saveSettings();
break;
}
case "changePipelineName": {
CameraManager.getCurrentPipeline().nickname = (String) entry.getValue();
sendFullSettings();
SettingsManager.saveSettings();
break;
}
case "duplicatePipeline": {
@@ -84,6 +88,7 @@ public class ServerHandler {
} else {
CameraManager.getCurrentCamera().addPipeline(origPipeline);
}
SettingsManager.saveSettings();
break;
}
case "command": {
@@ -92,6 +97,7 @@ public class ServerHandler {
case "addNewPipeline":
cam.addPipeline();
sendFullSettings();
SettingsManager.saveSettings();
break;
case "deleteCurrentPipeline":
int currentIndex = cam.getCurrentPipelineIndex();
@@ -104,6 +110,10 @@ public class ServerHandler {
cam.deletePipeline();
cam.setCurrentPipelineIndex(nextIndex);
sendFullSettings();
SettingsManager.saveSettings();
break;
case "save":
SettingsManager.saveSettings();
break;
}
// used to define all incoming commands
@@ -117,9 +127,7 @@ public class ServerHandler {
case "currentPipeline": {
var cam = CameraManager.getCurrentCamera();
cam.setCurrentPipelineIndex((Integer) entry.getValue());
HashMap<String, Object> tmp = new HashMap<>();
tmp.put("pipeline", getOrdinalPipeline());
broadcastMessage(tmp);
sendFullSettings();
try {
cam.setBrightness(cam.getCurrentPipeline().brightness);
cam.setExposure(cam.getCurrentPipeline().exposure);