mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
code cleanup and ui route bugfix
This commit is contained in:
ori agranat
@@ -16,248 +16,247 @@ import java.util.List;
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public class VisionProcess implements Runnable {
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private final Camera camera;
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private final String cameraName;
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private final CameraProcess cameraProcess;
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// NetworkTables
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public NetworkTableEntry ntPipelineEntry;
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public NetworkTableEntry ntDriverModeEntry;
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private NetworkTableEntry ntYawEntry;
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private NetworkTableEntry ntPitchEntry;
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private NetworkTableEntry ntDistanceEntry;
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private NetworkTableEntry ntTimeStampEntry;
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private NetworkTableEntry ntValidEntry;
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// chameleon specific
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private Pipeline currentPipeline;
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private CVProcess cvProcess;
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// pipeline process items
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private List<MatOfPoint> foundContours = new ArrayList<>();
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private List<MatOfPoint> filteredContours = new ArrayList<>();
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private List<RotatedRect> groupedContours = new ArrayList<>();
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private Mat cameraInputMat = new Mat();
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private Mat hsvThreshMat = new Mat();
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private Mat streamOutputMat = new Mat();
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private Scalar contourRectColor = new Scalar(255, 0, 0);
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private Scalar BoxRectColor = new Scalar(0, 0, 233);
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private long timeStamp = 0;
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private final Camera camera;
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private final String cameraName;
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private final CameraProcess cameraProcess;
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// NetworkTables
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public NetworkTableEntry ntPipelineEntry;
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public NetworkTableEntry ntDriverModeEntry;
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private NetworkTableEntry ntYawEntry;
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private NetworkTableEntry ntPitchEntry;
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private NetworkTableEntry ntDistanceEntry;
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private NetworkTableEntry ntTimeStampEntry;
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private NetworkTableEntry ntValidEntry;
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// chameleon specific
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private Pipeline currentPipeline;
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private CVProcess cvProcess;
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// pipeline process items
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private List<MatOfPoint> foundContours = new ArrayList<>();
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private List<MatOfPoint> filteredContours = new ArrayList<>();
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private List<RotatedRect> groupedContours = new ArrayList<>();
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private Mat cameraInputMat = new Mat();
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private Mat hsvThreshMat = new Mat();
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private Mat streamOutputMat = new Mat();
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private Scalar contourRectColor = new Scalar(255, 0, 0);
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private Scalar BoxRectColor = new Scalar(0, 0, 233);
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private long timeStamp = 0;
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public VisionProcess(Camera processCam) {
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camera = processCam;
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this.cameraName = camera.name;
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public VisionProcess(Camera processCam) {
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camera = processCam;
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this.cameraName = camera.name;
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// NetworkTables
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NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
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ntPipelineEntry = ntTable.getEntry("pipeline");
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ntDriverModeEntry = ntTable.getEntry("driver_mode");
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ntPitchEntry = ntTable.getEntry("pitch");
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ntYawEntry = ntTable.getEntry("yaw");
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ntDistanceEntry = ntTable.getEntry("distance");
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ntTimeStampEntry = ntTable.getEntry("timestamp");
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ntValidEntry = ntTable.getEntry("is_valid");
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ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
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ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
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ntDriverModeEntry.setBoolean(false);
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ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
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// NetworkTables
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NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
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ntPipelineEntry = ntTable.getEntry("pipeline");
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ntDriverModeEntry = ntTable.getEntry("driver_mode");
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ntPitchEntry = ntTable.getEntry("pitch");
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ntYawEntry = ntTable.getEntry("yaw");
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ntDistanceEntry = ntTable.getEntry("distance");
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ntTimeStampEntry = ntTable.getEntry("timestamp");
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ntValidEntry = ntTable.getEntry("is_valid");
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ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
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ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
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ntDriverModeEntry.setBoolean(false);
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ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
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// camera settings
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cvProcess = new CVProcess(camera.getCamVals());
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cameraProcess = new CameraProcess(camera);
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}
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// camera settings
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cvProcess = new CVProcess(camera.getCamVals());
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cameraProcess = new CameraProcess(camera);
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}
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private void driverModeListener(EntryNotification entryNotification) {
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if (entryNotification.value.getBoolean()) {
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camera.setExposure(25);
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camera.setBrightness(15);
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} else {
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Pipeline pipeline = camera.getCurrentPipeline();
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camera.setExposure(pipeline.exposure);
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camera.setBrightness(pipeline.brightness);
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}
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}
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private void driverModeListener(EntryNotification entryNotification) {
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if (entryNotification.value.getBoolean()) {
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camera.setExposure(25);
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camera.setBrightness(15);
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} else {
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Pipeline pipeline = camera.getCurrentPipeline();
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camera.setExposure(pipeline.exposure);
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camera.setBrightness(pipeline.brightness);
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}
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}
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private void pipelineListener(EntryNotification entryNotification) {
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var ntPipelineIndex = (int) entryNotification.value.getDouble();
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if (camera.getPipelines().containsKey(ntPipelineIndex)) {
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private void pipelineListener(EntryNotification entryNotification) {
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var ntPipelineIndex = (int) entryNotification.value.getDouble();
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if (camera.getPipelines().containsKey(ntPipelineIndex)) {
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// camera.setEntryNotification.value.getString());
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var pipeline = camera.getCurrentPipeline();
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camera.setCurrentPipelineIndex(ntPipelineIndex);
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try{
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camera.setExposure(pipeline.exposure);
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}
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catch (VideoException e){
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System.err.println(e.toString());
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}
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camera.setBrightness(pipeline.brightness);
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if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)){
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SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
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HashMap<String, Object> pipeChange = new HashMap<>();
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pipeChange.put("currentPipeline", ntPipelineIndex);
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ServerHandler.broadcastMessage(pipeChange);
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ServerHandler.sendFullSettings();
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var pipeline = camera.getCurrentPipeline();
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camera.setCurrentPipelineIndex(ntPipelineIndex);
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try {
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camera.setExposure(pipeline.exposure);
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} catch (VideoException e) {
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System.err.println(e.toString());
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}
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camera.setBrightness(pipeline.brightness);
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if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)) {
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SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
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HashMap<String, Object> pipeChange = new HashMap<>();
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pipeChange.put("currentPipeline", ntPipelineIndex);
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ServerHandler.broadcastMessage(pipeChange);
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ServerHandler.sendFullSettings();
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}
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} else {
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ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
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}
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}
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}
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} else {
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ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
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}
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}
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private void drawContour(Mat inputMat, RotatedRect contourRect) {
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if (contourRect == null) return;
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List<MatOfPoint> drawnContour = new ArrayList<>();
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Point[] vertices = new Point[4];
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contourRect.points(vertices);
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MatOfPoint contour = new MatOfPoint(vertices);
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drawnContour.add(contour);
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Rect box = Imgproc.boundingRect(contour);
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Imgproc.drawContours(inputMat, drawnContour, 0, contourRectColor, 3);
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Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
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Imgproc.rectangle(inputMat,new Point(box.x, box.y), new Point((box.x + box.width),(box.y + box.height)), BoxRectColor,2);
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}
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private void drawContour(Mat inputMat, RotatedRect contourRect) {
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if (contourRect == null) return;
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List<MatOfPoint> drawnContour = new ArrayList<>();
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Point[] vertices = new Point[4];
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contourRect.points(vertices);
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MatOfPoint contour = new MatOfPoint(vertices);
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drawnContour.add(contour);
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Rect box = Imgproc.boundingRect(contour);
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Imgproc.drawContours(inputMat, drawnContour, 0, contourRectColor, 3);
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Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
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Imgproc.rectangle(inputMat, new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), BoxRectColor, 2);
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}
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private void updateNetworkTables(PipelineResult pipelineResult) {
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if (pipelineResult.IsValid) {
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ntValidEntry.setBoolean(true);
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ntYawEntry.setNumber(pipelineResult.Yaw);
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ntPitchEntry.setNumber(pipelineResult.Pitch);
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ntDistanceEntry.setNumber(pipelineResult.Area);
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ntTimeStampEntry.setNumber(timeStamp);
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NetworkTableInstance.getDefault().flush();
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} else {
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ntYawEntry.setNumber(0.0);
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ntPitchEntry.setNumber(0.0);
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ntDistanceEntry.setNumber(0.0);
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ntTimeStampEntry.setNumber(timeStamp);
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ntValidEntry.setBoolean(false);
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}
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}
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private void updateNetworkTables(PipelineResult pipelineResult) {
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if (pipelineResult.IsValid) {
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ntValidEntry.setBoolean(true);
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ntYawEntry.setNumber(pipelineResult.Yaw);
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ntPitchEntry.setNumber(pipelineResult.Pitch);
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ntDistanceEntry.setNumber(pipelineResult.Area);
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ntTimeStampEntry.setNumber(timeStamp);
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NetworkTableInstance.getDefault().flush();
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} else {
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ntYawEntry.setNumber(0.0);
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ntPitchEntry.setNumber(0.0);
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ntDistanceEntry.setNumber(0.0);
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ntTimeStampEntry.setNumber(timeStamp);
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ntValidEntry.setBoolean(false);
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}
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}
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private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
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var pipelineResult = new PipelineResult();
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private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
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var pipelineResult = new PipelineResult();
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if (currentPipeline == null) {
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return pipelineResult;
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}
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if (currentPipeline.orientation.equals(Orientation.Inverted)) {
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Core.flip(inputImage, inputImage, -1);
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}
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if (ntDriverModeEntry.getBoolean(false)) {
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inputImage.copyTo(outputImage);
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return pipelineResult;
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}
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Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
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Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
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if (currentPipeline == null) {
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return pipelineResult;
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}
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if (currentPipeline.orientation.equals(Orientation.Inverted)) {
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Core.flip(inputImage, inputImage, -1);
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}
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if (ntDriverModeEntry.getBoolean(false)) {
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inputImage.copyTo(outputImage);
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return pipelineResult;
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}
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Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
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Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
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cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
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cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
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if (currentPipeline.isBinary == true) {
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Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
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} else {
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inputImage.copyTo(outputImage);
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}
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foundContours = cvProcess.findContours(hsvThreshMat);
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if (foundContours.size() > 0) {
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filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
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if (filteredContours.size() > 0) {
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groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
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if (groupedContours.size() > 0) {
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var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
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if (currentPipeline.isBinary == true) {
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Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
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} else {
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inputImage.copyTo(outputImage);
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}
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foundContours = cvProcess.findContours(hsvThreshMat);
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if (foundContours.size() > 0) {
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filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
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if (filteredContours.size() > 0) {
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groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
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if (groupedContours.size() > 0) {
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var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
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// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
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pipelineResult.RawPoint = finalRect;
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pipelineResult.IsValid = true;
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if (!currentPipeline.isCalibrated) {
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pipelineResult.CalibratedX = camera.getCamVals().CenterX;
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pipelineResult.CalibratedY = camera.getCamVals().CenterY;
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} else {
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pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
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pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
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}
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pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
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pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
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pipelineResult.Area = finalRect.size.area();
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drawContour(outputImage, finalRect);
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}
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}
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}
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pipelineResult.RawPoint = finalRect;
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pipelineResult.IsValid = true;
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if (!currentPipeline.isCalibrated) {
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pipelineResult.CalibratedX = camera.getCamVals().CenterX;
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pipelineResult.CalibratedY = camera.getCamVals().CenterY;
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} else {
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pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
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pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
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}
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pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
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pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
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pipelineResult.Area = finalRect.size.area();
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drawContour(outputImage, finalRect);
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}
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}
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}
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return pipelineResult;
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}
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return pipelineResult;
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}
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@Override
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public void run() {
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// processing time tracking
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long startTime;
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long fpsLastTime = 0;
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double processTimeMs;
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double fps = 0;
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double uiFps = 0;
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int maxFps = camera.getVideoMode().fps;
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@Override
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public void run() {
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// processing time tracking
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long startTime;
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long fpsLastTime = 0;
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double processTimeMs;
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double fps = 0;
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double uiFps = 0;
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int maxFps = camera.getVideoMode().fps;
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new Thread(cameraProcess).start();
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new Thread(cameraProcess).start();
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long lastFrameEndNanosec = 0;
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long lastFrameEndNanosec = 0;
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while (!Thread.interrupted()) {
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startTime = System.nanoTime();
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if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
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foundContours.clear();
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filteredContours.clear();
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groupedContours.clear();
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while (!Thread.interrupted()) {
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startTime = System.nanoTime();
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if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
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foundContours.clear();
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filteredContours.clear();
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groupedContours.clear();
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// update FPS for ui only every 0.5 seconds
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if ((startTime - fpsLastTime) * 1e-6 >= 500) {
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if (fps >= maxFps) {
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uiFps = maxFps;
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} else {
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uiFps = fps;
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}
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fpsLastTime = System.nanoTime();
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}
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// update FPS for ui only every 0.5 seconds
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if ((startTime - fpsLastTime) * 1e-6 >= 500) {
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if (fps >= maxFps) {
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uiFps = maxFps;
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} else {
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uiFps = fps;
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}
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fpsLastTime = System.nanoTime();
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}
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currentPipeline = camera.getCurrentPipeline();
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// start fps counter right before grabbing input frame
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timeStamp = cameraProcess.getLatestFrame(cameraInputMat);
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if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
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continue;
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}
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currentPipeline = camera.getCurrentPipeline();
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// start fps counter right before grabbing input frame
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timeStamp = cameraProcess.getLatestFrame(cameraInputMat);
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if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
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continue;
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}
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// get vision data
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var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
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updateNetworkTables(pipelineResult);
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if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
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HashMap<String, Object> WebSend = new HashMap<>();
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HashMap<String, Object> point = new HashMap<>();
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HashMap<String, Object> calculated = new HashMap<>();
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List<Double> center = new ArrayList<>();
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if (pipelineResult.IsValid) {
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center.add(pipelineResult.RawPoint.center.x);
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center.add(pipelineResult.RawPoint.center.y);
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calculated.put("pitch", pipelineResult.Pitch);
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calculated.put("yaw", pipelineResult.Yaw);
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} else {
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center.add(0.0);
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center.add(0.0);
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calculated.put("pitch", 0);
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calculated.put("yaw", 0);
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}
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point.put("fps", uiFps);
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point.put("calculated",calculated);
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point.put("rawPoint",center);
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WebSend.put("point", point);
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ServerHandler.broadcastMessage(WebSend);
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}
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// get vision data
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var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
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updateNetworkTables(pipelineResult);
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if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
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HashMap<String, Object> WebSend = new HashMap<>();
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HashMap<String, Object> point = new HashMap<>();
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HashMap<String, Object> calculated = new HashMap<>();
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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);
|
||||
ServerHandler.broadcastMessage(WebSend);
|
||||
}
|
||||
|
||||
cameraProcess.updateFrame(streamOutputMat);
|
||||
cameraProcess.updateFrame(streamOutputMat);
|
||||
|
||||
cameraInputMat.release();
|
||||
hsvThreshMat.release();
|
||||
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());
|
||||
}
|
||||
}
|
||||
}
|
||||
// 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());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user