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Cleanup photonlib deps (#243)

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Removes unnecessary photonlib dependencies and removes commons-math.
This commit is contained in:
Matt
2021-01-22 22:05:39 -08:00
committed by GitHub
parent bbc8a3137b
commit d59f8d1227
11 changed files with 33 additions and 46 deletions
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3
photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
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@@ -18,13 +18,12 @@
package org.photonvision.common.util.math;
import edu.wpi.first.wpiutil.WPIUtilJNI;
import org.apache.commons.math3.util.FastMath;
public class MathUtils {
MathUtils() {}
public static double toSlope(Number angle) {
return FastMath.atan(FastMath.toRadians(angle.doubleValue() - 90));
return Math.atan(Math.toRadians(angle.doubleValue() - 90));
}
public static int safeDivide(int quotient, int divisor) {

17
photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java
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@@ -19,8 +19,6 @@ package org.photonvision.vision.frame;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.Point;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
@@ -79,23 +77,20 @@ public class FrameStaticProperties {
DoubleCouple horizVertViews =
calculateHorizontalVerticalFoV(this.fov, this.imageWidth, this.imageHeight);
horizontalFocalLength = this.imageWidth / (2 * FastMath.tan(horizVertViews.getFirst() / 2));
verticalFocalLength = this.imageHeight / (2 * FastMath.tan(horizVertViews.getSecond() / 2));
horizontalFocalLength = this.imageWidth / (2 * Math.tan(horizVertViews.getFirst() / 2));
verticalFocalLength = this.imageHeight / (2 * Math.tan(horizVertViews.getSecond() / 2));
}
public static DoubleCouple calculateHorizontalVerticalFoV(
double diagonalFoV, int imageWidth, int imageHeight) {
double diagonalView = FastMath.toRadians(diagonalFoV);
Fraction aspectFraction = new Fraction(imageWidth, imageHeight);
int horizontalRatio = aspectFraction.getNumerator();
int verticalRatio = aspectFraction.getDenominator();
double diagonalView = Math.toRadians(diagonalFoV);
double diagonalAspect = Math.hypot(imageWidth, imageHeight);
double diagonalAspect = FastMath.hypot(horizontalRatio, verticalRatio);
double horizontalView =
FastMath.atan(FastMath.tan(diagonalView / 2) * (horizontalRatio / diagonalAspect)) * 2;
Math.atan(Math.tan(diagonalView / 2) * (imageWidth / diagonalAspect)) * 2;
double verticalView =
FastMath.atan(FastMath.tan(diagonalView / 2) * (verticalRatio / diagonalAspect)) * 2;
Math.atan(Math.tan(diagonalView / 2) * (imageHeight / diagonalAspect)) * 2;
return new DoubleCouple(horizontalView, verticalView);
}

5
photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
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@@ -18,7 +18,6 @@
package org.photonvision.vision.opencv;
import java.util.Comparator;
import org.apache.commons.math3.util.FastMath;
import org.photonvision.vision.target.PotentialTarget;
public enum ContourSortMode {
@@ -33,8 +32,8 @@ public enum ContourSortMode {
Centermost(
Comparator.comparingDouble(
rect ->
(FastMath.pow(rect.getMinAreaRect().center.y, 2)
+ FastMath.pow(rect.getMinAreaRect().center.x, 2))));
(Math.pow(rect.getMinAreaRect().center.y, 2)
+ Math.pow(rect.getMinAreaRect().center.x, 2))));
private Comparator<PotentialTarget> m_comparator;

9
photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
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@@ -22,7 +22,6 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.Comparator;
import java.util.List;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
@@ -96,7 +95,7 @@ public class CornerDetectionPipe
* @return The straight line distance between them.
*/
private static double distanceBetween(Point a, Point b) {
return FastMath.sqrt(FastMath.pow(a.x - b.x, 2) + FastMath.pow(a.y - b.y, 2));
return Math.sqrt(Math.pow(a.x - b.x, 2) + Math.pow(a.y - b.y, 2));
}
/**
@@ -105,8 +104,7 @@ public class CornerDetectionPipe
* @return The straight line distance between them.
*/
private static double distanceBetween(Translation2d a, Translation2d b) {
return FastMath.sqrt(
FastMath.pow(a.getX() - b.getX(), 2) + FastMath.pow(a.getY() - b.getY(), 2));
return Math.sqrt(Math.pow(a.getX() - b.getX(), 2) + Math.pow(a.getY() - b.getY(), 2));
}
/**
@@ -121,8 +119,7 @@ public class CornerDetectionPipe
Comparator<Point> distanceProvider =
Comparator.comparingDouble(
(Point point) ->
FastMath.sqrt(
FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2)));
Math.sqrt(Math.pow(centroid.x - point.x, 2) + Math.pow(centroid.y - point.y, 2)));
MatOfPoint2f targetContour;
if (convexHull) {

6
photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
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@@ -21,7 +21,6 @@ import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import java.util.List;
import org.apache.commons.math3.util.FastMath;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.Mat;
@@ -117,8 +116,7 @@ public class SolvePNPPipe
// Z distance in the flat plane is given by
// Z_field = z cos theta + y sin theta.
// Z is the distance "out" of the camera (straight forward).
var zField =
tVec.get(2, 0)[0] * FastMath.cos(tiltAngle) + tVec.get(1, 0)[0] * FastMath.sin(tiltAngle);
var zField = tVec.get(2, 0)[0] * Math.cos(tiltAngle) + tVec.get(1, 0)[0] * Math.sin(tiltAngle);
Calib3d.Rodrigues(rVec, rotationMatrix);
Core.transpose(rotationMatrix, inverseRotationMatrix);
@@ -128,7 +126,7 @@ public class SolvePNPPipe
Core.gemm(inverseRotationMatrix, scaledTvec, 1, kMat, 0, pzeroWorld);
scaledTvec.release();
var angle2 = FastMath.atan2(pzeroWorld.get(0, 0)[0], pzeroWorld.get(2, 0)[0]);
var angle2 = Math.atan2(pzeroWorld.get(0, 0)[0], pzeroWorld.get(2, 0)[0]);
// target rotation is the rotation of the target relative to straight ahead. this number
// should be unchanged if the robot purely translated left/right.

7
photon-core/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
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@@ -20,7 +20,6 @@ package org.photonvision.vision.pipe.impl;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;
import org.apache.commons.math3.util.FastMath;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.ContourSortMode;
import org.photonvision.vision.pipe.CVPipe;
@@ -53,9 +52,9 @@ public class SortContoursPipe
}
private double calcSquareCenterDistance(PotentialTarget rect) {
return FastMath.sqrt(
FastMath.pow(params.getCamProperties().centerX - rect.getMinAreaRect().center.x, 2)
+ FastMath.pow(params.getCamProperties().centerY - rect.getMinAreaRect().center.y, 2));
return Math.sqrt(
Math.pow(params.getCamProperties().centerX - rect.getMinAreaRect().center.x, 2)
+ Math.pow(params.getCamProperties().centerY - rect.getMinAreaRect().center.y, 2));
}
public static class SortContoursParams {

7
photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
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@@ -17,7 +17,6 @@
package org.photonvision.vision.target;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.Point;
import org.opencv.core.RotatedRect;
import org.photonvision.common.util.math.MathUtils;
@@ -27,14 +26,12 @@ import org.photonvision.vision.opencv.DualOffsetValues;
public class TargetCalculations {
public static double calculateYaw(
double offsetCenterX, double targetCenterX, double horizontalFocalLength) {
return FastMath.toDegrees(
FastMath.atan((offsetCenterX - targetCenterX) / horizontalFocalLength));
return Math.toDegrees(Math.atan((offsetCenterX - targetCenterX) / horizontalFocalLength));
}
public static double calculatePitch(
double offsetCenterY, double targetCenterY, double verticalFocalLength) {
return -FastMath.toDegrees(
FastMath.atan((offsetCenterY - targetCenterY) / verticalFocalLength));
return -Math.toDegrees(Math.atan((offsetCenterY - targetCenterY) / verticalFocalLength));
}
@SuppressWarnings("DuplicatedCode")

9
photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
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@@ -20,7 +20,6 @@ package org.photonvision.vision.target;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import org.apache.commons.math3.util.FastMath;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
@@ -70,7 +69,7 @@ public class TargetCalculationsTest {
TargetCalculations.calculateYaw(
imageCenterPoint.x, targetCenterPoint.x, params.horizontalFocalLength);
assertEquals(FastMath.toDegrees(trueYaw), yaw, 0.025, "Yaw not as expected");
assertEquals(Math.toDegrees(trueYaw), yaw, 0.025, "Yaw not as expected");
}
@Test
@@ -85,7 +84,7 @@ public class TargetCalculationsTest {
TargetCalculations.calculatePitch(
imageCenterPoint.y, targetCenterPoint.y, params.verticalFocalLength);
assertEquals(FastMath.toDegrees(truePitch) * -1, pitch, 0.025, "Pitch not as expected");
assertEquals(Math.toDegrees(truePitch) * -1, pitch, 0.025, "Pitch not as expected");
}
@Test
@@ -181,8 +180,8 @@ public class TargetCalculationsTest {
public void testCameraFOVCalculation() {
final DoubleCouple glowormHorizVert =
FrameStaticProperties.calculateHorizontalVerticalFoV(74.8, 640, 480);
var gwHorizDeg = FastMath.toDegrees(glowormHorizVert.getFirst());
var gwVertDeg = FastMath.toDegrees(glowormHorizVert.getSecond());
var gwHorizDeg = Math.toDegrees(glowormHorizVert.getFirst());
var gwVertDeg = Math.toDegrees(glowormHorizVert.getSecond());
assertEquals(62.7, gwHorizDeg, .3);
assertEquals(49, gwVertDeg, .3);
}

12
photon-lib/build.gradle
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@@ -11,9 +11,9 @@ test {
// Apply Java configuration
dependencies {
compile project(":photon-core")
compile project(":photon-targeting")
// WPILib non-JNI dependencies
implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
@@ -21,8 +21,16 @@ dependencies {
implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2"
implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
// NTCore
implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxaarch64bionic"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxraspbian"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:linuxx86-64"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:osxx86-64"
compile "edu.wpi.first.ntcore:ntcore-jni:$wpilibVersion:windowsx86-64"
// Junit
testImplementation("org.junit.jupiter:junit-jupiter-api:5.6.2")
testImplementation("org.junit.jupiter:junit-jupiter-params:5.6.2")
testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.6.2")

3
photon-targeting/build.gradle
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@@ -2,9 +2,6 @@ apply plugin: "java"
dependencies {
implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
implementation "org.apache.commons:commons-math3:3.6.1"
}
java {

1
shared/common.gradle
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@@ -12,7 +12,6 @@ dependencies {
// Apache commons
implementation group: "org.apache.commons", name: "commons-lang3", version: "3.9"
implementation "org.apache.commons:commons-math3:3.6.1"
implementation group: "commons-io", name: "commons-io", version: "2.6"
implementation group: "commons-cli", name: "commons-cli", version: "1.4"
implementation "org.apache.commons:commons-collections4:4.4"