From d92595f62210b00a7a60d8ec465a73e878602080 Mon Sep 17 00:00:00 2001 From: Banks T Date: Thu, 31 Dec 2020 23:52:34 -0500 Subject: [PATCH] Use pipeline members for setPipeParams (#208) --- .../org/photonvision/vision/pipeline/CVPipeline.java | 10 +++++++++- .../vision/pipeline/Calibrate3dPipeline.java | 4 +--- .../vision/pipeline/ColoredShapePipeline.java | 4 +--- .../vision/pipeline/DriverModePipeline.java | 4 +--- .../vision/pipeline/ReflectivePipeline.java | 4 +--- 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java index dbdddf18c..04ffdba58 100644 --- a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java +++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java @@ -25,8 +25,16 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult; public abstract class CVPipeline { protected S settings; + protected FrameStaticProperties frameStaticProperties; - protected abstract void setPipeParams(FrameStaticProperties frameStaticProperties, S settings); + protected void setPipeParams(FrameStaticProperties frameStaticProperties, S settings) { + this.settings = settings; + this.frameStaticProperties = frameStaticProperties; + + setPipeParamsImpl(); + } + + protected abstract void setPipeParamsImpl(); protected abstract R process(Frame frame, S settings); diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java index 892a732af..7acc56951 100644 --- a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java +++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java @@ -38,7 +38,6 @@ import org.photonvision.raspi.PicamJNI; import org.photonvision.server.SocketHandler; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.frame.Frame; -import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.CVMat; import org.photonvision.vision.pipe.CVPipe.CVPipeResult; import org.photonvision.vision.pipe.impl.CalculateFPSPipe; @@ -89,8 +88,7 @@ public class Calibrate3dPipeline } @Override - protected void setPipeParams( - FrameStaticProperties frameStaticProperties, Calibration3dPipelineSettings settings) { + protected void setPipeParamsImpl() { FindBoardCornersPipe.FindCornersPipeParams findCornersPipeParams = new FindBoardCornersPipe.FindCornersPipeParams( settings.boardHeight, settings.boardWidth, settings.boardType, settings.gridSize); diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java index 575c8595a..d085225c2 100644 --- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java +++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java @@ -25,7 +25,6 @@ import org.opencv.core.Mat; import org.opencv.core.Point; import org.photonvision.common.util.math.MathUtils; import org.photonvision.vision.frame.Frame; -import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.*; import org.photonvision.vision.pipe.CVPipe.CVPipeResult; import org.photonvision.vision.pipe.impl.*; @@ -68,8 +67,7 @@ public class ColoredShapePipeline } @Override - protected void setPipeParams( - FrameStaticProperties frameStaticProperties, ColoredShapePipelineSettings settings) { + protected void setPipeParamsImpl() { DualOffsetValues dualOffsetValues = new DualOffsetValues( diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java index 8b52a6e76..390e3076e 100644 --- a/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java +++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java @@ -23,7 +23,6 @@ import org.opencv.core.Mat; import org.photonvision.common.util.math.MathUtils; import org.photonvision.raspi.PicamJNI; import org.photonvision.vision.frame.Frame; -import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.CVMat; import org.photonvision.vision.pipe.impl.CalculateFPSPipe; import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe; @@ -44,8 +43,7 @@ public class DriverModePipeline } @Override - protected void setPipeParams( - FrameStaticProperties frameStaticProperties, DriverModePipelineSettings settings) { + protected void setPipeParamsImpl() { RotateImagePipe.RotateImageParams rotateImageParams = new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode); rotateImagePipe.setParams(rotateImageParams); diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java index 4504b4fcd..80100fe6d 100644 --- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java +++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java @@ -22,7 +22,6 @@ import org.opencv.core.Mat; import org.photonvision.common.util.math.MathUtils; import org.photonvision.raspi.PicamJNI; import org.photonvision.vision.frame.Frame; -import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.CVMat; import org.photonvision.vision.opencv.Contour; import org.photonvision.vision.opencv.DualOffsetValues; @@ -59,8 +58,7 @@ public class ReflectivePipeline extends CVPipeline