Colored shape fix (#288)

* Move test images out of resources folder

* Limit workers in CI

* Fix image area filtering bug in colored shape

* Add missing picam settings

* Swap to make blank/empty Mat when a picam doesn't supply a color image.

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java

@@ -40,7 +40,9 @@ public class Draw2dTargetsPipe
 
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
-        var imageSize = Math.sqrt(in.getLeft().rows() * in.getLeft().cols());
+        var imRows = in.getLeft().rows();
+        var imCols = in.getLeft().cols();
+        var imageSize = Math.sqrt(imRows * imCols);
         var textSize = params.kPixelsToText * imageSize;
         var thickness = params.kPixelsToThickness * imageSize;
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterShapesPipe.java

@@ -50,8 +50,10 @@ public class FilterShapesPipe
 
     private boolean shouldRemove(CVShape shape) {
         return shape.shape != params.desiredShape
-                || shape.contour.getArea() / params.getFrameStaticProperties().imageArea > params.maxArea
-                || shape.contour.getArea() / params.getFrameStaticProperties().imageArea < params.minArea
+                || shape.contour.getArea() / params.getFrameStaticProperties().imageArea * 100.0
+                        > params.maxArea
+                || shape.contour.getArea() / params.getFrameStaticProperties().imageArea * 100.0
+                        < params.minArea
                 || shape.contour.getPerimeter() > params.maxPeri
                 || shape.contour.getPerimeter() < params.minPeri;
     }

photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java

@@ -25,6 +25,7 @@ import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.PicamJNI;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.opencv.*;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -78,6 +79,23 @@ public class ColoredShapePipeline
                 new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
         rotateImagePipe.setParams(rotateImageParams);
 
+        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
+            PicamJNI.setThresholds(
+                    settings.hsvHue.getFirst() / 180d,
+                    settings.hsvSaturation.getFirst() / 255d,
+                    settings.hsvValue.getFirst() / 255d,
+                    settings.hsvHue.getSecond() / 180d,
+                    settings.hsvSaturation.getSecond() / 255d,
+                    settings.hsvValue.getSecond() / 255d);
+
+            PicamJNI.setRotation(settings.inputImageRotationMode.value);
+            PicamJNI.setShouldCopyColor(settings.inputShouldShow);
+        } else {
+            var hsvParams =
+                    new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+            hsvPipe.setParams(hsvParams);
+        }
+
         ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
                 new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
         // TODO: add kernel size to pipeline settings
@@ -203,8 +221,8 @@ public class ColoredShapePipeline
                 // If we grabbed it (in color copy mode), make a new Mat of it
                 rawInputMat = new Mat(inputMatPtr);
             } else {
-                // Otherwise, the input mat is frame we got from the camera
-                rawInputMat = frame.image.getMat();
+                // Otherwise, use a blank/empty mat as placeholder
+                rawInputMat = new Mat();
             }
 
             // We can skip a few steps if the image is single channel because we've already done them on

photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java

@@ -164,8 +164,8 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                 // If we grabbed it (in color copy mode), make a new Mat of it
                 rawInputMat = new Mat(inputMatPtr);
             } else {
-                // Otherwise, the input mat is frame we got from the camera
-                rawInputMat = frame.image.getMat();
+                // Otherwise, use a blank/empty mat as placeholder
+                rawInputMat = new Mat();
             }
 
             // We can skip a few steps if the image is single channel because we've already done them on

photon-server/src/main/java/org/photonvision/Main.java

@@ -30,11 +30,13 @@ import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
+import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.PipelineProfiler;
@@ -130,7 +132,14 @@ public class Main {
                         "Shape",
                         TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
                                 .toString());
-        camConfShape.addPipelineSetting(new ColoredShapePipelineSettings());
+        var settings = new ColoredShapePipelineSettings();
+        settings.hsvHue = new IntegerCouple(0, 35);
+        settings.hsvSaturation = new IntegerCouple(82, 255);
+        settings.hsvValue = new IntegerCouple(62, 255);
+        settings.contourShape = ContourShape.Triangle;
+        settings.outputShowMultipleTargets = true;
+        settings.circleAccuracy = 15;
+        camConfShape.addPipelineSetting(settings);
         var fvsShape = new FileVisionSource(camConfShape);
         collectedSources.add(fvsShape);