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invert the nested if/else in the run pipeline

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This should be more clear to read
This commit is contained in:
Matt
2019-11-02 12:44:05 -07:00
parent e863cc0781
commit e055e5a78b
1 changed files with 55 additions and 36 deletions
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91
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -63,9 +63,13 @@ public class CVProcess {
if (currentPipeline == null) {
return pipelineResult;
}
// flip the image
if (shouldFlip) {
Core.flip(inputImage, inputImage, -1);
}
// if we're in driver mode don't do anything, and return a blank result
if (driverMode) {
inputImage.copyTo(outputImage);
return pipelineResult;
@@ -76,54 +80,69 @@ public class CVProcess {
deSpeckledContours_.clear();
groupedContours_.clear();
// HSV threshold the image
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
// Make sure we're BFR
if (currentPipeline.isBinary) {
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
} else {
inputImage.copyTo(outputImage);
}
// search for contours
foundContours_ = findContours(hsvThreshMat);
if (foundContours_.size() > 0) {
filteredContours_ = filterContours(foundContours_, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours_.size() > 0) {
deSpeckledContours_ = rejectSpeckles(filteredContours_, currentPipeline.speckle.doubleValue());
if (deSpeckledContours_.size() > 0) {
groupedContours_ = groupTargets(deSpeckledContours_, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours_.size() > 0) {
var finalRect = sortTargetsToOne(groupedContours_, currentPipeline.sortMode);
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
switch (currentPipeline.calibrationMode) {
case None:
///use the center of the USBCamera to find the pitch and yaw difference
pipelineResult.CalibratedX = cameraValues.CenterX;
pipelineResult.CalibratedY = cameraValues.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 = cameraValues.CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = cameraValues.CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
drawContour(outputImage, finalRect);
}
}
}
if (foundContours_.size() < 1) {
return pipelineResult;
}
// filter contours by area, ratio and extent
filteredContours_ = filterContours(foundContours_, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours_.size() < 1) {
return pipelineResult;
}
// reject "speckle" contours
deSpeckledContours_ = rejectSpeckles(filteredContours_, currentPipeline.speckle.doubleValue());
if (deSpeckledContours_.size() < 1) {
return pipelineResult;
}
// group targets
groupedContours_ = groupTargets(deSpeckledContours_, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours_.size() < 1) {
return pipelineResult;
}
// sort targets down to our final target
var finalRect = sortTargetsToOne(groupedContours_, currentPipeline.sortMode);
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
switch (currentPipeline.calibrationMode) {
case None:
///use the center of the USBCamera to find the pitch and yaw difference
pipelineResult.CalibratedX = cameraValues.CenterX;
pipelineResult.CalibratedY = cameraValues.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 = cameraValues.CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = cameraValues.CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
drawContour(outputImage, finalRect);
return pipelineResult;
}