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2022 grouping and test mode updates (#381)

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Add 2022 images, "2orMore" grouping mode, and 2022 test mode
Test mode now preserves old settings
This commit is contained in:
Matt
2022-01-10 16:51:06 -08:00
committed by GitHub
parent 46fa17dfd8
commit e6d8e05b91
36 changed files with 146 additions and 87 deletions
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30
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
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@@ -18,6 +18,7 @@ package org.photonvision.common.util;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.math.util.Units;
import java.awt.*;
import java.io.File;
import java.io.IOException;
@@ -97,6 +98,26 @@ public class TestUtils {
}
}
public enum WPI2022Image {
kTerminal12ft6in(Units.feetToMeters(12.5)),
kTerminal22ft6in(Units.feetToMeters(22.5));
public static double FOV = 68.5;
public final double distanceMeters;
public final Path path;
Path getPath() {
var filename = this.toString().substring(1).replace('_', '-');
return Path.of("2022", "WPI", filename + ".png");
}
WPI2022Image(double distanceMeters) {
this.distanceMeters = distanceMeters;
this.path = getPath();
}
}
public enum PolygonTestImages {
kPolygons;
@@ -133,7 +154,8 @@ public class TestUtils {
}
private static Path getResourcesFolderPath(boolean testMode) {
return Path.of("../test-resources").toAbsolutePath();
System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
return Path.of(testMode ? "" : "../" + "test-resources").toAbsolutePath();
}
public static Path getTestMode2019ImagePath() {
@@ -148,6 +170,12 @@ public class TestUtils {
.resolve(WPI2020Image.kBlueGoal_108in_Center.path);
}
public static Path getTestMode2022ImagePath() {
return getResourcesFolderPath(true)
.resolve("testimages")
.resolve(WPI2022Image.kTerminal22ft6in.path);
}
public static Path getTestImagesPath(boolean testMode) {
return getResourcesFolderPath(testMode).resolve("testimages");
}

2
photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
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@@ -33,7 +33,7 @@ import org.photonvision.vision.opencv.CVMat;
* path}.
*/
public class FileFrameProvider implements FrameProvider {
public static final int MAX_FPS = 120;
public static final int MAX_FPS = 10;
private static int count = 0;
private final int thisIndex = count++;

8
photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
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@@ -16,6 +16,8 @@
*/
package org.photonvision.vision.opencv;
import java.util.Arrays;
import java.util.Collection;
import java.util.Comparator;
import org.jetbrains.annotations.Nullable;
import org.opencv.core.CvType;
@@ -192,7 +194,11 @@ public class Contour implements Releasable {
|| secondContour.isIntersecting(firstContour, intersectionDirection);
}
private static Contour combineContours(Contour... contours) {
public static Contour combineContours(Contour... contours) {
return combineContourList(Arrays.asList(contours));
}
public static Contour combineContourList(Collection<Contour> contours) {
var points = new MatOfPoint();
for (var contour : contours) {

3
photon-core/src/main/java/org/photonvision/vision/opencv/ContourGroupingMode.java
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@@ -18,7 +18,8 @@ package org.photonvision.vision.opencv;
public enum ContourGroupingMode {
Single(1),
Dual(2);
Dual(2),
TwoOrMore(2);
public final int count;

22
photon-core/src/main/java/org/photonvision/vision/pipe/impl/GroupContoursPipe.java
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@@ -41,6 +41,16 @@ public class GroupContoursPipe
for (var contour : input) {
m_targets.add(new PotentialTarget(contour));
}
}
// Check if we have at least 2 targets for 2 or more
// This will only ever return 1 contour!
else if (params.getGroup() == ContourGroupingMode.TwoOrMore
&& input.size() >= ContourGroupingMode.TwoOrMore.count) {
// Just blob everything together
Contour groupedContour = Contour.combineContourList(input);
if (groupedContour != null) {
m_targets.add(new PotentialTarget(groupedContour, input));
}
} else {
int groupingCount = params.getGroup().count;
@@ -52,14 +62,12 @@ public class GroupContoursPipe
for (int i = 0; i < input.size() - 1; i++) {
// make a list of the desired count of contours to group
List<Contour> groupingSet;
// (Just make sure we don't get an index out of bounds exception
if (i < 0 || i + groupingCount > input.size()) continue;
// If we're in two or more mode, just try to group everything
List<Contour> groupingSet = input.subList(i, i + groupingCount);
// TODO: are these try/catch avoidable?
try {
groupingSet = input.subList(i, i + groupingCount);
} catch (IndexOutOfBoundsException e) {
continue;
}
try {
// FYI: This method only takes 2 contours!
Contour groupedContour =

16
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipelineSettings.java
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@@ -21,10 +21,7 @@ import java.util.Objects;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.opencv.ContourGroupingMode;
import org.photonvision.vision.opencv.ContourIntersectionDirection;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.pipe.impl.CornerDetectionPipe;
@JsonTypeName("ColoredShapePipelineSettings")
public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
@@ -37,23 +34,10 @@ public class ColoredShapePipelineSettings extends AdvancedPipelineSettings {
public int minDist = 20;
public int maxCannyThresh = 90;
public int circleAccuracy = 20;
// how many contours to attempt to group (Single, Dual)
public ContourGroupingMode contourGroupingMode = ContourGroupingMode.Single;
// the direction in which contours must intersect to be considered intersecting
public ContourIntersectionDirection contourIntersection = ContourIntersectionDirection.Up;
// 3d settings
public CameraCalibrationCoefficients cameraCalibration;
// Corner detection settings
public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =
CornerDetectionPipe.DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS;
public boolean cornerDetectionUseConvexHulls = true;
public boolean cornerDetectionExactSideCount = false;
public int cornerDetectionSideCount = 4;
public double cornerDetectionAccuracyPercentage = 10;
public boolean erode = false;
public boolean dilate = false;

17
photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipelineSettings.java
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@@ -17,26 +17,9 @@
package org.photonvision.vision.pipeline;
import com.fasterxml.jackson.annotation.JsonTypeName;
import org.photonvision.vision.opencv.ContourGroupingMode;
import org.photonvision.vision.opencv.ContourIntersectionDirection;
import org.photonvision.vision.pipe.impl.CornerDetectionPipe;
@JsonTypeName("ReflectivePipelineSettings")
public class ReflectivePipelineSettings extends AdvancedPipelineSettings {
// how many contours to attempt to group (Single, Dual)
public ContourGroupingMode contourGroupingMode = ContourGroupingMode.Single;
// the direction in which contours must intersect to be considered intersecting
public ContourIntersectionDirection contourIntersection = ContourIntersectionDirection.Up;
// Corner detection settings
public CornerDetectionPipe.DetectionStrategy cornerDetectionStrategy =
CornerDetectionPipe.DetectionStrategy.APPROX_POLY_DP_AND_EXTREME_CORNERS;
public boolean cornerDetectionUseConvexHulls = true;
public boolean cornerDetectionExactSideCount = false;
public int cornerDetectionSideCount = 4;
public double cornerDetectionAccuracyPercentage = 10;
public ReflectivePipelineSettings() {
super();
pipelineType = PipelineType.Reflective;