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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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122
photon-server/src/main/java/org/photonvision/Main.java
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@@ -87,62 +87,100 @@ public class Main {
}
private static void addTestModeSources() {
var collectedSources = new ArrayList<VisionSource>();
ConfigManager.getInstance().load();
var camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
camConf2019.FOV = TestUtils.WPI2019Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
if (camConf2019 == null) {
camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
camConf2019.FOV = TestUtils.WPI2019Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2019 = new ReflectivePipelineSettings();
pipeline2019.pipelineNickname = "CargoShip";
pipeline2019.targetModel = TargetModel.k2019DualTarget;
pipeline2019.outputShowMultipleTargets = true;
pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
var pipeline2019 = new ReflectivePipelineSettings();
pipeline2019.pipelineNickname = "CargoShip";
pipeline2019.targetModel = TargetModel.k2019DualTarget;
pipeline2019.outputShowMultipleTargets = true;
pipeline2019.contourGroupingMode = ContourGroupingMode.Dual;
pipeline2019.inputShouldShow = true;
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
var fvs2019 = new FileVisionSource(camConf2019);
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
camConf2019.pipelineSettings = psList2019;
}
var camConf2020 =
new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
camConf2020.FOV = TestUtils.WPI2020Image.FOV;
camConf2019.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2020");
if (camConf2020 == null) {
camConf2020 =
new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
camConf2020.FOV = TestUtils.WPI2020Image.FOV;
camConf2020.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2020 = new ReflectivePipelineSettings();
pipeline2020.pipelineNickname = "OuterPort";
pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
var pipeline2020 = new ReflectivePipelineSettings();
pipeline2020.pipelineNickname = "OuterPort";
pipeline2020.targetModel = TargetModel.k2020HighGoalOuter;
camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
pipeline2020.inputShouldShow = true;
var psList2020 = new ArrayList<CVPipelineSettings>();
psList2020.add(pipeline2020);
var psList2020 = new ArrayList<CVPipelineSettings>();
psList2020.add(pipeline2020);
camConf2020.pipelineSettings = psList2020;
}
var fvs2020 = new FileVisionSource(camConf2020);
var camConf2022 =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2022");
if (camConf2022 == null) {
camConf2022 =
new CameraConfiguration("WPI2022", TestUtils.getTestMode2022ImagePath().toString());
camConf2022.FOV = TestUtils.WPI2022Image.FOV;
camConf2022.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
fvs2019.getCameraConfiguration().pipelineSettings = psList2019;
fvs2020.getCameraConfiguration().pipelineSettings = psList2020;
collectedSources.add(fvs2019);
collectedSources.add(fvs2020);
var pipeline2022 = new ReflectivePipelineSettings();
pipeline2022.pipelineNickname = "OuterPort";
pipeline2022.targetModel = TargetModel.k2020HighGoalOuter;
pipeline2022.inputShouldShow = true;
// camConf2020.calibrations.add(TestUtils.get2020LifeCamCoeffs(true));
var psList2022 = new ArrayList<CVPipelineSettings>();
psList2022.add(pipeline2022);
camConf2022.pipelineSettings = psList2022;
}
// Colored shape testing
var camConfShape =
new CameraConfiguration(
"Shape",
TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
.toString());
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);
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
// If we haven't saved shape settings, create a new one
if (camConfShape == null) {
camConfShape =
new CameraConfiguration(
"Shape",
TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_1, true)
.toString());
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;
settings.inputShouldShow = true;
camConfShape.addPipelineSetting(settings);
}
var collectedSources = new ArrayList<VisionSource>();
var fvsShape = new FileVisionSource(camConfShape);
var fvs2019 = new FileVisionSource(camConf2019);
var fvs2020 = new FileVisionSource(camConf2020);
var fvs2022 = new FileVisionSource(camConf2022);
collectedSources.add(fvs2022);
collectedSources.add(fvsShape);
collectedSources.add(fvs2020);
collectedSources.add(fvs2019);
// logger.info("Adding " + allSources.size() + " configs to VMM.");
VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);
ConfigManager.getInstance().addCameraConfigurations(collectedSources);
}