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Use WPILib Pair and drop dependency on Apache Commons Pair

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This allowed us to drop a few Apache Commons dependencies, which is good for reducing JAR size and the number of things we need to pull in.
This commit is contained in:
Gold856
2025-04-14 18:43:36 -04:00
committed by Matt Morley
parent 8a2c9f2ae0
commit ed7fc6bbcc
14 changed files with 48 additions and 51 deletions
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5
photon-core/src/main/java/org/photonvision/common/logging/Logger.java
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@@ -17,14 +17,13 @@
package org.photonvision.common.logging;
import edu.wpi.first.math.Pair;
import java.io.*;
import java.nio.file.Path;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.function.Supplier;
import org.apache.commons.lang3.tuple.Pair;
// import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.PathManager;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -194,7 +193,7 @@ public class Logger {
connected = true;
synchronized (uiBacklog) {
for (var message : uiBacklog) {
uiLogAppender.log(message.getLeft(), message.getRight());
uiLogAppender.log(message.getFirst(), message.getSecond());
}
uiBacklog.clear();
}

8
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
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@@ -17,9 +17,9 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.awt.*;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
@@ -40,7 +40,7 @@ public class Draw2dCrosshairPipe
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
if (!params.shouldDraw()) return null;
var image = in.getLeft();
var image = in.getFirst();
if (params.showCrosshair()) {
double x = params.frameStaticProperties().centerX;
@@ -57,8 +57,8 @@ public class Draw2dCrosshairPipe
}
}
case Dual -> {
if (!in.getRight().isEmpty()) {
var target = in.getRight().get(0);
if (!in.getSecond().isEmpty()) {
var target = in.getSecond().get(0);
if (target != null) {
var area = target.getArea();
var offsetCrosshair =

28
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
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@@ -17,9 +17,9 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.awt.*;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.*;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
@@ -39,15 +39,15 @@ public class Draw2dTargetsPipe
@Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
var imRows = in.getLeft().rows();
var imCols = in.getLeft().cols();
var imRows = in.getFirst().rows();
var imCols = in.getFirst().cols();
var imageSize = Math.sqrt(imRows * imCols);
var textSize = params.kPixelsToText * imageSize;
var thickness = params.kPixelsToThickness * imageSize;
if (!params.shouldDraw) return null;
if (!in.getRight().isEmpty()
if (!in.getSecond().isEmpty()
&& (params.showCentroid
|| params.showMaximumBox
|| params.showRotatedBox
@@ -58,7 +58,7 @@ public class Draw2dTargetsPipe
var circleColor = ColorHelper.colorToScalar(params.circleColor);
var shapeColour = ColorHelper.colorToScalar(params.shapeOutlineColour);
for (int i = 0; i < (params.showMultipleTargets ? in.getRight().size() : 1); i++) {
for (int i = 0; i < (params.showMultipleTargets ? in.getSecond().size() : 1); i++) {
Point[] vertices = new Point[4];
MatOfPoint contour = new MatOfPoint();
@@ -66,7 +66,7 @@ public class Draw2dTargetsPipe
break;
}
TrackedTarget target = in.getRight().get(i);
TrackedTarget target = in.getSecond().get(i);
RotatedRect r = target.getMinAreaRect();
if (r == null) continue;
@@ -77,14 +77,14 @@ public class Draw2dTargetsPipe
if (params.shouldShowRotatedBox(target.getShape())) {
Imgproc.drawContours(
in.getLeft(),
in.getFirst(),
List.of(contour),
0,
rotatedBoxColour,
(int) Math.ceil(imageSize * params.kPixelsToBoxThickness));
} else if (params.shouldShowCircle(target.getShape())) {
Imgproc.circle(
in.getLeft(),
in.getFirst(),
target.getShape().center,
(int) target.getShape().radius,
circleColor,
@@ -101,7 +101,7 @@ public class Draw2dTargetsPipe
mat.fromArray(poly.toArray());
divideMat(mat, mat);
Imgproc.drawContours(
in.getLeft(),
in.getFirst(),
List.of(mat),
-1,
ColorHelper.colorToScalar(params.rotatedBoxColor),
@@ -113,7 +113,7 @@ public class Draw2dTargetsPipe
if (params.showMaximumBox) {
Rect box = Imgproc.boundingRect(contour);
Imgproc.rectangle(
in.getLeft(),
in.getFirst(),
new Point(box.x, box.y),
new Point(box.x + box.width, box.y + box.height),
maximumBoxColour,
@@ -123,7 +123,7 @@ public class Draw2dTargetsPipe
if (params.showShape) {
divideMat(target.m_mainContour.mat, tempMat);
Imgproc.drawContours(
in.getLeft(),
in.getFirst(),
List.of(tempMat),
-1,
shapeColour,
@@ -142,7 +142,7 @@ public class Draw2dTargetsPipe
var contourNumber = String.valueOf(id == -1 ? i : id);
Imgproc.putText(
in.getLeft(),
in.getFirst(),
contourNumber,
textPos,
0,
@@ -163,13 +163,13 @@ public class Draw2dTargetsPipe
Point yMin = new Point(x, y - crosshairRadius);
Imgproc.line(
in.getLeft(),
in.getFirst(),
xMax,
xMin,
centroidColour,
(int) Math.ceil(imageSize * params.kPixelsToBoxThickness));
Imgproc.line(
in.getLeft(),
in.getFirst(),
yMax,
yMin,
centroidColour,

22
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
View File

@@ -17,9 +17,9 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.awt.*;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.*;
import org.opencv.core.Point;
@@ -47,7 +47,7 @@ public class Draw3dTargetsPipe
return null;
}
for (var target : in.getRight()) {
for (var target : in.getSecond()) {
// draw convex hull
if (params.shouldDrawHull(target)) {
var pointMat = new MatOfPoint();
@@ -59,14 +59,14 @@ public class Draw3dTargetsPipe
continue;
}
Imgproc.drawContours(
in.getLeft(), List.of(pointMat), -1, ColorHelper.colorToScalar(Color.green), 1);
in.getFirst(), List.of(pointMat), -1, ColorHelper.colorToScalar(Color.green), 1);
// draw approximate polygon
var poly = target.getApproximateBoundingPolygon();
if (poly != null) {
divideMat2f(poly, pointMat);
Imgproc.drawContours(
in.getLeft(), List.of(pointMat), -1, ColorHelper.colorToScalar(Color.blue), 2);
in.getFirst(), List.of(pointMat), -1, ColorHelper.colorToScalar(Color.blue), 2);
}
pointMat.release();
}
@@ -126,7 +126,7 @@ public class Draw3dTargetsPipe
// floor, then pillars, then top
for (int i = 0; i < bottomPoints.size(); i++) {
Imgproc.line(
in.getLeft(),
in.getFirst(),
bottomPoints.get(i),
bottomPoints.get((i + 1) % (bottomPoints.size())),
ColorHelper.colorToScalar(Color.green),
@@ -167,21 +167,21 @@ public class Draw3dTargetsPipe
// XYZ is RGB
// y-axis = green
Imgproc.line(
in.getLeft(),
in.getFirst(),
axisPoints.get(0),
axisPoints.get(2),
ColorHelper.colorToScalar(Color.GREEN),
3);
// z-axis = blue
Imgproc.line(
in.getLeft(),
in.getFirst(),
axisPoints.get(0),
axisPoints.get(3),
ColorHelper.colorToScalar(Color.BLUE),
3);
// x-axis = red
Imgproc.line(
in.getLeft(),
in.getFirst(),
axisPoints.get(0),
axisPoints.get(1),
ColorHelper.colorToScalar(Color.RED),
@@ -190,7 +190,7 @@ public class Draw3dTargetsPipe
// box edges perpendicular to tag
for (int i = 0; i < bottomPoints.size(); i++) {
Imgproc.line(
in.getLeft(),
in.getFirst(),
bottomPoints.get(i),
topPoints.get(i),
ColorHelper.colorToScalar(Color.blue),
@@ -199,7 +199,7 @@ public class Draw3dTargetsPipe
// box edges parallel to tag
for (int i = 0; i < topPoints.size(); i++) {
Imgproc.line(
in.getLeft(),
in.getFirst(),
topPoints.get(i),
topPoints.get((i + 1) % (bottomPoints.size())),
ColorHelper.colorToScalar(Color.orange),
@@ -219,7 +219,7 @@ public class Draw3dTargetsPipe
var y = corner.y / (double) params.divisor.value;
Imgproc.circle(
in.getLeft(),
in.getFirst(),
new Point(x, y),
params.radius,
ColorHelper.colorToScalar(params.color),

6
photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
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@@ -17,9 +17,9 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.awt.Color;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
@@ -44,7 +44,7 @@ public class DrawCalibrationPipe
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
if (!params.drawAllSnapshots()) return null;
var image = in.getLeft();
var image = in.getFirst();
var imgSz = image.size();
var diag = Math.hypot(imgSz.width, imgSz.height);
@@ -55,7 +55,7 @@ public class DrawCalibrationPipe
int thickness = (int) Math.max(diag * 1.0 / 600.0, 1);
int i = 0;
for (var target : in.getRight()) {
for (var target : in.getSecond()) {
for (var c : target.getTargetCorners()) {
if (c.x < 0 || c.y < 0) {
// Skip if the corner is less than zero

6
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
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@@ -17,10 +17,10 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -244,8 +244,8 @@ public class FindBoardCornersPipe
var objPts = new MatOfPoint3f();
var outBoardCorners = new MatOfPoint2f();
var inFrame = in.getLeft();
var outFrame = in.getRight();
var inFrame = in.getFirst();
var outFrame = in.getSecond();
// Convert the inFrame too grayscale to increase contrast
Imgproc.cvtColor(inFrame, inFrame, Imgproc.COLOR_BGR2GRAY);

6
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
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@@ -17,9 +17,9 @@
package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.Pair;
import java.util.ArrayList;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
@@ -54,7 +54,7 @@ public class FindCirclesPipe
var maxRadius = (int) (params.maxRadius() * diag / 100.0);
Imgproc.HoughCircles(
in.getLeft(),
in.getFirst(),
circles,
// Detection method, see #HoughModes. The available methods are #HOUGH_GRADIENT and
// #HOUGH_GRADIENT_ALT.
@@ -76,7 +76,7 @@ public class FindCirclesPipe
// only match against them
// This does mean that contours closer than allowableThreshold aren't matched to anything if
// there's a 'better' option
var unmatchedContours = in.getRight();
var unmatchedContours = in.getSecond();
for (int x = 0; x < circles.cols(); x++) {
// Grab the current circle we are looking at
double[] c = circles.get(0, x);

2
photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
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@@ -17,12 +17,12 @@
package org.photonvision.vision.pipeline;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.util.Units;
import java.nio.file.Path;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.photonvision.common.dataflow.DataChangeService;

2
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
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@@ -17,10 +17,10 @@
package org.photonvision.vision.pipeline;
import edu.wpi.first.math.Pair;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Point;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;

2
photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
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@@ -17,8 +17,8 @@
package org.photonvision.vision.pipeline;
import edu.wpi.first.math.Pair;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;

2
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
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@@ -17,8 +17,8 @@
package org.photonvision.vision.pipeline;
import edu.wpi.first.math.Pair;
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.DualOffsetValues;

6
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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@@ -17,11 +17,11 @@
package org.photonvision.vision.processes;
import edu.wpi.first.math.Pair;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.locks.ReentrantLock;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Point;
import org.photonvision.common.dataflow.DataChangeSubscriber;
import org.photonvision.common.dataflow.events.DataChangeEvent;
@@ -173,8 +173,8 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
}
public void newPipelineInfo(Pair<String, PipelineType> typeName) {
var type = typeName.getRight();
var name = typeName.getLeft();
var type = typeName.getSecond();
var name = typeName.getFirst();
logger.info("Adding a " + type + " pipeline with name " + name);

2
photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
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@@ -20,6 +20,7 @@ package org.photonvision.server;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.math.Pair;
import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
@@ -33,7 +34,6 @@ import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.CopyOnWriteArrayList;
import org.apache.commons.lang3.tuple.Pair;
import org.msgpack.jackson.dataformat.MessagePackFactory;
import org.photonvision.common.dataflow.DataChangeDestination;
import org.photonvision.common.dataflow.DataChangeService;

2
shared/common.gradle
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@@ -44,8 +44,6 @@ dependencies {
implementation "commons-io:commons-io:2.11.0"
implementation "commons-cli:commons-cli:1.5.0"
implementation "org.apache.commons:commons-lang3:3.12.0"
implementation "org.apache.commons:commons-collections4:4.4"
implementation "org.apache.commons:commons-exec:1.3"
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'