Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'folderStructure' into Java

Browse Source 
# Conflicts:
#	Main/pom.xml
#	Main/src/main/java/com/chameleonvision/web/Server.java
This commit is contained in:
Banks Troutman
2019-09-15 15:11:26 -04:00
parent e80f35b39f 25652ba32e
commit f26b7df000
14 changed files with 183 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
Main/src/main/java/Handlers/Vision/VisionProcess.java
View File

@@ -1,32 +0,0 @@
package Handlers.Vision;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import java.util.ArrayList;
import java.util.List;
public class VisionProcess {
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Mat hsv = new Mat();
Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
new Scalar(hue.get(0),saturation.get(0),value.get(0));
Mat threshold = new Mat();
Core.inRange(threshold,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
if (IsErode){
Imgproc.erode(threshold,threshold, Kernel);
}
if (IsDilate){
Imgproc.dilate(threshold,threshold, Kernel);
}
return threshold;
}
public List<MatOfPoint> FindContours(Mat BinaryImage){
List<MatOfPoint> Contours = new ArrayList<>();
Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
return Contours;
}
}

12
Main/src/main/java/Main.java
View File

@@ -1,18 +1,16 @@
import Classes.SettingsManager;
import Handlers.Vision.CameraProcess;
import Handlers.Web.Server;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.process.CameraProcess;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.Map;
public class Main {
public static void main(String [] args) {
SettingsManager manager = SettingsManager.getInstance();
NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
for (Map.Entry<String, UsbCamera> entry: SettingsManager.UsbCameras.entrySet()){
new Thread(new CameraProcess(entry.getKey()));
new Thread(new CameraProcess(entry.getKey())).start();
}
Server.main(8888);
}

2
Main/src/main/java/Exceptions/NoCameraException.java → Main/src/main/java/com/chameleonvision/NoCameraException.java
View File

@@ -1,4 +1,4 @@
package Exceptions;
package com.chameleonvision;
public class NoCameraException extends Exception {
public NoCameraException(){

17
Main/src/main/java/Classes/SettingsManager.java → Main/src/main/java/com/chameleonvision/settings/SettingsManager.java
View File

@@ -1,10 +1,13 @@
package Classes;
import Exceptions.NoCameraException;
import Objects.*;
package com.chameleonvision.settings;
import com.chameleonvision.NoCameraException;
import java.io.*;
import java.nio.file.*;
import Objects.CamVideoMode;
import com.chameleonvision.vision.CamVideoMode;
import com.chameleonvision.vision.Camera;
import com.chameleonvision.vision.GeneralSettings;
import com.chameleonvision.vision.Pipeline;
import com.google.gson.Gson;
import java.util.ArrayList;
import java.util.HashMap;
@@ -33,10 +36,10 @@ public class SettingsManager {
}
return instance;
}
public static HashMap<String,Camera> Cameras = new HashMap<String, Camera>();
public static HashMap<String, Camera> Cameras = new HashMap<String, Camera>();
public static HashMap<String,UsbCamera> UsbCameras = new HashMap<String, UsbCamera>();
public static HashMap<String,UsbCameraInfo> USBCamerasInfo = new HashMap<String,UsbCameraInfo>();
public static Objects.GeneralSettings GeneralSettings;
public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<String, String>();
public static HashMap<String,String> CameraPort = new HashMap<String, String>();
private Path SettingsPath = Paths.get(System.getProperty("user.dir"),"Settings");
@@ -47,7 +50,7 @@ public class SettingsManager {
private void InitiateGeneralSettings(){
CheckPath(SettingsPath);
try {
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(),"Settings.json").toString()), Objects.GeneralSettings.class);
GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(),"Settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
} catch (FileNotFoundException e) {
GeneralSettings = new GeneralSettings();
}

2
Main/src/main/java/Objects/CamVideoMode.java → Main/src/main/java/com/chameleonvision/vision/CamVideoMode.java
View File

@@ -1,4 +1,4 @@
package Objects;
package com.chameleonvision.vision;
public class CamVideoMode {
public int fps;

2
Main/src/main/java/Objects/Camera.java → Main/src/main/java/com/chameleonvision/vision/Camera.java
View File

@@ -1,4 +1,4 @@
package Objects;
package com.chameleonvision.vision;
import java.util.HashMap;

4
Main/src/main/java/Objects/GeneralSettings.java → Main/src/main/java/com/chameleonvision/vision/GeneralSettings.java
View File

@@ -1,4 +1,4 @@
package Objects;
package com.chameleonvision.vision;
public class GeneralSettings {
public int team_number = 1577;
@@ -6,7 +6,7 @@ public class GeneralSettings {
public String ip = "";
public String gateway = "";
public String netmask = "";
public String hostname = "Chameleon-Vision";
public String hostname = "Chameleon-vision";
public String curr_camera = "";
public String curr_pipeline = "";

3
Main/src/main/java/Objects/Pipeline.java → Main/src/main/java/com/chameleonvision/vision/Pipeline.java
View File

@@ -1,4 +1,4 @@
package Objects;
package com.chameleonvision.vision;
import java.util.Arrays;
import java.util.List;
@@ -16,6 +16,7 @@ public class Pipeline {
public List<Integer> extent = Arrays.asList(0,100);
public boolean is_binary = false;
public String sort_mode = "Largest";
public String target_group = "Single";
public String target_intersection = "Largest";
public double M = 1;
public double B = 0;

30
Main/src/main/java/Handlers/Vision/CameraProcess.java → Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
View File

@@ -1,16 +1,12 @@
package Handlers.Vision;
package com.chameleonvision.vision.process;
import Classes.SettingsManager;
import Objects.Pipeline;
import edu.wpi.first.networktables.NetworkTable;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.apache.commons.math3.fraction.Fraction;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.MatOfPoint;
import java.util.List;
public class CameraProcess implements Runnable{
private String CameraName;
@@ -20,16 +16,19 @@ public class CameraProcess implements Runnable{
@Override
public void run() {
//calling all classes
CameraServer cs = CameraServer.getInstance();
NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
SettingsManager manager = SettingsManager.getInstance();
VisionProcess visionProcess = new VisionProcess();
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
//Setting up camera and network table
var Table = networkTableInstance.getTable("/Chameleon-Vision/" + CameraName);
var Table = networkTableInstance.getTable("/Chameleon-vision/" + CameraName);
var PipeLineEntry = Table.getEntry("Pipeline");
var DriverModeEntry = Table.getEntry("Driver_Mode");
var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
int Width = manager.Cameras.get(CameraName).camVideoMode.width;
int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
var cv_publish = cs.putVideo(CameraName,Width,Height);
@@ -42,14 +41,23 @@ public class CameraProcess implements Runnable{
double VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
double H_FOCAL_LENGTH = Width / (2 * FastMath.tan(HorizontalView /2));
double V_FOCAL_LENGTH = Width / (2 * FastMath.tan(VerticalView /2));
double CenterX = ((double) Width / 2) - 0.5;
double CenterY = ((double) Height/2) - 0.5;
double CamArea = (double)(Width * Height);
VisionProcess visionProcess = new VisionProcess(CenterX,CenterY,CamArea);
Mat mat = new Mat();
long time;
while (!Thread.interrupted()){
Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
time = cv_sink.grabFrame(mat);
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue,pipeline.saturation,pipeline.value,mat,pipeline.erode,pipeline.dilate);
List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
if (mat.cols() !=0 && mat.rows() != 0) {
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
// List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
// List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
cv_publish.putFrame(mat);
}
}
}

101
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java Normal file
View File

@@ -0,0 +1,101 @@
package com.chameleonvision.vision.process;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class VisionProcess {
private HashMap<String, Integer>TargetGrouping= new HashMap<String, Integer>(){{
put("Single",1);
put("Dual",2);
put("Triple",3);
put("Quadruple",4);
put("Quintuple",5);
}};
private double CamArea,CenterX, CenterY;
VisionProcess(double CenterX, double CenterY, double CamArea){
this.CenterX = CenterX;
this.CenterY = CenterY;
this.CamArea = CamArea;
}
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Mat hsv = new Mat();
Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
new Scalar(hue.get(0),saturation.get(0),value.get(0));
Mat threshold = new Mat();
Core.inRange(hsv,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
if (IsErode){
Imgproc.erode(threshold,threshold, Kernel);
}
if (IsDilate){
Imgproc.dilate(threshold,threshold, Kernel);
}
return threshold;
}
public List<MatOfPoint> FindContours(Mat BinaryImage){
List<MatOfPoint> Contours = new ArrayList<>();
Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
return Contours;
}
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode,String TargetIntersection , String TargetGrouping){
List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
for (MatOfPoint Contour : InputContours){
try{
var contourArea = Imgproc.contourArea(Contour);
double targetArea = (contourArea / CamArea) * 100;
if (targetArea >= area.get(0) || targetArea <= area.get(1)){
continue;
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = (contourArea/rect.size.area())*100;
if (targetFullness <= extent.get(0) || targetArea >= extent.get(1)){
continue;
}
var aspectRatio = rect.size.width / rect.size.height;
if (aspectRatio <= ratio.get(0) || aspectRatio >= ratio.get(1)){
continue;
}
FilteredContours.add(Contour);
} catch (Exception e){
continue;
}
}
return FilteredContours;
}
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup){
if (!TargetGroup.equals("Single")){
List<MatOfPoint> FinalCountours = new ArrayList<MatOfPoint>();
for (var i = 0; i < InputContours.size(); i++){
var FinalContour = InputContours.get(i);
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secoundContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour,secoundContour, IntersectionPoint)){
System.out.println("");
}
} catch (IndexOutOfBoundsException e){
FinalContour = new MatOfPoint();
break;
}
}
}
}
return InputContours;
}
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint){
Mat LineA = new Mat();
Imgproc.fitLine(ContourOne,LineA,Imgproc.CV_DIST_L2,0,0.01,0.01);
Mat LineB = new Mat();
Imgproc.fitLine(ContourTwo,LineB,Imgproc.CV_DIST_L2,0,0.01,0.01);
return true;
}
}

5
Main/src/main/java/Handlers/Web/Server.java → Main/src/main/java/com/chameleonvision/web/Server.java
View File

@@ -1,7 +1,6 @@
package Handlers.Web;
package com.chameleonvision.web;
import Classes.SettingsManager;
import Objects.Pipeline;
import com.chameleonvision.settings.SettingsManager;
import io.javalin.Javalin;
import io.javalin.websocket.WsContext;