Fix multicam and picam acceleration (#205)

Allows pipelines to access quirks
2026-06-22 01:11:40 +00:00 · 2020-12-31 22:41:57 -08:00
parent d92595f622
commit f676023a5d
15 changed files with 88 additions and 105 deletions
--- a/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
@@ -26,6 +26,7 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.NumberListUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -122,7 +123,7 @@ public class BenchmarkTest {
        // warmup for 5 loops.
        System.out.println("Warming up for 5 loops...");
        for (int i = 0; i < 5; i++) {
-            pipeline.run(frameProvider.get());
+            pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        }

        final List<Double> processingTimes = new ArrayList<>();
@@ -140,7 +141,8 @@ public class BenchmarkTest {
                        + frameProps.imageHeight);
        var benchmarkStartMillis = System.currentTimeMillis();
        do {
-            CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+            CVPipelineResult pipelineResult =
+                    pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
            pipelineResult.release();
            processingTimes.add(pipelineResult.processingMillis);
            latencyTimes.add(pipelineResult.getLatencyMillis());
--- a/photon-server/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
@@ -40,6 +40,7 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.NumberListUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -150,7 +151,7 @@ public class ShapeBenchmarkTest {
        // warmup for 5 loops.
        System.out.println("Warming up for 5 loops...");
        for (int i = 0; i < 5; i++) {
-            pipeline.run(frameProvider.get());
+            pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        }

        final List<Double> processingTimes = new ArrayList<>();
@@ -168,7 +169,8 @@ public class ShapeBenchmarkTest {
                        + frameProps.imageHeight);
        var benchmarkStartMillis = System.currentTimeMillis();
        do {
-            CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+            CVPipelineResult pipelineResult =
+                    pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
            pipelineResult.release();
            processingTimes.add(pipelineResult.processingMillis);
            latencyTimes.add(pipelineResult.getLatencyMillis());
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -37,6 +37,7 @@ import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
@@ -102,7 +103,8 @@ public class Calibrate3dPipeTest {
                    calibration3dPipeline.run(
                            new Frame(
                                    new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
-                                    new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
+                                    new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
+                            QuirkyCamera.DefaultCamera);
            // TestUtils.showImage(output.outputFrame.image.getMat());
            output.release();
        }
@@ -117,7 +119,8 @@ public class Calibrate3dPipeTest {
                .run(
                        new Frame(
                                new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
-                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)))
+                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
+                        QuirkyCamera.DefaultCamera)
                .release();

        assertTrue(
@@ -264,7 +267,8 @@ public class Calibrate3dPipeTest {
                                new Frame(
                                        new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
                                        new FrameStaticProperties(
-                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)));
+                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)),
+                                QuirkyCamera.DefaultCamera);

                // TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
                output.outputFrame.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -25,6 +25,7 @@ import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -114,7 +115,7 @@ public class CirclePNPTest {
                        new Rotation2d(),
                        TestUtils.get2020LifeCamCoeffs(true));

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
@@ -125,7 +126,7 @@ public class CirclePNPTest {
        pipeline.settings = settings;

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -19,8 +19,8 @@ package org.photonvision.vision.pipeline;

 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
@@ -30,38 +30,29 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class ColoredShapePipelineTest {

    public static void testTriangleDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Triangle.");
        printTestResults(colouredShapePipelineResult);
    }

    public static void testQuadrilateralDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Quadrilateral;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Quadrilateral.");
        printTestResults(colouredShapePipelineResult);
    }

    public static void testCustomShapeDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Custom;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Custom.");
        printTestResults(colouredShapePipelineResult);
@@ -69,13 +60,10 @@ public class ColoredShapePipelineTest {

    @Test
    public static void testCircleShapeDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Circle;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Circle.");
        printTestResults(colouredShapePipelineResult);
@@ -95,8 +83,7 @@ public class ColoredShapePipelineTest {
                new FileFrameProvider(
                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
                        TestUtils.WPI2019Image.FOV);
-        testCircleShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
+        testCircleShapeDetection(pipeline, settings, frameProvider.get());
    }

    public static void main(String[] args) {
@@ -120,14 +107,10 @@ public class ColoredShapePipelineTest {
        settings.accuracyPercentage = 30.0;

        ColoredShapePipeline pipeline = new ColoredShapePipeline();
-        testTriangleDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testQuadrilateralDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testCustomShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testCircleShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
+        testTriangleDetection(pipeline, settings, frameProvider.get());
+        testQuadrilateralDetection(pipeline, settings, frameProvider.get());
+        testCustomShapeDetection(pipeline, settings, frameProvider.get());
+        testCircleShapeDetection(pipeline, settings, frameProvider.get());
        testPowercellDetection(settings, pipeline);
    }

--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -20,6 +20,7 @@ package org.photonvision.vision.pipeline;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -50,7 +51,7 @@ public class ReflectivePipelineTest {

        CVPipelineResult pipelineResult;

-        pipelineResult = pipeline.run(frameProvider.get());
+        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        Assertions.assertTrue(pipelineResult.hasTargets());
@@ -74,7 +75,7 @@ public class ReflectivePipelineTest {
                        TestUtils.getWPIImagePath(TestUtils.WPI2020Image.kBlueGoal_108in_Center, false),
                        TestUtils.WPI2020Image.FOV);

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output");
@@ -84,7 +85,7 @@ public class ReflectivePipelineTest {
        var pipeline = new ReflectivePipeline();

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -29,6 +29,7 @@ import org.junit.jupiter.api.Test;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -109,7 +110,7 @@ public class SolvePNPTest {

        CVPipelineResult pipelineResult;

-        pipelineResult = pipeline.run(frameProvider.get());
+        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        // these numbers are not *accurate*, but they are known and expected
@@ -142,7 +143,7 @@ public class SolvePNPTest {
                        new Rotation2d(),
                        TestUtils.get2020LifeCamCoeffs(true));

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        // these numbers are not *accurate*, but they are known and expected
@@ -159,7 +160,7 @@ public class SolvePNPTest {
        pipeline.settings = settings;

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();