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WPI Image Test Mode (#81)

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* Add camera config for calibration to test mode

* Add 3D capabilities to test mode

* Add resources to main for jar testmode

* Refactor path utilities for test mode

* Apply spotless
This commit is contained in:
Banks T
2020-08-08 14:21:38 -04:00
committed by GitHub
parent 61ab1b2bd2
commit ff58381056
15 changed files with 212 additions and 102 deletions
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44
photon-server/src/main/java/org/photonvision/Main.java
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@@ -18,9 +18,11 @@
package org.photonvision;
import edu.wpi.cscore.CameraServerCvJNI;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import org.apache.commons.cli.*;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
import org.photonvision.common.hardware.Platform;
@@ -28,12 +30,16 @@ import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.LogLevel;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.util.TestUtils;
import org.photonvision.server.Server;
import org.photonvision.vision.camera.FileVisionSource;
import org.photonvision.vision.camera.USBCameraSource;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
import org.photonvision.vision.processes.VisionModuleManager;
import org.photonvision.vision.processes.VisionSource;
import org.photonvision.vision.processes.VisionSourceManager;
import org.photonvision.vision.target.TargetModel;
public class Main {
public static final int DEFAULT_WEBPORT = 5800;
@@ -79,12 +85,12 @@ public class Main {
}
private static HashMap<VisionSource, List<CVPipelineSettings>> gatherSources() {
var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
if (!isTestMode) {
var camConfigs = ConfigManager.getInstance().getConfig().getCameraConfigurations();
logger.info("Loaded " + camConfigs.size() + " configs from disk.");
var sources = VisionSourceManager.loadAllSources(camConfigs.values());
var collectedSources = new HashMap<VisionSource, List<CVPipelineSettings>>();
for (var src : sources) {
var usbSrc = (USBCameraSource) src;
collectedSources.put(usbSrc, usbSrc.configuration.pipelineSettings);
@@ -96,11 +102,41 @@ public class Main {
+ usbSrc.configuration.pipelineSettings.size()
+ " pipelines");
}
return collectedSources;
} else {
// todo: test mode
return new HashMap<>();
var camConf2019 =
new CameraConfiguration("WPI2019", TestUtils.getTestMode2019ImagePath().toString());
camConf2019.FOV = TestUtils.WPI2019Image.FOV;
camConf2019.calibration = TestUtils.get2019LifeCamCoeffs(true);
var pipeline2019 = new ReflectivePipelineSettings();
pipeline2019.pipelineNickname = "CargoShip";
pipeline2019.targetModel = TargetModel.get2019Target();
pipeline2019.cameraCalibration = camConf2019.calibration;
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
var fvs2019 = new FileVisionSource(camConf2019);
var camConf2020 =
new CameraConfiguration("WPI2020", TestUtils.getTestMode2020ImagePath().toString());
camConf2020.FOV = TestUtils.WPI2020Image.FOV;
camConf2020.calibration = TestUtils.get2020LifeCamCoeffs(true);
var pipeline2020 = new ReflectivePipelineSettings();
pipeline2020.pipelineNickname = "OuterPort";
pipeline2020.targetModel = TargetModel.get2020Target();
pipeline2020.cameraCalibration = camConf2020.calibration;
var psList2020 = new ArrayList<CVPipelineSettings>();
psList2020.add(pipeline2020);
var fvs2020 = new FileVisionSource(camConf2020);
collectedSources.put(fvs2019, psList2019);
collectedSources.put(fvs2020, psList2020);
}
return collectedSources;
}
public static void main(String[] args) {

80
photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
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@@ -17,6 +17,7 @@
package org.photonvision.common.util;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.CameraServerCvJNI;
import java.awt.*;
import java.io.File;
@@ -24,6 +25,7 @@ import java.io.IOException;
import java.nio.file.Path;
import org.opencv.core.Mat;
import org.opencv.highgui.HighGui;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
public class TestUtils {
@@ -39,7 +41,9 @@ public class TestUtils {
kCargoStraightDark48in(1.2192),
kCargoStraightDark72in(1.8288),
kCargoStraightDark72in_HighRes(1.8288),
kCargoStraightDark90in(2.286);
kCargoStraightDark90in(2.286),
kRocketPanelAngleDark48in(1.2192),
kRocketPanelAngleDark60in(1.524);
public static double FOV = 68.5;
@@ -130,44 +134,82 @@ public class TestUtils {
}
}
private static Path getResourcesFolderPath() {
return Path.of("src", "test", "resources").toAbsolutePath();
private static Path getResourcesFolderPath(boolean testMode) {
return Path.of("src", (testMode ? "main" : "test"), "resources").toAbsolutePath();
}
public static Path getTestImagesPath() {
return getResourcesFolderPath().resolve("testimages");
public static Path getTestMode2019ImagePath() {
return getResourcesFolderPath(true)
.resolve("testimages")
.resolve(WPI2019Image.kRocketPanelAngleDark60in.path);
}
public static Path getCalibrationPath() {
return getResourcesFolderPath().resolve("calibration");
public static Path getTestMode2020ImagePath() {
return getResourcesFolderPath(true)
.resolve("testimages")
.resolve(WPI2020Image.kBlueGoal_108in_Center.path);
}
public static Path getPowercellPath() {
return getTestImagesPath().resolve("polygons").resolve("powercells");
public static Path getTestImagesPath(boolean testMode) {
return getResourcesFolderPath(testMode).resolve("testimages");
}
public static Path getWPIImagePath(WPI2020Image image) {
return getTestImagesPath().resolve(image.path);
public static Path getCalibrationPath(boolean testMode) {
return getResourcesFolderPath(testMode).resolve("calibration");
}
public static Path getWPIImagePath(WPI2019Image image) {
return getTestImagesPath().resolve(image.path);
public static Path getPowercellPath(boolean testMode) {
return getTestImagesPath(testMode).resolve("polygons").resolve("powercells");
}
public static Path getPolygonImagePath(PolygonTestImages image) {
return getTestImagesPath().resolve(image.path);
public static Path getWPIImagePath(WPI2020Image image, boolean testMode) {
return getTestImagesPath(testMode).resolve(image.path);
}
public static Path getPowercellImagePath(PowercellTestImages image) {
return getPowercellPath().resolve(image.path);
public static Path getWPIImagePath(WPI2019Image image, boolean testMode) {
return getTestImagesPath(testMode).resolve(image.path);
}
public static Path getPolygonImagePath(PolygonTestImages image, boolean testMode) {
return getTestImagesPath(testMode).resolve(image.path);
}
public static Path getPowercellImagePath(PowercellTestImages image, boolean testMode) {
return getPowercellPath(testMode).resolve(image.path);
}
public static Path getDotBoardImagesPath() {
return getResourcesFolderPath().resolve("calibrationBoardImages");
return getResourcesFolderPath(false).resolve("calibrationBoardImages");
}
public static File getHardwareConfigJson() {
return getResourcesFolderPath().resolve("hardware").resolve("HardwareConfig.json").toFile();
return getResourcesFolderPath(false)
.resolve("hardware")
.resolve("HardwareConfig.json")
.toFile();
}
private static final String LIFECAM_240P_CAL_FILE = "lifecam240p.json";
private static final String LIFECAM_480P_CAL_FILE = "lifecam480p.json";
public static CameraCalibrationCoefficients getCoeffs(String filename, boolean testMode) {
try {
return new ObjectMapper()
.readValue(
(Path.of(getCalibrationPath(testMode).toString(), filename).toFile()),
CameraCalibrationCoefficients.class);
} catch (IOException e) {
e.printStackTrace();
return null;
}
}
public static CameraCalibrationCoefficients get2019LifeCamCoeffs(boolean testMode) {
return getCoeffs(LIFECAM_240P_CAL_FILE, testMode);
}
public static CameraCalibrationCoefficients get2020LifeCamCoeffs(boolean testMode) {
return getCoeffs(LIFECAM_480P_CAL_FILE, testMode);
}
public static void loadLibraries() {

7
photon-server/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
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@@ -33,6 +33,13 @@ public class FileVisionSource implements VisionSource {
private final FileFrameProvider frameProvider;
private final FileSourceSettables settables;
public FileVisionSource(CameraConfiguration cameraConfiguration) {
this.cameraConfiguration = cameraConfiguration;
frameProvider = new FileFrameProvider(cameraConfiguration.path, cameraConfiguration.FOV);
settables =
new FileSourceSettables(cameraConfiguration, frameProvider.get().frameStaticProperties);
}
public FileVisionSource(String name, String imagePath, double fov) {
cameraConfiguration = new CameraConfiguration(name, imagePath);
frameProvider = new FileFrameProvider(imagePath, fov);

34
photon-server/src/main/resources/calibration/lifecam240p.json Normal file
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@@ -0,0 +1,34 @@
{
"resolution": {
"width": 320.0,
"height": 240.0
},
"cameraIntrinsics": {
"rows": 3,
"cols": 3,
"type": 6,
"data": [
353.74653217742724,
0.0,
163.55407989211918,
0.0,
340.77624878700817,
119.8945718300403,
0.0,
0.0,
1.0
]
},
"cameraExtrinsics": {
"rows": 1,
"cols": 5,
"type": 6,
"data": [
0.10322037759535845,
-0.2890556437050186,
0.00406400648501475,
2.5573586808275763E-4,
-1.462385758978924
]
}
}

34
photon-server/src/main/resources/calibration/lifecam480p.json Normal file
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@@ -0,0 +1,34 @@
{
"resolution": {
"width": 640.0,
"height": 480.0
},
"cameraIntrinsics": {
"rows": 3,
"cols": 3,
"type": 6,
"data": [
699.3778103158814,
0.0,
345.6059345433618,
0.0,
677.7161226393544,
207.12741326228522,
0.0,
0.0,
1.0
]
},
"cameraExtrinsics": {
"rows": 1,
"cols": 5,
"type": 6,
"data": [
0.14382207979312617,
-0.9851192814987014,
-0.018168751047242335,
0.011034504043795105,
1.9833437176538498
]
}
}

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photon-server/src/main/resources/testimages/2019/WPI/RocketPanelAngleDark60in.jpg Normal file
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photon-server/src/main/resources/testimages/2020/WPI/BlueGoal-108in-Center.jpg Normal file
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