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Stream content reorg. #489

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Merged
merged 3 commits into from
Oct 10, 2022
Merged

Stream content reorg. #489

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b182cc8
Revised stream and target draw logic to divide the streams by "Raw" a…
gerth2 Oct 9, 2022
e168814
spotless
gerth2 Oct 10, 2022
5a08499
wpiformat asdfasdfasdf
gerth2 Oct 10, 2022
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10 changes: 5 additions & 5 deletions photon-client/src/views/PipelineView.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
<span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
<span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
<span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
<span v-else>stop viewing the color stream for better performance</span>
<span v-else>stop viewing the raw stream for better performance</span>
</v-chip>
<v-switch
v-model="driverMode"
Expand Down Expand Up @@ -136,15 +136,15 @@
color="secondary"
class="fill"
>
<v-icon>mdi-palette</v-icon>
<span>Normal</span>
<v-icon>mdi-import</v-icon>
<span>Raw</span>
</v-btn>
<v-btn
color="secondary"
class="fill"
>
<v-icon>mdi-compare</v-icon>
<span>Threshold</span>
<v-icon>mdi-export</v-icon>
<span>Processed</span>
</v-btn>
</v-btn-toggle>
</v-col>
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10 changes: 4 additions & 6 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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Expand Up @@ -117,17 +117,20 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
}

var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);

grayscalePipeResult = grayscalePipe.run(rawInputMat);
sumPipeNanosElapsed += grayscalePipeResult.nanosElapsed;

var outputFrame = new Frame(new CVMat(grayscalePipeResult.output), frameStaticProperties);

List<TrackedTarget> targetList;
CVPipeResult<List<DetectionResult>> tagDetectionPipeResult;

// Use the solvePNP Enabled flag to enable native pose estimation
aprilTagDetectionPipe.setNativePoseEstimationEnabled(settings.solvePNPEnabled);

tagDetectionPipeResult = aprilTagDetectionPipe.run(grayscalePipeResult.output);
grayscalePipeResult.output.release();
sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;

targetList = new ArrayList<>();
Expand All @@ -150,11 +153,6 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
var fpsResult = calculateFPSPipe.run(null);
var fps = fpsResult.output;

var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
// empty output frame
var outputFrame =
Frame.emptyFrame(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight);

return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, outputFrame, inputFrame);
}
}
40 changes: 28 additions & 12 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
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Expand Up @@ -120,42 +120,58 @@ public CVPipelineResult process(
pipeProfileNanos[2] = 0;
}

// Draw 2D Crosshair on input and output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 2D Crosshair on output
var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[3] = draw2dCrosshairResultOnInput.nanosElapsed;

if (!(settings instanceof AprilTagPipelineSettings)) {
// If we're processing anything other than Apriltags...

var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;

// Draw 3D Targets on input and output if necessary
if (settings.solvePNPEnabled
|| (settings.solvePNPEnabled
&& settings instanceof ColoredShapePipelineSettings
&& ((ColoredShapePipelineSettings) settings).contourShape == ContourShape.Circle)) {
var drawOnInputResult = draw3dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
// Draw 3D Targets on input and output if possible
pipeProfileNanos[5] = 0;
pipeProfileNanos[6] = 0;
pipeProfileNanos[7] = 0;

var drawOnOutputResult = draw3dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[8] = drawOnOutputResult.nanosElapsed;
} else {
pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;

var draw2dTargetsOnInput = draw2dTargetsPipe.run(Pair.of(inMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;
// Only draw 2d targets
pipeProfileNanos[5] = 0;

var draw2dTargetsOnOutput = draw2dTargetsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[6] = draw2dTargetsOnOutput.nanosElapsed;

pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;
}

} else {
// If we are doing apriltags...
if (settings.solvePNPEnabled) {
var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 3d Apriltag markers (camera is calibrated and running in 3d mode)
pipeProfileNanos[5] = 0;
pipeProfileNanos[6] = 0;

var drawOnInputResult = draw3dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;

pipeProfileNanos[8] = 0;

} else {
var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(inMat, targetsToDraw));
// Draw 2d apriltag markers
var draw2dTargetsOnInput = draw2dAprilTagsPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[5] = draw2dTargetsOnInput.nanosElapsed;

pipeProfileNanos[6] = 0;
pipeProfileNanos[7] = 0;
pipeProfileNanos[8] = 0;
}
}

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