From 59630a0c8bc4328e654c1a4962d70d065962d13d Mon Sep 17 00:00:00 2001
From: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Date: Mon, 13 Jul 2020 19:09:14 -0700
Subject: [PATCH] Run spotless
---
.../vision/pipeline/CVPipelineSettings.java | 2 -
.../vision/pipeline/ReflectivePipeline.java | 114 +++++++++---------
.../pipeline/result/CVPipelineResult.java | 6 +-
.../vision/processes/VisionModule.java | 15 +--
4 files changed, 66 insertions(+), 71 deletions(-)
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
index f5c51bb7e7..b8c1629c94 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -19,8 +19,6 @@
import com.fasterxml.jackson.annotation.JsonSubTypes;
import com.fasterxml.jackson.annotation.JsonTypeInfo;
-
-import java.util.List;
import java.util.Objects;
import org.photonvision.vision.frame.FrameDivisor;
import org.photonvision.vision.opencv.ImageFlipMode;
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index 3fcbedc39c..3631788f50 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -18,10 +18,8 @@
package org.photonvision.vision.pipeline;
import java.util.List;
-
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
-import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.vision.frame.Frame;
@@ -49,9 +47,7 @@
import org.photonvision.vision.target.PotentialTarget;
import org.photonvision.vision.target.TrackedTarget;
-/**
- * Represents a pipeline for tracking retro-reflective targets.
- */
+/** Represents a pipeline for tracking retro-reflective targets. */
public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectivePipelineSettings> {
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
@@ -83,82 +79,82 @@ public ReflectivePipeline(ReflectivePipelineSettings settings) {
@Override
protected void setPipeParams(
- FrameStaticProperties frameStaticProperties, ReflectivePipelineSettings settings) {
+ FrameStaticProperties frameStaticProperties, ReflectivePipelineSettings settings) {
RotateImagePipe.RotateImageParams rotateImageParams =
- new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
+ new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
rotateImagePipe.setParams(rotateImageParams);
ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
- new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
+ new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
// TODO: add kernel size to pipeline settings
erodeDilatePipe.setParams(erodeDilateParams);
HSVPipe.HSVParams hsvParams =
- new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+ new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
hsvPipe.setParams(hsvParams);
FindContoursPipe.FindContoursParams findContoursParams =
- new FindContoursPipe.FindContoursParams();
+ new FindContoursPipe.FindContoursParams();
findContoursPipe.setParams(findContoursParams);
SpeckleRejectPipe.SpeckleRejectParams speckleRejectParams =
- new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
+ new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
speckleRejectPipe.setParams(speckleRejectParams);
FilterContoursPipe.FilterContoursParams filterContoursParams =
- new FilterContoursPipe.FilterContoursParams(
- settings.contourArea,
- settings.contourRatio,
- settings.contourExtent,
- frameStaticProperties);
+ new FilterContoursPipe.FilterContoursParams(
+ settings.contourArea,
+ settings.contourRatio,
+ settings.contourExtent,
+ frameStaticProperties);
filterContoursPipe.setParams(filterContoursParams);
GroupContoursPipe.GroupContoursParams groupContoursParams =
- new GroupContoursPipe.GroupContoursParams(
- settings.contourGroupingMode, settings.contourIntersection);
+ new GroupContoursPipe.GroupContoursParams(
+ settings.contourGroupingMode, settings.contourIntersection);
groupContoursPipe.setParams(groupContoursParams);
SortContoursPipe.SortContoursParams sortContoursParams =
- new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
+ new SortContoursPipe.SortContoursParams(settings.contourSortMode, frameStaticProperties, 5);
sortContoursPipe.setParams(sortContoursParams);
Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
- new Collect2dTargetsPipe.Collect2dTargetsParams(
- frameStaticProperties,
- settings.offsetRobotOffsetMode,
- settings.offsetDualLineM,
- settings.offsetDualLineB,
- settings.offsetCalibrationPoint.toPoint(),
- settings.contourTargetOffsetPointEdge,
- settings.contourTargetOrientation);
+ new Collect2dTargetsPipe.Collect2dTargetsParams(
+ frameStaticProperties,
+ settings.offsetRobotOffsetMode,
+ settings.offsetDualLineM,
+ settings.offsetDualLineB,
+ settings.offsetCalibrationPoint.toPoint(),
+ settings.contourTargetOffsetPointEdge,
+ settings.contourTargetOrientation);
collect2dTargetsPipe.setParams(collect2dTargetsParams);
var params =
- new CornerDetectionPipe.CornerDetectionPipeParameters(
- settings.cornerDetectionStrategy,
- settings.cornerDetectionUseConvexHulls,
- settings.cornerDetectionExactSideCount,
- settings.cornerDetectionSideCount,
- settings.cornerDetectionAccuracyPercentage);
+ new CornerDetectionPipe.CornerDetectionPipeParameters(
+ settings.cornerDetectionStrategy,
+ settings.cornerDetectionUseConvexHulls,
+ settings.cornerDetectionExactSideCount,
+ settings.cornerDetectionSideCount,
+ settings.cornerDetectionAccuracyPercentage);
cornerDetectionPipe.setParams(params);
Draw2dTargetsPipe.Draw2dContoursParams draw2dContoursParams =
- new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
+ new Draw2dTargetsPipe.Draw2dContoursParams(settings.outputShowMultipleTargets);
draw2DTargetsPipe.setParams(draw2dContoursParams);
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
- new Draw2dCrosshairPipe.Draw2dCrosshairParams(
- settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
+ new Draw2dCrosshairPipe.Draw2dCrosshairParams(
+ settings.offsetRobotOffsetMode, settings.offsetCalibrationPoint);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
var draw3dContoursParams =
- new Draw3dTargetsPipe.Draw3dContoursParams(
- settings.cameraCalibration, settings.targetModel);
+ new Draw3dTargetsPipe.Draw3dContoursParams(
+ settings.cameraCalibration, settings.targetModel);
draw3dTargetsPipe.setParams(draw3dContoursParams);
var solvePNPParams =
- new SolvePNPPipe.SolvePNPPipeParams(
- settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
+ new SolvePNPPipe.SolvePNPPipeParams(
+ settings.cameraCalibration, settings.cameraPitch, settings.targetModel);
solvePNPPipe.setParams(solvePNPParams);
}
@@ -190,23 +186,23 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
sumPipeNanosElapsed += findContoursResult.nanosElapsed;
CVPipeResult<List<Contour>> speckleRejectResult =
- speckleRejectPipe.apply(findContoursResult.result);
+ speckleRejectPipe.apply(findContoursResult.result);
sumPipeNanosElapsed += speckleRejectResult.nanosElapsed;
CVPipeResult<List<Contour>> filterContoursResult =
- filterContoursPipe.apply(speckleRejectResult.result);
+ filterContoursPipe.apply(speckleRejectResult.result);
sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> groupContoursResult =
- groupContoursPipe.apply(filterContoursResult.result);
+ groupContoursPipe.apply(filterContoursResult.result);
sumPipeNanosElapsed += groupContoursResult.nanosElapsed;
CVPipeResult<List<PotentialTarget>> sortContoursResult =
- sortContoursPipe.apply(groupContoursResult.result);
+ sortContoursPipe.apply(groupContoursResult.result);
sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
- collect2dTargetsPipe.apply(sortContoursResult.result);
+ collect2dTargetsPipe.apply(sortContoursResult.result);
sumPipeNanosElapsed += collect2dTargetsResult.nanosElapsed;
CVPipeResult<List<TrackedTarget>> targetList;
@@ -230,18 +226,18 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
// Draw on input
CVPipeResult<Mat> draw2dCrosshairResultOnInput =
- draw2dCrosshairPipe.apply(Pair.of(outputMats.first, targetList.result));
+ draw2dCrosshairPipe.apply(Pair.of(outputMats.first, targetList.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResultOnInput =
- draw2DTargetsPipe.apply(
- Pair.of(draw2dCrosshairResultOnInput.result, collect2dTargetsResult.result));
+ draw2DTargetsPipe.apply(
+ Pair.of(draw2dCrosshairResultOnInput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
if (settings.solvePNPEnabled) {
drawOnInputResult =
- draw3dTargetsPipe.apply(
- Pair.of(draw2dContoursResultOnInput.result, collect2dTargetsResult.result));
+ draw3dTargetsPipe.apply(
+ Pair.of(draw2dContoursResultOnInput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += drawOnInputResult.nanosElapsed;
} else {
drawOnInputResult = draw2dContoursResultOnInput;
@@ -251,27 +247,27 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings
Imgproc.cvtColor(outputMats.second, outputMats.second, Imgproc.COLOR_GRAY2BGR, 3);
CVPipeResult<Mat> draw2dCrosshairResultOnOutput =
- draw2dCrosshairPipe.apply(Pair.of(outputMats.second, targetList.result));
+ draw2dCrosshairPipe.apply(Pair.of(outputMats.second, targetList.result));
sumPipeNanosElapsed += draw2dCrosshairResultOnOutput.nanosElapsed;
CVPipeResult<Mat> draw2dContoursResultOnOutput =
- draw2DTargetsPipe.apply(
- Pair.of(draw2dCrosshairResultOnOutput.result, collect2dTargetsResult.result));
+ draw2DTargetsPipe.apply(
+ Pair.of(draw2dCrosshairResultOnOutput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += draw2dContoursResultOnOutput.nanosElapsed;
if (settings.solvePNPEnabled) {
drawOnOutputResult =
- draw3dTargetsPipe.apply(
- Pair.of(draw2dContoursResultOnOutput.result, collect2dTargetsResult.result));
+ draw3dTargetsPipe.apply(
+ Pair.of(draw2dContoursResultOnOutput.result, collect2dTargetsResult.result));
sumPipeNanosElapsed += drawOnOutputResult.nanosElapsed;
} else {
drawOnOutputResult = draw2dContoursResultOnOutput;
}
return new CVPipelineResult(
- MathUtils.nanosToMillis(sumPipeNanosElapsed),
- collect2dTargetsResult.result,
- new Frame(new CVMat(outputMats.second), frame.frameStaticProperties),
- new Frame(new CVMat(outputMats.first), frame.frameStaticProperties));
+ MathUtils.nanosToMillis(sumPipeNanosElapsed),
+ collect2dTargetsResult.result,
+ new Frame(new CVMat(outputMats.second), frame.frameStaticProperties),
+ new Frame(new CVMat(outputMats.first), frame.frameStaticProperties));
}
}
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
index a1a8be704c..238cb5eec3 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -18,7 +18,6 @@
package org.photonvision.vision.pipeline.result;
import java.util.List;
-
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.opencv.Releasable;
import org.photonvision.vision.target.TrackedTarget;
@@ -30,7 +29,8 @@ public class CVPipelineResult implements Releasable {
public final Frame outputFrame;
public final Frame inputFrame;
- public CVPipelineResult(double processingMillis, List<TrackedTarget> targets, Frame outputFrame, Frame inputFrame) {
+ public CVPipelineResult(
+ double processingMillis, List<TrackedTarget> targets, Frame outputFrame, Frame inputFrame) {
this.processingMillis = processingMillis;
this.targets = targets;
@@ -51,7 +51,7 @@ public void release() {
tt.release();
}
outputFrame.release();
- if(inputFrame != null) inputFrame.release();
+ if (inputFrame != null) inputFrame.release();
}
public double getLatencyMillis() {
diff --git a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 6a4c0a9ac9..120687ac1d 100644
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -21,7 +21,6 @@
import edu.wpi.first.wpilibj.MedianFilter;
import java.util.*;
import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.imgcodecs.Imgcodecs;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.PhotonConfiguration;
@@ -92,12 +91,14 @@ public VisionModule(PipelineManager pipelineManager, VisionSource visionSource,
dashboardInputStreamer =
new MJPGFrameConsumer(visionSource.getSettables().getConfiguration().uniqueName + "-input");
- addResultConsumer(result -> {
- dashboardInputStreamer.accept(result.inputFrame);
- });
- addResultConsumer(result -> {
- dashboardOutputStreamer.accept(result.outputFrame);
- });
+ addResultConsumer(
+ result -> {
+ dashboardInputStreamer.accept(result.inputFrame);
+ });
+ addResultConsumer(
+ result -> {
+ dashboardOutputStreamer.accept(result.outputFrame);
+ });
ntConsumer =
new NTDataPublisher(