Add OpenCV DNN test pipeline

PhotonVision · Oct 8, 2023 · b244310 · b244310
1 parent 2881741
commit b244310
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Showing 18 changed files with 350 additions and 33 deletions.
diff --git a/build.gradle b/build.gradle
@@ -2,12 +2,12 @@ plugins {
     id "com.diffplug.spotless" version "6.19.0"
     id "com.github.johnrengelman.shadow" version "7.1.2"
     id "com.github.node-gradle.node" version "3.1.1" apply false
-    id "edu.wpi.first.GradleJni" version "1.0.0"
-    id "edu.wpi.first.GradleVsCode" version "1.1.0"
+    id "edu.wpi.first.GradleJni" version "1.1.0"
+    id "edu.wpi.first.GradleVsCode" version "1.3.0"
     id "edu.wpi.first.NativeUtils" version "2023.11.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "org.hidetake.ssh" version "2.10.1"
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }
 
 import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
@@ -27,7 +27,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2023.4.2"
-    opencvVersion = "4.6.0-4"
+    opencvVersion = "4.8.0-1"
     joglVersion = "2.4.0-rc-20200307"
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")

diff --git a/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue b/photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue
@@ -24,6 +24,9 @@ const changeCurrentCameraIndex = (index: number) => {
     case PipelineType.Aruco:
       pipelineType.value = WebsocketPipelineType.Aruco;
       break;
+    case PipelineType.Dnn:
+      pipelineType.value = WebsocketPipelineType.Dnn;
+      break;
   }
 };
 
@@ -151,8 +154,9 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
   const pipelineTypes = [
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
-    { name: "AprilTag", value: WebsocketPipelineType.AprilTag }
+    { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
     // { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "DNN", value: WebsocketPipelineType.Dnn }
   ];
 
   if (useCameraSettingsStore().isDriverMode) {
@@ -203,6 +207,9 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
     case PipelineType.Aruco:
       pipelineType.value = WebsocketPipelineType.Aruco;
       break;
+    case PipelineType.Dnn:
+      pipelineType.value = WebsocketPipelineType.Dnn;
+      break;
   }
 });
 </script>
@@ -322,8 +329,9 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
             :items="[
               { name: 'Reflective', value: WebsocketPipelineType.Reflective },
               { name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
-              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag }
+              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
               // { name: 'Aruco', value: WebsocketPipelineType.Aruco }
+              { name: 'Dnn', value: WebsocketPipelineType.Dnn }
             ]"
           />
         </v-card-text>

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
@@ -5,7 +5,8 @@ export enum PipelineType {
   Reflective = 2,
   ColoredShape = 3,
   AprilTag = 4,
-  Aruco = 5
+  Aruco = 5,
+  Dnn = 6,
 }
 
 export enum AprilTagFamily {
@@ -239,6 +240,17 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   tagFamily: AprilTagFamily.Family16h5
 };
 
+export interface DnnPipelineSettings extends PipelineSettings {
+  pipelineType: PipelineType.Dnn;
+}
+export type ConfigurableDnnPipelineSettings = Partial<Omit<DnnPipelineSettings, "pipelineType">> &
+  ConfigurablePipelineSettings;
+export const DefaultDnnPipelineSettings: DnnPipelineSettings = {
+  ...DefaultPipelineSettings,
+  pipelineType: PipelineType.Dnn
+};
+
+
 export interface ArucoPipelineSettings extends PipelineSettings {
   pipelineType: PipelineType.Aruco;
   decimate: number;
@@ -269,9 +281,11 @@ export type ActivePipelineSettings =
   | ReflectivePipelineSettings
   | ColoredShapePipelineSettings
   | AprilTagPipelineSettings
-  | ArucoPipelineSettings;
+  | ArucoPipelineSettings
+  | DnnPipelineSettings;
 export type ActiveConfigurablePipelineSettings =
   | ConfigurableReflectivePipelineSettings
   | ConfigurableColoredShapePipelineSettings
   | ConfigurableAprilTagPipelineSettings
-  | ConfigurableArucoPipelineSettings;
+  | ConfigurableArucoPipelineSettings
+  | ConfigurableDnnPipelineSettings;
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
@@ -120,5 +120,6 @@ export enum WebsocketPipelineType {
   Reflective = 0,
   ColoredShape = 1,
   AprilTag = 2,
-  Aruco = 3
+  Aruco = 3,
+  Dnn = 4
 }
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }
 
 import java.nio.file.Path

diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
@@ -17,10 +17,8 @@
 
 package org.photonvision.vision.aruco;
 
-import org.opencv.aruco.Aruco;
-import org.opencv.aruco.ArucoDetector;
-import org.opencv.aruco.DetectorParameters;
-import org.opencv.aruco.Dictionary;
+import org.opencv.objdetect.ArucoDetector;
+import org.opencv.objdetect.DetectorParameters;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
@@ -31,15 +29,16 @@ public class ArucoDetectorParams {
     private int m_iterations = -1;
     private double m_accuracy = -1;
 
-    DetectorParameters parameters = DetectorParameters.create();
+    DetectorParameters parameters = new DetectorParameters();
     ArucoDetector detector;
 
     public ArucoDetectorParams() {
         setDecimation(1);
         setCornerAccuracy(25);
         setCornerRefinementMaxIterations(100);
 
-        detector = new ArucoDetector(Dictionary.get(Aruco.DICT_APRILTAG_16h5), parameters);
+        // TODO
+        // detector = new ArucoDetector(Dictionary.get(Aruco.DICT_APRILTAG_16h5), parameters);
     }
 
     public void setDecimation(float decimate) {
@@ -56,7 +55,8 @@ public void setDecimation(float decimate) {
     public void setCornerRefinementMaxIterations(int iters) {
         if (iters == m_iterations || iters <= 0) return;
 
-        parameters.set_cornerRefinementMethod(Aruco.CORNER_REFINE_SUBPIX);
+        // TODO
+        // parameters.set_cornerRefinementMethod(Aruco.CORNER_REFINE_SUBPIX);
         parameters.set_cornerRefinementMaxIterations(iters); // 200
 
         m_iterations = iters;

diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -24,8 +24,8 @@
 import edu.wpi.first.math.util.Units;
 import java.util.ArrayList;
 import org.opencv.aruco.Aruco;
-import org.opencv.aruco.ArucoDetector;
 import org.opencv.core.Mat;
+import org.opencv.objdetect.ArucoDetector;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -19,8 +19,8 @@
 
 import edu.wpi.first.math.util.Units;
 import java.util.List;
-import org.opencv.aruco.DetectorParameters;
 import org.opencv.core.Mat;
+import org.opencv.objdetect.DetectorParameters;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.aruco.PhotonArucoDetector;
 import org.photonvision.vision.pipe.CVPipe;
@@ -45,6 +45,6 @@ public void setParams(ArucoDetectionPipeParams params) {
     }
 
     public DetectorParameters getParameters() {
-        return params == null ? null : params.detectorParams.get_params();
+        return params == null ? null : params.detectorParams.getDetectorParameters();
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -18,7 +18,7 @@
 package org.photonvision.vision.pipe.impl;
 
 import java.util.Objects;
-import org.opencv.aruco.ArucoDetector;
+import org.opencv.objdetect.ArucoDetector;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 
 public class ArucoDetectionPipeParams {

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -32,7 +32,8 @@
     @JsonSubTypes.Type(value = ReflectivePipelineSettings.class),
     @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
     @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
-    @JsonSubTypes.Type(value = ArucoPipelineSettings.class)
+    @JsonSubTypes.Type(value = ArucoPipelineSettings.class),
+    @JsonSubTypes.Type(value = DnnPipelineSettings.class)
 })
 public class CVPipelineSettings implements Cloneable {
     public int pipelineIndex = 0;