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Fix Driver Mode 180 Deg #1097

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merged 3 commits into from
Jan 1, 2024
Merged

Fix Driver Mode 180 Deg #1097

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15db61e
Update DriverModePipeline.java
BytingBulldogs3539 Dec 31, 2023
44a1dd7
Format
BytingBulldogs3539 Dec 31, 2023
2b353d0
Format Again?
BytingBulldogs3539 Dec 31, 2023
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14 changes: 0 additions & 14 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,19 +20,15 @@
import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.raspi.LibCameraJNI;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
import org.photonvision.vision.pipe.impl.ResizeImagePipe;
import org.photonvision.vision.pipe.impl.RotateImagePipe;
import org.photonvision.vision.pipeline.result.DriverModePipelineResult;

public class DriverModePipeline
extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {
private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();
Expand All @@ -51,10 +47,6 @@ public DriverModePipeline(DriverModePipelineSettings settings) {

@Override
protected void setPipeParamsImpl() {
RotateImagePipe.RotateImageParams rotateImageParams =
new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
rotateImagePipe.setParams(rotateImageParams);

Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
Expand All @@ -72,19 +64,13 @@ protected void setPipeParamsImpl() {
@Override
public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
long totalNanos = 0;
boolean accelerated = LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);

// apply pipes
var inputMat = frame.colorImage.getMat();

boolean emptyIn = inputMat.empty();

if (!emptyIn) {
if (!accelerated) {
var rotateImageResult = rotateImagePipe.run(inputMat);
totalNanos += rotateImageResult.nanosElapsed;
}

totalNanos += resizeImagePipe.run(inputMat).nanosElapsed;

var draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(inputMat, List.of()));
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1 change: 1 addition & 0 deletions photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
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Expand Up @@ -75,6 +75,7 @@ private void update() {
// (pipeline-dependent). I kinda hate how much leak this has...
// TODO would a callback object be a better fit?
var wantedProcessType = pipeline.getThresholdType();

frameSupplier.requestFrameThresholdType(wantedProcessType);
var settings = pipeline.getSettings();
if (settings instanceof AdvancedPipelineSettings) {
Expand Down