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PhotonVision · Nov 23, 2024 · 0ee6405 · 0ee6405
1 parent 73ad72c
commit 0ee6405
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Showing 13 changed files with 1,296 additions and 1,286 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
@@ -15,62 +15,61 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
- package org.photonvision.vision.pipe.impl;
+package org.photonvision.vision.pipe.impl;
 
- import edu.wpi.first.apriltag.AprilTagDetection;
- import edu.wpi.first.apriltag.AprilTagDetector;
- import java.util.List;
- import org.photonvision.vision.opencv.CVMat;
- import org.photonvision.vision.opencv.Releasable;
- import org.photonvision.vision.pipe.CVPipe;
-
- public class AprilTagDetectionPipe
-         extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipeParams>
-         implements Releasable {
-     private AprilTagDetector m_detector = new AprilTagDetector();
-
-     public AprilTagDetectionPipe() {
-         super();
-
-         m_detector.addFamily("tag16h5");
-         m_detector.addFamily("tag36h11");
-     }
-
-     @Override
-     protected List<AprilTagDetection> process(CVMat in) {
-         if (in.getMat().empty()) {
-             return List.of();
-         }
-
-         if (m_detector == null) {
-             throw new RuntimeException("Apriltag detector was released!");
-         }
-
-         var ret = m_detector.detect(in.getMat());
-
-         if (ret == null) {
-             return List.of();
-         }
-
-         return List.of(ret);
-     }
-
-     @Override
-     public void setParams(AprilTagDetectionPipeParams newParams) {
-         if (this.params == null || !this.params.equals(newParams)) {
-             m_detector.setConfig(newParams.detectorParams);
-
-             m_detector.clearFamilies();
-             m_detector.addFamily(newParams.family.getNativeName());
-         }
-
-         super.setParams(newParams);
-     }
-
-     @Override
-     public void release() {
-         m_detector.close();
-         m_detector = null;
-     }
- }
-
+import edu.wpi.first.apriltag.AprilTagDetection;
+import edu.wpi.first.apriltag.AprilTagDetector;
+import java.util.List;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.Releasable;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class AprilTagDetectionPipe
+        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipeParams>
+        implements Releasable {
+    private AprilTagDetector m_detector = new AprilTagDetector();
+
+    public AprilTagDetectionPipe() {
+        super();
+
+        m_detector.addFamily("tag16h5");
+        m_detector.addFamily("tag36h11");
+    }
+
+    @Override
+    protected List<AprilTagDetection> process(CVMat in) {
+        if (in.getMat().empty()) {
+            return List.of();
+        }
+
+        if (m_detector == null) {
+            throw new RuntimeException("Apriltag detector was released!");
+        }
+
+        var ret = m_detector.detect(in.getMat());
+
+        if (ret == null) {
+            return List.of();
+        }
+
+        return List.of(ret);
+    }
+
+    @Override
+    public void setParams(AprilTagDetectionPipeParams newParams) {
+        if (this.params == null || !this.params.equals(newParams)) {
+            m_detector.setConfig(newParams.detectorParams);
+
+            m_detector.clearFamilies();
+            m_detector.addFamily(newParams.family.getNativeName());
+        }
+
+        super.setParams(newParams);
+    }
+
+    @Override
+    public void release() {
+        m_detector.close();
+        m_detector = null;
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
@@ -15,39 +15,38 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
- package org.photonvision.vision.pipe.impl;
+package org.photonvision.vision.pipe.impl;
 
- import edu.wpi.first.apriltag.AprilTagDetector;
- import org.photonvision.vision.apriltag.AprilTagFamily;
-
- public class AprilTagDetectionPipeParams {
-     public final AprilTagFamily family;
-     public final AprilTagDetector.Config detectorParams;
-
-     public AprilTagDetectionPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config) {
-         this.family = tagFamily;
-         this.detectorParams = config;
-     }
-
-     @Override
-     public int hashCode() {
-         final int prime = 31;
-         int result = 1;
-         result = prime * result + ((family == null) ? 0 : family.hashCode());
-         result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
-         return result;
-     }
-
-     @Override
-     public boolean equals(Object obj) {
-         if (this == obj) return true;
-         if (obj == null) return false;
-         if (getClass() != obj.getClass()) return false;
-         AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
-         if (family != other.family) return false;
-         if (detectorParams == null) {
-             return other.detectorParams == null;
-         } else return detectorParams.equals(other.detectorParams);
-     }
- }
-
+import edu.wpi.first.apriltag.AprilTagDetector;
+import org.photonvision.vision.apriltag.AprilTagFamily;
+
+public class AprilTagDetectionPipeParams {
+    public final AprilTagFamily family;
+    public final AprilTagDetector.Config detectorParams;
+
+    public AprilTagDetectionPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config) {
+        this.family = tagFamily;
+        this.detectorParams = config;
+    }
+
+    @Override
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        result = prime * result + ((family == null) ? 0 : family.hashCode());
+        result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
+        return result;
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
+        if (family != other.family) return false;
+        if (detectorParams == null) {
+            return other.detectorParams == null;
+        } else return detectorParams.equals(other.detectorParams);
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CropPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CropPipe.java
@@ -1,3 +1,20 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
 /*
  * Copyright (C) Photon Vision.
  *
@@ -25,7 +42,7 @@
 
 public class CropPipe extends CVPipe<CVMat, CVMat, Rect> {
     public Rect dynamiRect;
-    
+
     public CropPipe() {
         Rect full_screen = new Rect(0, 0, Integer.MAX_VALUE, Integer.MAX_VALUE);
 
@@ -48,9 +65,11 @@ protected CVMat process(CVMat in) {
 
         return new CVMat(mat.submat(y, y + height, x, x + width));
     }
-    public void setDynamicRect(Rect newDynamicCropp){
+
+    public void setDynamicRect(Rect newDynamicCropp) {
         dynamiRect = newDynamicCropp;
     }
+
     /**
      * Returns true if the given rectangle fully covers some given image.
      *
@@ -62,7 +81,9 @@ public static boolean fullyCovers(Rect rect, Mat mat) {
         return rect.x <= 0 && rect.y <= 0 && rect.width >= mat.width() && rect.height >= mat.height();
     }
 
-    private boolean isDynamicInvalid(){
-        return !this.params.contains(new Point(dynamiRect.x,dynamiRect.y)) || this.params.height < dynamiRect.height || this.params.width < dynamiRect.width;
+    private boolean isDynamicInvalid() {
+        return !this.params.contains(new Point(dynamiRect.x, dynamiRect.y))
+                || this.params.height < dynamiRect.height
+                || this.params.width < dynamiRect.width;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawRectanglePipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawRectanglePipe.java
@@ -28,12 +28,12 @@ public class DrawRectanglePipe
         extends MutatingPipe<Mat, DrawRectanglePipe.DrawRectanglePipeParams> {
     Scalar staticColor;
     Scalar dynamicColor;
-    
-        public DrawRectanglePipe(Scalar staticColor, Scalar dynamicColor) {
-            super();
-            this.params = new DrawRectanglePipeParams();
-            this.staticColor = staticColor;
-            this.dynamicColor = dynamicColor;
+
+    public DrawRectanglePipe(Scalar staticColor, Scalar dynamicColor) {
+        super();
+        this.params = new DrawRectanglePipeParams();
+        this.staticColor = staticColor;
+        this.dynamicColor = dynamicColor;
     }
 
     @Override
@@ -68,13 +68,14 @@ public static class DrawRectanglePipeParams {
 
         public DrawRectanglePipeParams() {}
 
-        public DrawRectanglePipeParams(Rect static_rect,Rect dynamic_rect) {
+        public DrawRectanglePipeParams(Rect static_rect, Rect dynamic_rect) {
             this.static_rect = static_rect;
             this.dynamic_rect = dynamic_rect;
         }
 
-        public DrawRectanglePipeParams(int x, int y, int width, int height, int x2, int y2, int width2, int height2) {
-            this(new Rect(x, y, width, height),new Rect(x2, y2, width2, height2));
+        public DrawRectanglePipeParams(
+                int x, int y, int width, int height, int x2, int y2, int width2, int height2) {
+            this(new Rect(x, y, width, height), new Rect(x2, y2, width2, height2));
         }
     }
 }