Cropping mechanism

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -8,6 +8,8 @@ import ThresholdTab from "@/components/dashboard/tabs/ThresholdTab.vue";
 import ContoursTab from "@/components/dashboard/tabs/ContoursTab.vue";
 import AprilTagTab from "@/components/dashboard/tabs/AprilTagTab.vue";
 import ArucoTab from "@/components/dashboard/tabs/ArucoTab.vue";
+import CropTab from "./tabs/CropTab.vue";
+
 import ObjectDetectionTab from "@/components/dashboard/tabs/ObjectDetectionTab.vue";
 import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
 import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
@@ -25,6 +27,10 @@ const allTabs = Object.freeze({
     tabName: "Input",
     component: InputTab
   },
+  cropTab:{
+    tabName: "Crop",
+    component: CropTab
+  },
   thresholdTab: {
     tabName: "Threshold",
     component: ThresholdTab
@@ -100,6 +106,7 @@ const getTabGroups = (): ConfigOption[][] => {
     ];
   } else if (xl) {
     return [
+
       [allTabs.inputTab],
       [allTabs.thresholdTab],
       [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.objectDetectionTab, allTabs.outputTab],

photon-client/src/components/dashboard/tabs/CropTab.vue

@@ -0,0 +1,77 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type AprilTagPipelineSettings, type ColoredShapePipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+const currentPipelineSettings = computed<AprilTagPipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings as AprilTagPipelineSettings
+);
+const frame_width = computed(() => useCameraSettingsStore().currentVideoFormat.resolution.width);
+const frame_height = computed(() => useCameraSettingsStore().currentVideoFormat.resolution.height);
+const static_x = computed<number>({
+  get: () => currentPipelineSettings.value.static_x || 0,
+  set: (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_x: value }, false)
+});
+const static_y = computed<number>({
+  get: () => currentPipelineSettings.value.static_y || 0,
+  set: (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_y: value }, false)
+});
+const static_width = computed<number>({
+  get: () => currentPipelineSettings.value.static_width || frame_width.value,
+  set: (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_width: value - static_x.value }, false)
+});
+const static_height = computed<number>({
+  get: () => currentPipelineSettings.value.static_height || frame_height.value,
+  set: (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_height: value }, false)
+});
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
+
+</script>
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.AprilTag">
+    <!-- static crop -->
+    <span>Static Crop</span>
+    <pv-slider
+      v-model="currentPipelineSettings.static_x"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="X"
+      tooltip="The X coordinate of the top left corner of the statically cropped area"
+      :min="0"
+      :max="frame_width"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.static_y"
+      :slider-cols="interactiveCols"
+      label="Y"
+      tooltip="The Y coordinate of the top left corner of the statically cropped area"
+      :min="0"
+      :max="frame_height"
+
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.static_width"
+      :slider-cols="interactiveCols"
+      label="Width"
+      tooltip="The width of the statically cropped area"
+      :min="1"
+      :max="frame_width"
+
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.static_height"
+      :slider-cols="interactiveCols"
+      label="Height"
+      tooltip="The height of the statically cropped area"
+      :min="1"
+      :max="frame_height"
+
+    />
+  </div>
+</template>

photon-client/src/types/PipelineTypes.ts

@@ -208,6 +208,10 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
 };
 
 export interface AprilTagPipelineSettings extends PipelineSettings {
+  static_x: number;
+  static_y: number;
+  static_width: number;
+  static_height: number;
   pipelineType: PipelineType.AprilTag;
   hammingDist: number;
   numIterations: number;
@@ -244,7 +248,11 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   threads: 4,
   tagFamily: AprilTagFamily.Family36h11,
   doMultiTarget: false,
-  doSingleTargetAlways: false
+  doSingleTargetAlways: false,
+  static_x: 0,
+  static_y: 0,
+  static_width: 0,
+  static_height: 0
 };
 
 export interface ArucoPipelineSettings extends PipelineSettings {

photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java

@@ -15,62 +15,62 @@
  * 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.setQuadThresholdParameters(newParams.quadParams);
-
-            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;
+     }
+ }
+ 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java

@@ -15,48 +15,39 @@
  * 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 final AprilTagDetector.QuadThresholdParameters quadParams;
-
-    public AprilTagDetectionPipeParams(
-            AprilTagFamily tagFamily,
-            AprilTagDetector.Config config,
-            AprilTagDetector.QuadThresholdParameters quadParams) {
-        this.family = tagFamily;
-        this.detectorParams = config;
-        this.quadParams = quadParams;
-    }
-
-    @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());
-        result = prime * result + ((quadParams == null) ? 0 : quadParams.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) {
-            if (other.detectorParams != null) return false;
-        } else if (!detectorParams.equals(other.detectorParams)) return false;
-        if (quadParams == null) {
-            if (other.quadParams != null) return false;
-        } else if (!quadParams.equals(other.quadParams)) return false;
-        return true;
-    }
-}
+ 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);
+     }
+ }
+