DogeCV 2018.2 Release

Author: LegoF4

DogeCV/src/main/java/com/disnodeteam/dogecv/ActivityViewDisplay.java

@@ -37,6 +37,8 @@
  */
 
 public class ActivityViewDisplay implements ViewDisplay {
+
+    //There should only be one instance of this class, so make a static reference to it
     private static ActivityViewDisplay instance;
     private static View main = null;
 
@@ -48,6 +50,11 @@ public static ActivityViewDisplay getInstance() {
         return instance;
     }
 
+    /**
+     * Sets this display to be the current one in use, and starts it on the UI thread (as opposed to the robot controller thread)
+     * @param context The context of the OpMode, can be obtained via hardwaremap.appContext;
+     * @param view The view upon which this activity is to be displayed
+     */
     public void setCurrentView(final Context context, final View view) {
         final Activity activity = (Activity) context;
         activity.runOnUiThread(new Runnable() {

DogeCV/src/main/java/com/disnodeteam/dogecv/CustomCameraView.java

@@ -50,6 +50,7 @@ public class CustomCameraView extends JavaCameraView {
 
     public CustomCameraView(Context context, int cameraId) {
         super(context, cameraId);
+        enableFpsMeter();
     }
 
     @Override

DogeCV/src/main/java/com/disnodeteam/dogecv/DogeCV.java

@@ -1,16 +1,8 @@
 package com.disnodeteam.dogecv;
 
-import android.util.Log;
-
-import org.opencv.core.Core;
-import org.opencv.core.Mat;
-import org.opencv.core.Scalar;
-import org.opencv.core.Size;
-import org.opencv.imgproc.Imgproc;
-
-import java.util.ArrayList;
-import java.util.List;
-
+/**
+ * Contains global enumerated types
+ */
 public class DogeCV {
     public enum DetectionSpeed {
         VERY_FAST,
@@ -22,7 +14,8 @@ public enum DetectionSpeed {
 
     public enum AreaScoringMethod {
         MAX_AREA,
-        PERFECT_AREA
+        PERFECT_AREA,
+        COLOR_DEVIATION
     }
 
 

DogeCV/src/main/java/com/disnodeteam/dogecv/Dogeforia.java

@@ -46,7 +46,7 @@
 import static com.vuforia.Vuforia.setFrameFormat;
 
 /**
- * Created by Victo on 9/12/2018.
+ * An implementation of Vuforia intended to be cross-compatible with OpenCV (and DogeCV by extension)
  */
 
 public class Dogeforia extends VuforiaLocalizerImpl {
@@ -63,9 +63,6 @@ public class Dogeforia extends VuforiaLocalizerImpl {
     BlockingQueue<CloseableFrame> frames;
     public Dogeforia(Parameters parameters) {
         super(parameters);
-
-
-
     }
 
     public void setDogeCVDetector(DogeCVDetector detector){
@@ -126,6 +123,9 @@ public void processFrame(Frame frame){
                 VuforiaTrackablesImpl trackables = loadedTrackableSets.get(0);
                 int count = 0;
                 for(VuforiaTrackable trackable : trackables){
+                    if(trackable == null || ((VuforiaTrackableDefaultListener)trackable.getListener()) == null){
+                        continue;
+                    }
                     if(((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()){
                         Imgproc.putText(outMat,"Vuforia: " + trackable.getName(), new Point(10,50 * count + 50),0,2,new Scalar(0,255,0),3);
                         count++;

DogeCV/src/main/java/com/disnodeteam/dogecv/DrawViewSource.java

@@ -33,25 +33,21 @@ public class DrawViewSource extends View {
     private Bitmap bitmap;
 
     public DrawViewSource(Context context) {
-        // TODO Auto-generated constructor stub
         super(context);
         init(context, null, 0);
     }
 
     public DrawViewSource(Context context, AttributeSet attrs) {
-        // TODO Auto-generated constructor stub
         super(context, attrs);
         init(context, attrs, 0);
     }
 
     public DrawViewSource(Context context, AttributeSet attrs, int defStyleAttr) {
-        // TODO Auto-generated constructor stub
         super(context, attrs, defStyleAttr);
         init(context, attrs, defStyleAttr);
     }
 
     private void init(Context context, AttributeSet attrs, int defStyleAttr) {
-        // TODO Auto-generated method stub
         mPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
 
 
@@ -66,7 +62,6 @@ private void init(Context context, AttributeSet attrs, int defStyleAttr) {
     public DrawViewSource(Context context, AttributeSet attrs,
                           int defStyleAttr, int defStyleRes) {
         super(context, attrs, defStyleAttr, defStyleRes);
-        // TODO Auto-generated constructor stub
     }
 
     /*
@@ -80,7 +75,6 @@ public void onFrame(Bitmap map){
 
     @Override
     protected void onDraw(Canvas canvas) {
-        // TODO Auto-generated method stub
         super.onDraw(canvas);
 
         canvas.drawColor(0, android.graphics.PorterDuff.Mode.CLEAR);

DogeCV/src/main/java/com/disnodeteam/dogecv/OpenCVLoader.java

@@ -1,6 +1,5 @@
 package com.disnodeteam.dogecv;
 
-import android.content.Context;
 import android.os.Environment;
 import android.util.Log;
 
@@ -45,6 +44,7 @@ public class OpenCVLoader {
     // This path may need to be changed for Samsung S5 phones; 
     // its hardcoded because idk how else to get the path without a Context.
     // Feel free to change the value to fit the phone you are using.
+
     private static String filesDir = "/data/user/0/com.qualcomm.ftcrobotcontroller/files";
     public static void setFilesDir(String path) {
         filesDir = path;

DogeCV/src/main/java/com/disnodeteam/dogecv/OpenCVPipeline.java

@@ -39,7 +39,6 @@
  * copy or use the software.
  * -------------------------------------------------------------------------------------
  * This is a base class for an OpenCV pipeline loop. In most cases, one would want to override processFrame() with their own function.
- * TODO: consider more functionality in here, relating to camera parameter manipulation? For most cases it's not needed.
  */
 
 public abstract class OpenCVPipeline implements CameraBridgeViewBase.CvCameraViewListener2 {
@@ -84,6 +83,7 @@ public void init(Context context, ViewDisplay viewDisplay, final int cameraIndex
         final Activity activity = (Activity) context;
         final Context finalContext = context;
         final CameraBridgeViewBase.CvCameraViewListener2 self = this;
+
         activity.runOnUiThread(new Runnable() {
             @Override
             public void run() {
@@ -94,12 +94,13 @@ public void run() {
                     cameraView = new CustomCameraView(finalContext, cameraIndex);
                     cameraView.setCameraIndex(cameraIndex);
                     cameraView.setCvCameraViewListener(self);
+                    cameraView.enableFpsMeter();
+
                 }
                 inited = true;
             }
         });
     }
-    //TODO: allow other JavaCameraViews to be used, with the stipulation that they must already be instantiated from a UI thread
 
     /**
      * Attaches the underlying JavaCameraView to the screen and the camera using the set {@link ViewDisplay} to do so, essentially starting OpenCV processing.

DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/BlankDetector.java

@@ -10,9 +10,15 @@
  * Created by Victo on 12/17/2017.
  */
 
-public class BlankDetector extends OpenCVPipeline {
+public class BlankDetector extends DogeCVDetector {
     @Override
-    public Mat processFrame(Mat rgba, Mat gray) {
-        return rgba;
+    public Mat process(Mat input) {
+        // Process frame
+        return input;
+    }
+
+    @Override
+    public void useDefaults() {
+        // Add in your scorers here.
     }
 }

DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/DogeCVDetector.java

@@ -1,14 +1,9 @@
 package com.disnodeteam.dogecv.detectors;
 
-import android.app.Activity;
-import android.view.Surface;
-import android.view.View;
-
 import com.disnodeteam.dogecv.DogeCV;
 import com.disnodeteam.dogecv.OpenCVPipeline;
 import com.disnodeteam.dogecv.scoring.DogeCVScorer;
 
-import org.opencv.core.Core;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.Point;
@@ -32,15 +27,17 @@ public abstract class DogeCVDetector extends OpenCVPipeline{
     private Size initSize;
     private Size adjustedSize;
     private Mat workingMat = new Mat();
-    public double maxDiffrence = 10;
+    public double maxDifference = 10;
 
     public DogeCV.DetectionSpeed speed = DogeCV.DetectionSpeed.BALANCED;
     public double downscale = 0.5;
     public Size   downscaleResolution = new Size(640, 480);
     public boolean useFixedDownscale = true;
     protected String detectorName = "DogeCV Detector";
 
-    public DogeCVDetector(){}
+    public DogeCVDetector(){
+
+    }
 
     public void setSpeed(DogeCV.DetectionSpeed speed){
         this.speed = speed;
@@ -50,11 +47,11 @@ public void addScorer(DogeCVScorer newScorer){
         scorers.add(newScorer);
     }
 
-    public double calculateScore(MatOfPoint contours){
+    public double calculateScore(Mat input){
         double totalScore = 0;
 
         for(DogeCVScorer scorer : scorers){
-            totalScore += scorer.calculateDifference(contours);
+            totalScore += scorer.calculateScore(input);
         }
 
         return totalScore;
@@ -64,7 +61,7 @@ public double calculateScore(MatOfPoint contours){
 
     @Override
     public Mat processFrame(Mat rgba, Mat gray) {
-        initSize= rgba.size();
+        initSize = rgba.size();
 
         if(useFixedDownscale){
             adjustedSize = downscaleResolution;
@@ -77,10 +74,10 @@ public Mat processFrame(Mat rgba, Mat gray) {
         if(workingMat.empty()){
             return rgba;
         }
-        Imgproc.resize(workingMat, workingMat,adjustedSize);
-
-        Imgproc.resize(process(workingMat),workingMat,getInitSize());
-        Imgproc.putText(workingMat,"DogeCV 2018.1 " + detectorName + ": " + getAdjustedSize().toString() + " - " + speed.toString() ,new Point(5,30),0,0.5,new Scalar(0,255,255),2);
+        Imgproc.resize(workingMat, workingMat,adjustedSize); // Downscale
+        Imgproc.resize(process(workingMat),workingMat,getInitSize()); // Process and scale back to original size for viewing
+        //Print Info
+        Imgproc.putText(workingMat,"DogeCV 2018.2 " + detectorName + ": " + getAdjustedSize().toString() + " - " + speed.toString() ,new Point(5,30),0,0.5,new Scalar(0,255,255),2);
 
         return workingMat;
     }
@@ -92,4 +89,6 @@ public Size getInitSize() {
     public Size getAdjustedSize() {
         return adjustedSize;
     }
+
+    public void setAdjustedSize(Size size) { this.adjustedSize = size; }
 }