971cv/src/org/spartanrobotics/VisionTuner.java - RealtimeRoboticsGroup/test - Gitiles

 package org.spartanrobotics;

 import java.awt.BorderLayout;
 import java.awt.GridLayout;
 import java.awt.event.ActionEvent;
 import java.awt.event.ActionListener;
 import java.awt.event.KeyEvent;

 import java.util.Arrays;
 import java.util.logging.Level;
 import java.util.logging.Logger;

 import java.io.FileNotFoundException;
 import java.io.IOException;

 import javax.swing.JButton;
 import javax.swing.JLabel;
 import javax.swing.JPanel;
 import javax.swing.JSlider;
 import javax.swing.WindowConstants;
 import javax.swing.event.ChangeEvent;
 import javax.swing.event.ChangeListener;

 import com.googlecode.javacv.CanvasFrame;
 import edu.wpi.first.wpijavacv.WPIColorImage;
 import edu.wpi.first.wpijavacv.WPIImage;

 /* REQUIRED JAVA LIBRARIES:
  *   external_jars/
  *     javacpp.jar
  *     javacv-YOUR_OS.jar
  *     javacv.jar
  *     WPIJavaCV.jar
  *
  * REQUIRED NATIVE CODE LIBRARIES ON $PATH:
  *   Program Files/WPIJavaCV/     [for example]
  *     JavaCV_2.2.0/javacv-bin/javacv-YOUR_OS.jar
  *     OpenCV_2.2.0/bin/*
  *
  * The native libraries and javacv-YOUR_OS.jar must match the 32 vs. 64-bit JVM.
  */
 /**
  * FRC 2013 vision-target recognizer tuner app.
  *
  * <p>
  * See {@link #processEvents()} for the keystroke commands.
  *
  * @author jerry
  * @author daniel
  */
 public class VisionTuner {
     private Recognizer recognizer = new Recognizer2013();

     private final static Logger LOG = Logger.getLogger(
 			VisionTuner.class.getName());

     private final CanvasFrame cameraFrame = new CanvasFrame("Camera");
     private final JPanel panel = new JPanel();
     private final JSlider hueMinSlider = new JSlider();
     private final JSlider hueMaxSlider = new JSlider();
     private final JSlider satMinSlider = new JSlider();
     private final JSlider valMinSlider = new JSlider();
     private final JButton showCalibration = new JButton("Calibrate");
     private final JLabel frameRate = new JLabel("0");

     private ResultSender sender = null;

     private int totalFrames = -1; // don't count the first (warm-up) frame
     private double totalMsec;
     private double minMsec = Double.MAX_VALUE;
     private double maxMsec;

     private TestImageGetter getter;

     private WPIColorImage current;

     private boolean debug = false;

     long startTime;
     long endTime;

     public VisionTuner() {
     	//set logger to log everything
         LOG.setLevel(Level.ALL);
         try {
         	LogHandler handler = new LogHandler("ds_vision.log");
         	TimeFormatter formatter = new TimeFormatter();
             handler.setFormatter(formatter);
             LOG.addHandler(handler);
         } catch (FileNotFoundException e) {
         	Messages.warning("Logging initialization failed.");
         }

         //initialize result sender
         try {
         	sender = new ResultSender();
         } catch (IOException e) {
         	LOG.severe("Server initialization failed: " + e.getMessage() + ". Result reporting disabled.");
         }
         cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);

         cameraFrame.getContentPane().add(panel, BorderLayout.SOUTH);
         panel.setLayout(new GridLayout(0, 2, 0, 0));

         showCalibration.setToolTipText("Click here if the system is not finding targets well enough.");
         panel.add(showCalibration);
         showCalibration.addActionListener(new ActionListener() {
         	public void actionPerformed(ActionEvent e) {
         		showCalibrationWindow();
         	}
         });

         panel.add(frameRate);

     }

     /** Shows a calibration window when the user clicks the Calibrate button. */
     private void showCalibrationWindow() {
     	final CanvasFrame calibrationWindow = new CanvasFrame("Calibration");
     	calibrationWindow.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE);

     	final JPanel panel = new JPanel();
     	calibrationWindow.getContentPane().add(panel, BorderLayout.SOUTH);
         panel.setLayout(new GridLayout(3, 3, 0, 0));

         hueMinSlider.setToolTipText("minimum HSV hue");
         hueMinSlider.setMaximum(255);
         hueMinSlider.setValue(recognizer.getHueMin());
         panel.add(hueMinSlider);

         panel.add(new JLabel("min hue                          max hue"));

         hueMaxSlider.setToolTipText("maximum HSV hue");
         hueMaxSlider.setMaximum(255);
         hueMaxSlider.setValue(recognizer.getHueMax());
         panel.add(hueMaxSlider);

         satMinSlider.setToolTipText("minimum HSV color saturation");
         satMinSlider.setMaximum(255);
         satMinSlider.setValue(recognizer.getSatMin());
         panel.add(satMinSlider);

         panel.add(new JLabel("min saturation  max saturation"));

         valMinSlider.setToolTipText("minimum HSV brightness value");
         valMinSlider.setMaximum(255);
         valMinSlider.setValue(recognizer.getValMin());
         panel.add(valMinSlider);

         panel.add(new JLabel("")); //empty cells can cause problems

         final JButton done = new JButton("Close");
         panel.add(done);
         done.addActionListener(new ActionListener() {
         	public void actionPerformed(ActionEvent e) {
         		calibrationWindow.dispose();
         	}
         });

         panel.add(new JLabel("")); //empty cells can cause problems

         ChangeListener sliderListener = new ChangeListener() {
             @Override
             public void stateChanged(ChangeEvent e) {
                 LOG.fine("New HSV range ["
                         + hueMinSlider.getValue() + " .. "
                         + hueMaxSlider.getValue() + "] "
                         + satMinSlider.getValue() + "+ "
                         + valMinSlider.getValue() + "+");
                 recognizer.setHSVRange(
                         hueMinSlider.getValue(), hueMaxSlider.getValue(),
                         satMinSlider.getValue(),
                         valMinSlider.getValue());
                 if (debug) {
                 	processImage(current, getter.getName());
                 }
             }
         };

         hueMinSlider.addChangeListener(sliderListener);
         hueMaxSlider.addChangeListener(sliderListener);
         satMinSlider.addChangeListener(sliderListener);
         valMinSlider.addChangeListener(sliderListener);

         calibrationWindow.pack();

     }

     /**
      * Loads the named test image files.
      * Sets testImageFilenames and testImages.
      */
     private void processImage(WPIColorImage cameraImage, String title) {
     	current = cameraImage;

     	//set window title if it needs to be changed
     	cameraFrame.setTitle(title);

         Target target = recognizer.processImage(cameraImage);
         WPIImage processedImage = target.editedPicture;
         endTime = System.nanoTime();

         cameraFrame.showImage(processedImage.getBufferedImage());

         double milliseconds = (endTime - startTime) / 1e6;
         if (++totalFrames > 0) {
             totalMsec += milliseconds;
             minMsec = Math.min(minMsec, milliseconds);
             maxMsec = Math.max(maxMsec, milliseconds);
             LOG.fine("The recognizer took " + milliseconds + " ms, " +
             (1000 * totalFrames / totalMsec) + " fps avg");
         }

         //send results to atom. (and any connected clients)
         if (sender != null) {
         	sender.send(target.azimuth, target.elevation, target.range);
         }

         //show average fps
         double fps = (1000 / milliseconds);
         frameRate.setText("FPS: " + String.valueOf(fps));

     }

     private void previousImage() {
     	WPIColorImage toProcess = getter.getPrev();
     	if (toProcess != null)
     		processImage(toProcess, getter.getName());
     }

     private void nextImage() {
     	WPIColorImage toProcess = getter.getFrame();
     	if (toProcess != null)
     		processImage(toProcess, getter.getName());
     }

     private void processEvents() {
         KeyEvent e = cameraFrame.waitKey();

         switch (e.getKeyCode()) {
         case KeyEvent.VK_LEFT: // left arrow key: go to previous image
             previousImage();
             break;
         case KeyEvent.VK_RIGHT: // right arrow key: go to next image
             nextImage();
             break;
         case KeyEvent.VK_Q: // Q: print time measurements then quit
             LOG.fine("The recognizer took " + (totalMsec / totalFrames) + "ms avg, " + minMsec +" min,"
                     + maxMsec + " max, " + (1000 * totalFrames / totalMsec) + " fps avg");
             System.exit(0);
         }
     }

     public static void main(final String[] args) {
     	VisionTuner tuner = new VisionTuner();
     	Messages.SetWindow(tuner.cameraFrame);

     	String atomIP = null;
     	try {
     		atomIP = args[0];
     	} catch (ArrayIndexOutOfBoundsException e) {
     		System.out.println("Usage: VisionTuner [atom IP address]");
     		System.exit(0);
     	}

         if (Arrays.asList(args).contains("-debug")) {
         	//debug mode has been requested
         	tuner.debug = true;

         	//show debugging windows
         	tuner.recognizer.showIntermediateStages(true);
         	tuner.getter = new TestImageGetter(".");
         	WPIColorImage to_process = tuner.getter.getFrame();
         	tuner.processImage(to_process, tuner.getter.getName());
         	for (;;) {
         		tuner.processEvents();
         	}
         } else {
         	try {
         		HTTPClient client = new HTTPClient(atomIP);
         		for (;;) {
         			tuner.startTime = System.nanoTime();
             		WPIColorImage to_process = client.getFrame();
             		if (to_process != null) {
             			tuner.processImage(to_process, client.getName());
             			LOG.fine("Captured time: " + Double.toString(client.getTimestamp()));
             		}
             	}
         	} catch (IOException e) {
         		LOG.severe("Client initialization failed: " + e.getMessage() + ".");
         		Messages.severe("Client initialization failed: " + e.getMessage() + ".");
         	}
         }
     }

 }
	package org.spartanrobotics;

	import java.awt.BorderLayout;
	import java.awt.GridLayout;
	import java.awt.event.ActionEvent;
	import java.awt.event.ActionListener;
	import java.awt.event.KeyEvent;

	import java.util.Arrays;
	import java.util.logging.Level;
	import java.util.logging.Logger;

	import java.io.FileNotFoundException;
	import java.io.IOException;

	import javax.swing.JButton;
	import javax.swing.JLabel;
	import javax.swing.JPanel;
	import javax.swing.JSlider;
	import javax.swing.WindowConstants;
	import javax.swing.event.ChangeEvent;
	import javax.swing.event.ChangeListener;

	import com.googlecode.javacv.CanvasFrame;
	import edu.wpi.first.wpijavacv.WPIColorImage;
	import edu.wpi.first.wpijavacv.WPIImage;

	/* REQUIRED JAVA LIBRARIES:
	* external_jars/
	* javacpp.jar
	* javacv-YOUR_OS.jar
	* javacv.jar
	* WPIJavaCV.jar
	*
	* REQUIRED NATIVE CODE LIBRARIES ON $PATH:
	* Program Files/WPIJavaCV/ [for example]
	* JavaCV_2.2.0/javacv-bin/javacv-YOUR_OS.jar
	* OpenCV_2.2.0/bin/*
	*
	* The native libraries and javacv-YOUR_OS.jar must match the 32 vs. 64-bit JVM.
	*/
	/**
	* FRC 2013 vision-target recognizer tuner app.
	*
	* <p>
	* See {@link #processEvents()} for the keystroke commands.
	*
	* @author jerry
	* @author daniel
	*/
	public class VisionTuner {
	private Recognizer recognizer = new Recognizer2013();

	private final static Logger LOG = Logger.getLogger(
	VisionTuner.class.getName());

	private final CanvasFrame cameraFrame = new CanvasFrame("Camera");
	private final JPanel panel = new JPanel();
	private final JSlider hueMinSlider = new JSlider();
	private final JSlider hueMaxSlider = new JSlider();
	private final JSlider satMinSlider = new JSlider();
	private final JSlider valMinSlider = new JSlider();
	private final JButton showCalibration = new JButton("Calibrate");
	private final JLabel frameRate = new JLabel("0");

	private ResultSender sender = null;

	private int totalFrames = -1; // don't count the first (warm-up) frame
	private double totalMsec;
	private double minMsec = Double.MAX_VALUE;
	private double maxMsec;

	private TestImageGetter getter;

	private WPIColorImage current;

	private boolean debug = false;

	long startTime;
	long endTime;

	public VisionTuner() {
	//set logger to log everything
	LOG.setLevel(Level.ALL);
	try {
	LogHandler handler = new LogHandler("ds_vision.log");
	TimeFormatter formatter = new TimeFormatter();
	handler.setFormatter(formatter);
	LOG.addHandler(handler);
	} catch (FileNotFoundException e) {
	Messages.warning("Logging initialization failed.");
	}

	//initialize result sender
	try {
	sender = new ResultSender();
	} catch (IOException e) {
	LOG.severe("Server initialization failed: " + e.getMessage() + ". Result reporting disabled.");
	}
	cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);

	cameraFrame.getContentPane().add(panel, BorderLayout.SOUTH);
	panel.setLayout(new GridLayout(0, 2, 0, 0));

	showCalibration.setToolTipText("Click here if the system is not finding targets well enough.");
	panel.add(showCalibration);
	showCalibration.addActionListener(new ActionListener() {
	public void actionPerformed(ActionEvent e) {
	showCalibrationWindow();
	}
	});

	panel.add(frameRate);

	}

	/** Shows a calibration window when the user clicks the Calibrate button. */
	private void showCalibrationWindow() {
	final CanvasFrame calibrationWindow = new CanvasFrame("Calibration");
	calibrationWindow.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE);

	final JPanel panel = new JPanel();
	calibrationWindow.getContentPane().add(panel, BorderLayout.SOUTH);
	panel.setLayout(new GridLayout(3, 3, 0, 0));

	hueMinSlider.setToolTipText("minimum HSV hue");
	hueMinSlider.setMaximum(255);
	hueMinSlider.setValue(recognizer.getHueMin());
	panel.add(hueMinSlider);

	panel.add(new JLabel("min hue max hue"));

	hueMaxSlider.setToolTipText("maximum HSV hue");
	hueMaxSlider.setMaximum(255);
	hueMaxSlider.setValue(recognizer.getHueMax());
	panel.add(hueMaxSlider);

	satMinSlider.setToolTipText("minimum HSV color saturation");
	satMinSlider.setMaximum(255);
	satMinSlider.setValue(recognizer.getSatMin());
	panel.add(satMinSlider);

	panel.add(new JLabel("min saturation max saturation"));

	valMinSlider.setToolTipText("minimum HSV brightness value");
	valMinSlider.setMaximum(255);
	valMinSlider.setValue(recognizer.getValMin());
	panel.add(valMinSlider);

	panel.add(new JLabel("")); //empty cells can cause problems

	final JButton done = new JButton("Close");
	panel.add(done);
	done.addActionListener(new ActionListener() {
	public void actionPerformed(ActionEvent e) {
	calibrationWindow.dispose();
	}
	});

	panel.add(new JLabel("")); //empty cells can cause problems

	ChangeListener sliderListener = new ChangeListener() {
	@Override
	public void stateChanged(ChangeEvent e) {
	LOG.fine("New HSV range ["
	+ hueMinSlider.getValue() + " .. "
	+ hueMaxSlider.getValue() + "] "
	+ satMinSlider.getValue() + "+ "
	+ valMinSlider.getValue() + "+");
	recognizer.setHSVRange(
	hueMinSlider.getValue(), hueMaxSlider.getValue(),
	satMinSlider.getValue(),
	valMinSlider.getValue());
	if (debug) {
	processImage(current, getter.getName());
	}
	}
	};

	hueMinSlider.addChangeListener(sliderListener);
	hueMaxSlider.addChangeListener(sliderListener);
	satMinSlider.addChangeListener(sliderListener);
	valMinSlider.addChangeListener(sliderListener);

	calibrationWindow.pack();

	}

	/**
	* Loads the named test image files.
	* Sets testImageFilenames and testImages.
	*/
	private void processImage(WPIColorImage cameraImage, String title) {
	current = cameraImage;

	//set window title if it needs to be changed
	cameraFrame.setTitle(title);

	Target target = recognizer.processImage(cameraImage);
	WPIImage processedImage = target.editedPicture;
	endTime = System.nanoTime();

	cameraFrame.showImage(processedImage.getBufferedImage());

	double milliseconds = (endTime - startTime) / 1e6;
	if (++totalFrames > 0) {
	totalMsec += milliseconds;
	minMsec = Math.min(minMsec, milliseconds);
	maxMsec = Math.max(maxMsec, milliseconds);
	LOG.fine("The recognizer took " + milliseconds + " ms, " +
	(1000 * totalFrames / totalMsec) + " fps avg");
	}

	//send results to atom. (and any connected clients)
	if (sender != null) {
	sender.send(target.azimuth, target.elevation, target.range);
	}

	//show average fps
	double fps = (1000 / milliseconds);
	frameRate.setText("FPS: " + String.valueOf(fps));

	}

	private void previousImage() {
	WPIColorImage toProcess = getter.getPrev();
	if (toProcess != null)
	processImage(toProcess, getter.getName());
	}

	private void nextImage() {
	WPIColorImage toProcess = getter.getFrame();
	if (toProcess != null)
	processImage(toProcess, getter.getName());
	}

	private void processEvents() {
	KeyEvent e = cameraFrame.waitKey();

	switch (e.getKeyCode()) {
	case KeyEvent.VK_LEFT: // left arrow key: go to previous image
	previousImage();
	break;
	case KeyEvent.VK_RIGHT: // right arrow key: go to next image
	nextImage();
	break;
	case KeyEvent.VK_Q: // Q: print time measurements then quit
	LOG.fine("The recognizer took " + (totalMsec / totalFrames) + "ms avg, " + minMsec +" min,"
	+ maxMsec + " max, " + (1000 * totalFrames / totalMsec) + " fps avg");
	System.exit(0);
	}
	}

	public static void main(final String[] args) {
	VisionTuner tuner = new VisionTuner();
	Messages.SetWindow(tuner.cameraFrame);

	String atomIP = null;
	try {
	atomIP = args[0];
	} catch (ArrayIndexOutOfBoundsException e) {
	System.out.println("Usage: VisionTuner [atom IP address]");
	System.exit(0);
	}

	if (Arrays.asList(args).contains("-debug")) {
	//debug mode has been requested
	tuner.debug = true;

	//show debugging windows
	tuner.recognizer.showIntermediateStages(true);
	tuner.getter = new TestImageGetter(".");
	WPIColorImage to_process = tuner.getter.getFrame();
	tuner.processImage(to_process, tuner.getter.getName());
	for (;;) {
	tuner.processEvents();
	}
	} else {
	try {
	HTTPClient client = new HTTPClient(atomIP);
	for (;;) {
	tuner.startTime = System.nanoTime();
	WPIColorImage to_process = client.getFrame();
	if (to_process != null) {
	tuner.processImage(to_process, client.getName());
	LOG.fine("Captured time: " + Double.toString(client.getTimestamp()));
	}
	}
	} catch (IOException e) {
	LOG.severe("Client initialization failed: " + e.getMessage() + ".");
	Messages.severe("Client initialization failed: " + e.getMessage() + ".");
	}
	}
	}

	}