Auto merge of #45 - lasarobotics:dev, r=smo-key

Release 0.8.1 - Code cleanup and refactoring, as well as readme updates
lasarobotics · Nov 25, 2015 · 385e580 · 385e580
2 parents e042fe6 + 30c4fa4
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diff --git a/README.md b/README.md
@@ -1,6 +1,8 @@
-![FTC Vision](https://raw.githubusercontent.com/lasarobotics/ftcvision/dev/img/logo-github.png)
+<p align="center">
+  <img src="https://raw.githubusercontent.com/lasarobotics/ftcvision/img/logo.png?raw=true" alt="FTC-Sees!"/>
+</p>
 
-# FTC Vision Library [![Build Status](https://travis-ci.org/lasarobotics/FTCVision.svg?branch=staging)](https://travis-ci.org/lasarobotics/FTCVision)
+# FTC Vision Library [![Build Status](https://travis-ci.org/lasarobotics/FTCVision.svg?branch=master)](https://travis-ci.org/lasarobotics/FTCVision)
 Computer Vision library for FTC based on OpenCV, featuring **beacon color and position detection**, as well as an easy-to-use `VisionOpMode` format and many additional detection features planned in the future.
 
 ## Installing from Scratch
@@ -30,13 +32,19 @@ include ':ftc-visionlib'
 compile project(':ftc-visionlib')
 compile project(':opencv-java')
 ```
-- Copy in Vision opmodes (those that end in `VisionSample.java`) from the FTCVision directory into your opmode directory.
+- Update Gradle configuration by pressing the green "Sync Project with Gradle Files" button in the header (this may take a minute)
+- Copy in Vision opmodes (those that end in `VisionSample.java`, located in `[vision-root]/ftc-robotcontroller/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes`) from the FTCVision directory into your opmode directory.
 - Run and test the code! Let us know if you encounter any difficulties.
+- You can now write your custom `VisionOpMode`!
 
 ## Status
 This library is currently under insanely active development. We're in the **Beta** phase right now. If you have any questions or would like to help, send a note to `smo-key` (contact info on profile). Thank you!
 
-![A test from 8 feet away](https://raw.githubusercontent.com/lasarobotics/ftcvision/dev/img/test3.png)
+#### Accuracy Test
+![A test from 8 feet away](https://raw.githubusercontent.com/lasarobotics/ftcvision/img/test2.png)
+
+#### Distance Test
+![A test from 8 feet away](https://raw.githubusercontent.com/lasarobotics/ftcvision/img/test1.png)
 
 ## Goals
 - Locate the lit target (the thing with two buttons) within the camera viewfield

diff --git a/ftc-cameratest/src/main/AndroidManifest.xml b/ftc-cameratest/src/main/AndroidManifest.xml
@@ -1,38 +1,48 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-          xmlns:tools="http://schemas.android.com/tools"
-          package="com.lasarobotics.tests.camera"
-          android:versionCode="301"
-          android:versionName="3.01">
+    xmlns:tools="http://schemas.android.com/tools"
+    package="com.lasarobotics.tests.camera"
+    android:versionCode="301"
+    android:versionName="3.01">
 
     <application
         android:label="@string/app_name"
         android:theme="@android:style/Theme.NoTitleBar.Fullscreen"
         tools:replace="android:theme">
 
-        <activity android:name="com.lasarobotics.tests.camera.CameraTestActivity"
-                  android:label="@string/app_name"
-                  android:screenOrientation="landscape"
-                  android:configChanges="keyboardHidden|orientation">
+        <activity
+            android:name="com.lasarobotics.tests.camera.CameraTestActivity"
+            android:configChanges="keyboardHidden|orientation"
+            android:label="@string/app_name"
+            android:screenOrientation="landscape">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />
             </intent-filter>
         </activity>
     </application>
 
-    <supports-screens android:resizeable="true"
-                      android:smallScreens="true"
-                      android:normalScreens="true"
-                      android:largeScreens="true"
-                      android:anyDensity="true" />
+    <supports-screens
+        android:anyDensity="true"
+        android:largeScreens="true"
+        android:normalScreens="true"
+        android:resizeable="true"
+        android:smallScreens="true" />
 
-    <uses-permission android:name="android.permission.CAMERA"/>
+    <uses-permission android:name="android.permission.CAMERA" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
 
-    <uses-feature android:name="android.hardware.camera" android:required="false"/>
-    <uses-feature android:name="android.hardware.camera.autofocus" android:required="false"/>
-    <uses-feature android:name="android.hardware.camera.front" android:required="false"/>
-    <uses-feature android:name="android.hardware.camera.front.autofocus" android:required="false"/>
+    <uses-feature
+        android:name="android.hardware.camera"
+        android:required="false" />
+    <uses-feature
+        android:name="android.hardware.camera.autofocus"
+        android:required="false" />
+    <uses-feature
+        android:name="android.hardware.camera.front"
+        android:required="false" />
+    <uses-feature
+        android:name="android.hardware.camera.front.autofocus"
+        android:required="false" />
 
 </manifest>
diff --git a/ftc-cameratest/src/main/java/com/lasarobotics/tests/camera/CameraTestActivity.java b/ftc-cameratest/src/main/java/com/lasarobotics/tests/camera/CameraTestActivity.java
@@ -4,16 +4,16 @@
 import android.os.Bundle;
 import android.view.WindowManager;
 
-import org.lasarobotics.vision.android.Camera;
-import org.lasarobotics.vision.android.Cameras;
-import org.lasarobotics.vision.detection.ColorBlobDetector;
-import org.lasarobotics.vision.detection.objects.Contour;
-import org.lasarobotics.vision.ftc.resq.Beacon;
-import org.lasarobotics.vision.image.Drawing;
-import org.lasarobotics.vision.util.FPS;
-import org.lasarobotics.vision.util.color.ColorGRAY;
-import org.lasarobotics.vision.util.color.ColorHSV;
-import org.lasarobotics.vision.util.color.ColorRGBA;
+import org.lasarobotics.vision.test.android.Camera;
+import org.lasarobotics.vision.test.android.Cameras;
+import org.lasarobotics.vision.test.detection.ColorBlobDetector;
+import org.lasarobotics.vision.test.detection.objects.Contour;
+import org.lasarobotics.vision.test.ftc.resq.Beacon;
+import org.lasarobotics.vision.test.image.Drawing;
+import org.lasarobotics.vision.test.util.FPS;
+import org.lasarobotics.vision.test.util.color.ColorGRAY;
+import org.lasarobotics.vision.test.util.color.ColorHSV;
+import org.lasarobotics.vision.test.util.color.ColorRGBA;
 import org.opencv.android.BaseLoaderCallback;
 import org.opencv.android.CameraBridgeViewBase;
 import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
@@ -24,26 +24,48 @@
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
 
-import java.text.DecimalFormat;
 import java.util.List;
 
 public class CameraTestActivity extends Activity implements CvCameraViewListener2 {
 
+    private static final ColorHSV colorRadius = new ColorHSV(50, 75, 127);
+    private static final ColorHSV lowerBoundRed = new ColorHSV((int) (305 / 360.0 * 255.0), (int) (0.200 * 255.0), (int) (0.300 * 255.0));
+    private static final ColorHSV upperBoundRed = new ColorHSV((int) ((360.0 + 5.0) / 360.0 * 255.0), 255, 255);
+    private static final ColorHSV lowerBoundBlue = new ColorHSV((int) (170.0 / 360.0 * 255.0), (int) (0.200 * 255.0), (int) (0.750 * 255.0));
+    private static final ColorHSV upperBoundBlue = new ColorHSV((int) (227.0 / 360.0 * 255.0), 255, 255);
     private Mat mRgba; //RGBA scene image
     private Mat mGray; //Grayscale scene image
     private CameraBridgeViewBase mOpenCvCameraView;
-
     private float focalLength; //Camera lens focal length
-
     //private ObjectDetection.ObjectAnalysis objectAnalysis;
     private FPS fpsCounter;
+    private final BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
+        @Override
+        public void onManagerConnected(int status) {
+            switch (status) {
+                case LoaderCallbackInterface.SUCCESS: {
+                    // OpenCV loaded successfully!
+                    // Load native library AFTER OpenCV initialization
+
+                    initialize();
 
+                    mOpenCvCameraView.enableView();
+                }
+                break;
+                default: {
+                    super.onManagerConnected(status);
+                }
+                break;
+            }
+        }
+    };
+    private ColorBlobDetector detectorRed;
+    private ColorBlobDetector detectorBlue;
     public CameraTestActivity() {
 
     }
 
-    private void initialize()
-    {
+    private void initialize() {
         //GET CAMERA PROPERTIES
         Camera cam = Cameras.PRIMARY.createCamera();
         android.hardware.Camera.Parameters pam = cam.getCamera().getParameters();
@@ -79,28 +101,9 @@ private void initialize()
         fpsCounter = new FPS();
     }
 
-    private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
-        @Override
-        public void onManagerConnected(int status) {
-            switch (status) {
-                case LoaderCallbackInterface.SUCCESS:
-                {
-                    // OpenCV loaded successfully!
-                    // Load native library AFTER OpenCV initialization
-
-                    initialize();
-
-                    mOpenCvCameraView.enableView();
-                } break;
-                default:
-                {
-                    super.onManagerConnected(status);
-                } break;
-            }
-        }
-    };
-
-    /** Called when the activity is first created. */
+    /**
+     * Called when the activity is first created.
+     */
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -113,16 +116,14 @@ public void onCreate(Bundle savedInstanceState) {
     }
 
     @Override
-    public void onPause()
-    {
+    public void onPause() {
         super.onPause();
         if (mOpenCvCameraView != null)
             mOpenCvCameraView.disableView();
     }
 
     @Override
-    public void onResume()
-    {
+    public void onResume() {
         super.onResume();
         if (!OpenCVLoader.initDebug()) {
             // Internal OpenCV library not found. Using OpenCV Manager for initialization
@@ -139,22 +140,12 @@ public void onDestroy() {
             mOpenCvCameraView.disableView();
     }
 
-    private ColorBlobDetector detectorRed;
-    private ColorBlobDetector detectorBlue;
-    private static final ColorHSV colorRadius = new ColorHSV(50, 75, 127);
-
-    private static final ColorHSV lowerBoundRed = new ColorHSV( (int)(305         / 360.0 * 255.0), (int)(0.200 * 255.0), (int)(0.300 * 255.0));
-    private static final ColorHSV upperBoundRed = new ColorHSV( (int)((360.0+5.0) / 360.0 * 255.0), 255                 , 255);
-
-    private static final ColorHSV lowerBoundBlue = new ColorHSV((int)(170.0       / 360.0 * 255.0), (int)(0.200 * 255.0), (int)(0.750 * 255.0));
-    private static final ColorHSV upperBoundBlue = new ColorHSV((int)(227.0       / 360.0 * 255.0), 255                 , 255);
-
     public void onCameraViewStarted(int width, int height) {
         mRgba = new Mat(height, width, CvType.CV_8UC4);
         mGray = new Mat(height, width, CvType.CV_8UC1);
 
         //Initialize all detectors here
-        detectorRed  = new ColorBlobDetector(lowerBoundRed, upperBoundRed);
+        detectorRed = new ColorBlobDetector(lowerBoundRed, upperBoundRed);
         detectorBlue = new ColorBlobDetector(lowerBoundBlue, upperBoundBlue);
     }
 
@@ -192,17 +183,15 @@ public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
 
 
             //DEBUG confidence output
-            Drawing.drawText(mRgba, "Confidence: " + colorAnalysis.getConfidenceString() ,
+            Drawing.drawText(mRgba, "Confidence: " + colorAnalysis.getConfidenceString(),
                     new Point(0, 50), 1.0f, new ColorGRAY(255));
 
             //Transform.enlarge(mRgba, originalSize, true);
             //Transform.enlarge(mGray, originalSize, true);
 
             Drawing.drawText(mRgba, colorAnalysis.getStateLeft().toString() + ", " + colorAnalysis.getStateRight().toString(),
                     new Point(0, 8), 1.0f, new ColorGRAY(255), Drawing.Anchor.BOTTOMLEFT);
-        }
-        catch (Exception e)
-        {
+        } catch (Exception e) {
             Drawing.drawText(mRgba, "Analysis Error", new Point(0, 8), 1.0f, new ColorRGBA("#F44336"), Drawing.Anchor.BOTTOMLEFT);
             e.printStackTrace();
         }

diff --git a/ftc-cameratest/src/main/res/layout/activity_cameratest.xml b/ftc-cameratest/src/main/res/layout/activity_cameratest.xml
@@ -1,10 +1,10 @@
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="match_parent" >
+    android:layout_height="match_parent">
 
     <org.opencv.android.JavaCameraView
+        android:id="@+id/surfaceView"
         android:layout_width="fill_parent"
-        android:layout_height="fill_parent"
-        android:id="@+id/surfaceView" />
+        android:layout_height="fill_parent" />
 
 </LinearLayout>
diff --git a/...otcontroller/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/BasicVisionSample.java b/...otcontroller/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/BasicVisionSample.java
@@ -31,24 +31,11 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 
 package com.qualcomm.ftcrobotcontroller.opmodes;
 
-import org.lasarobotics.vision.android.Cameras;
-import org.lasarobotics.vision.detection.ColorBlobDetector;
-import org.lasarobotics.vision.detection.objects.Contour;
-import org.lasarobotics.vision.ftc.resq.Beacon;
-import org.lasarobotics.vision.image.Drawing;
-import org.lasarobotics.vision.image.Transform;
-import org.lasarobotics.vision.opmode.ManualVisionOpMode;
-import org.lasarobotics.vision.opmode.VisionExtensions;
-import org.lasarobotics.vision.opmode.VisionOpMode;
-import org.lasarobotics.vision.util.color.ColorGRAY;
-import org.lasarobotics.vision.util.color.ColorHSV;
-import org.lasarobotics.vision.util.color.ColorRGBA;
-import org.opencv.core.Mat;
-import org.opencv.core.Point;
+import org.lasarobotics.vision.test.android.Cameras;
+import org.lasarobotics.vision.test.opmode.VisionExtensions;
+import org.lasarobotics.vision.test.opmode.VisionOpMode;
 import org.opencv.core.Size;
 
-import java.util.List;
-
 /**
  * TeleOp Mode
  * <p/>

diff --git a/...tcontroller/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/ManualVisionSample.java b/...tcontroller/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/ManualVisionSample.java
@@ -31,15 +31,15 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 
 package com.qualcomm.ftcrobotcontroller.opmodes;
 
-import org.lasarobotics.vision.android.Cameras;
-import org.lasarobotics.vision.detection.ColorBlobDetector;
-import org.lasarobotics.vision.detection.objects.Contour;
-import org.lasarobotics.vision.ftc.resq.Beacon;
-import org.lasarobotics.vision.image.Drawing;
-import org.lasarobotics.vision.opmode.ManualVisionOpMode;
-import org.lasarobotics.vision.util.color.ColorGRAY;
-import org.lasarobotics.vision.util.color.ColorHSV;
-import org.lasarobotics.vision.util.color.ColorRGBA;
+import org.lasarobotics.vision.test.android.Cameras;
+import org.lasarobotics.vision.test.detection.ColorBlobDetector;
+import org.lasarobotics.vision.test.detection.objects.Contour;
+import org.lasarobotics.vision.test.ftc.resq.Beacon;
+import org.lasarobotics.vision.test.image.Drawing;
+import org.lasarobotics.vision.test.opmode.ManualVisionOpMode;
+import org.lasarobotics.vision.test.util.color.ColorGRAY;
+import org.lasarobotics.vision.test.util.color.ColorHSV;
+import org.lasarobotics.vision.test.util.color.ColorRGBA;
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Size;
@@ -53,13 +53,13 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  */
 public class ManualVisionSample extends ManualVisionOpMode {
 
-    private Beacon.BeaconAnalysis colorAnalysis = new Beacon.BeaconAnalysis();
-    private ColorBlobDetector detectorRed;
-    private ColorBlobDetector detectorBlue;
     private static final ColorHSV lowerBoundRed = new ColorHSV((int) (305 / 360.0 * 255.0), (int) (0.200 * 255.0), (int) (0.300 * 255.0));
     private static final ColorHSV upperBoundRed = new ColorHSV((int) ((360.0 + 5.0) / 360.0 * 255.0), 255, 255);
     private static final ColorHSV lowerBoundBlue = new ColorHSV((int) (170.0 / 360.0 * 255.0), (int) (0.200 * 255.0), (int) (0.750 * 255.0));
     private static final ColorHSV upperBoundBlue = new ColorHSV((int) (227.0 / 360.0 * 255.0), 255, 255);
+    private Beacon.BeaconAnalysis colorAnalysis = new Beacon.BeaconAnalysis();
+    private ColorBlobDetector detectorRed;
+    private ColorBlobDetector detectorBlue;
     private boolean noError = true;
 
     @Override

diff --git a/.../lasarobotics/vision/ApplicationTest.java → ...robotics/vision/test/ApplicationTest.java b/.../lasarobotics/vision/ApplicationTest.java → ...robotics/vision/test/ApplicationTest.java
@@ -1,4 +1,4 @@
-package org.lasarobotics.vision;
+package org.lasarobotics.vision.test;
 
 import android.app.Application;
 import android.test.ApplicationTestCase;

diff --git a/ftc-visionlib/src/main/AndroidManifest.xml b/ftc-visionlib/src/main/AndroidManifest.xml
@@ -1,9 +1,9 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-          package="org.lasarobotics.vision">
+    package="org.lasarobotics.vision.vision">
 
-    <application android:allowBackup="true"
-                 android:label="@string/app_name"
-        >
+    <application
+        android:allowBackup="true"
+        android:label="@string/app_name">
 
     </application>