Static cropping

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

@@ -8,6 +8,7 @@ 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 +26,10 @@ const allTabs = Object.freeze({
     tabName: "Input",
     component: InputTab
   },
+  cropTab: {
+    tabName: "Crop",
+    component: CropTab
+  },
   thresholdTab: {
     tabName: "Threshold",
     component: ThresholdTab
@@ -76,6 +81,7 @@ const getTabGroups = (): ConfigOption[][] => {
     return [
       [
         allTabs.inputTab,
+        allTabs.cropTab,
         allTabs.thresholdTab,
         allTabs.contoursTab,
         allTabs.apriltagTab,
@@ -87,7 +93,7 @@ const getTabGroups = (): ConfigOption[][] => {
     ];
   } else if (lgAndDown) {
     return [
-      [allTabs.inputTab],
+      [allTabs.inputTab, allTabs.cropTab],
       [
         allTabs.thresholdTab,
         allTabs.contoursTab,
@@ -100,7 +106,7 @@ const getTabGroups = (): ConfigOption[][] => {
     ];
   } else if (xl) {
     return [
-      [allTabs.inputTab],
+      [allTabs.inputTab, allTabs.cropTab],
       [allTabs.thresholdTab],
       [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.objectDetectionTab, allTabs.outputTab],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
@@ -118,6 +124,7 @@ const tabGroups = computed<ConfigOption[][]>(() => {
   const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
   const isObjectDetection =
     useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.ObjectDetection;
+  const isReflective = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Reflective;
 
   return getTabGroups()
     .map((tabGroup) =>
@@ -128,8 +135,9 @@ const tabGroups = computed<ConfigOption[][]>(() => {
           !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
           !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
           !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags
-          !(!isAruco && tabConfig.tabName === "Aruco") &&
-          !(!isObjectDetection && tabConfig.tabName === "Object Detection") //Filter out aruco unless we actually are doing Aruco
+          !(!isAruco && tabConfig.tabName === "Aruco") && //Filter out aruco unless we actually are doing Aruco
+          !(!isObjectDetection && tabConfig.tabName === "Object Detection") &&
+          !(isReflective && tabConfig.tabName === "Crop")
       )
     )
     .filter((it) => it.length); // Remove empty tab groups

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

@@ -0,0 +1,60 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type ActivePipelineSettings } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings as ActivePipelineSettings
+);
+const frame_width = computed(() => useCameraSettingsStore().currentVideoFormat.resolution.width);
+const frame_height = computed(() => useCameraSettingsStore().currentVideoFormat.resolution.height);
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
+</script>
+<template>
+  <div>
+    <v-card-subtitle class="white--text">Static Crop</v-card-subtitle>
+    <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"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_x: value }, false)"
+    />
+    <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"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_y: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.static_width"
+      :slider-cols="interactiveCols"
+      label="Width"
+      tooltip="The width of the statically cropped area"
+      :min="16"
+      :max="frame_width"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_width: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.static_height"
+      :slider-cols="interactiveCols"
+      label="Height"
+      tooltip="The height of the statically cropped area"
+      :min="16"
+      :max="frame_height"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ static_height: value }, false)"
+    />
+  </div>
+</template>

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

@@ -36,7 +36,13 @@ const cameraResolutions = computed(() =>
 );
 const handleResolutionChange = (value: number) => {
   useCameraSettingsStore().changeCurrentPipelineSetting({ cameraVideoModeIndex: value }, false);
-
+  const currResolutions = useCameraSettingsStore().currentVideoFormat.resolution;
+  useCameraSettingsStore().changeCurrentPipelineSetting({
+    static_x: 0,
+    static_y: 0,
+    static_height: currResolutions.height,
+    static_width: currResolutions.width
+  });
   useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: getNumberOfSkippedDivisors() }, false);
   useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor = 0;
 

photon-client/src/types/PipelineTypes.ts

@@ -79,6 +79,10 @@ export interface PipelineSettings {
 
   cameraAutoWhiteBalance: boolean;
   cameraWhiteBalanceTemp: number;
+  static_x: number;
+  static_y: number;
+  static_width: number;
+  static_height: number;
 }
 export type ConfigurablePipelineSettings = Partial<
   Omit<
@@ -143,7 +147,11 @@ export const DefaultPipelineSettings: Omit<
   cameraAutoWhiteBalance: false,
   cameraWhiteBalanceTemp: 4000,
   cameraMinExposureRaw: 1,
-  cameraMaxExposureRaw: 2
+  cameraMaxExposureRaw: 2,
+  static_x: 0,
+  static_y: 0,
+  static_width: 0,
+  static_height: 0
 };
 
 export interface ReflectivePipelineSettings extends PipelineSettings {

photon-core/src/main/java/org/photonvision/common/util/CroppingUtils.java

@@ -0,0 +1,34 @@
+/*
+ * 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/>.
+ */
+
+package org.photonvision.common.util;
+
+import org.opencv.core.Mat;
+import org.opencv.core.Rect;
+
+public class CroppingUtils {
+    /**
+     * Returns true if the given rectangle fully covers some given image.
+     *
+     * @param rect The rectangle to check.
+     * @param mat The image to check.
+     * @return boolean
+     */
+    public static boolean fullyCovers(Rect rect, Mat mat) {
+        return rect.x <= 0 && rect.y <= 0 && rect.width >= mat.width() && rect.height >= mat.height();
+    }
+}

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

@@ -0,0 +1,47 @@
+/*
+ * 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/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import edu.wpi.first.math.MathUtil;
+import org.opencv.core.Rect;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class CropPipe extends CVPipe<CVMat, CVMat, Rect> {
+    public CropPipe(int width, int height) {
+        this.params = new Rect(0, 0, width, height);
+    }
+
+    @Override
+    protected CVMat process(CVMat in) {
+        int x = MathUtil.clamp(params.x, 0, in.getMat().width());
+        int y = MathUtil.clamp(params.y, 0, in.getMat().height());
+        int width = MathUtil.clamp(params.width, 0, in.getMat().width() - x);
+        int height = MathUtil.clamp(params.height, 0, in.getMat().height() - y);
+
+        return new CVMat(in.getMat().submat(y, y + height, x, x + width));
+    }
+
+    @Override
+    public void setParams(Rect params) {
+        params.height = Math.max(16, params.height);
+        params.width = Math.max(16, params.width);
+
+        super.setParams(params);
+    }
+}

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

@@ -0,0 +1,69 @@
+/*
+ * 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/>.
+ */
+
+package org.photonvision.vision.pipe.impl;
+
+import edu.wpi.first.math.MathUtil;
+import org.opencv.core.Mat;
+import org.opencv.core.Rect;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.common.util.CroppingUtils;
+import org.photonvision.vision.pipe.MutatingPipe;
+
+public class DrawRectanglePipe
+        extends MutatingPipe<Mat, DrawRectanglePipe.DrawRectanglePipeParams> {
+    Scalar color;
+
+    public DrawRectanglePipe(Scalar color) {
+        super();
+        this.params = new DrawRectanglePipeParams();
+        this.color = color;
+    }
+
+    @Override
+    protected Void process(Mat in) {
+        // Draw nothing if the rectangle fully covers the image
+        if (CroppingUtils.fullyCovers(params.rect, in)) {
+            return null;
+        }
+
+        int x = MathUtil.clamp(params.rect.x, 0, in.width());
+        int y = MathUtil.clamp(params.rect.y, 0, in.height());
+        int width = MathUtil.clamp(params.rect.width, 0, in.width() - x);
+        int height = MathUtil.clamp(params.rect.height, 0, in.height() - y);
+        Rect rect = new Rect(x, y, width, height);
+
+        Imgproc.rectangle(in, rect, this.color, params.thickness);
+        return null;
+    }
+
+    public static class DrawRectanglePipeParams {
+        public Rect rect = new Rect(0, 0, Integer.MAX_VALUE, Integer.MAX_VALUE);
+        public int thickness = 2;
+
+        public DrawRectanglePipeParams() {}
+
+        public DrawRectanglePipeParams(Rect rect) {
+            this.rect = rect;
+        }
+
+        public DrawRectanglePipeParams(int x, int y, int width, int height) {
+            this(new Rect(x, y, width, height));
+        }
+    }
+}