Fix Driver Mode Rotation (PhotonVision#1097)

Demoves duplicate image rotation. Frames are rotated from the frame source provided. Then were rotated again in the driver mode pipeline.
mdurrani808 · Jan 1, 2024 · a9f1e50 · a9f1e50
1 parent 2ecd988
commit a9f1e50
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Showing 2 changed files with 1 addition and 14 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -20,19 +20,15 @@
 import java.util.List;
 import org.apache.commons.lang3.tuple.Pair;
 import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
 import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
 import org.photonvision.vision.pipe.impl.ResizeImagePipe;
-import org.photonvision.vision.pipe.impl.RotateImagePipe;
 import org.photonvision.vision.pipeline.result.DriverModePipelineResult;
 
 public class DriverModePipeline
         extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {
-    private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
     private final Draw2dCrosshairPipe draw2dCrosshairPipe = new Draw2dCrosshairPipe();
     private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
     private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();
@@ -51,10 +47,6 @@ public DriverModePipeline(DriverModePipelineSettings settings) {
 
     @Override
     protected void setPipeParamsImpl() {
-        RotateImagePipe.RotateImageParams rotateImageParams =
-                new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
-        rotateImagePipe.setParams(rotateImageParams);
-
         Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
                 new Draw2dCrosshairPipe.Draw2dCrosshairParams(
                         frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
@@ -72,19 +64,13 @@ protected void setPipeParamsImpl() {
     @Override
     public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
         long totalNanos = 0;
-        boolean accelerated = LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
 
         // apply pipes
         var inputMat = frame.colorImage.getMat();
 
         boolean emptyIn = inputMat.empty();
 
         if (!emptyIn) {
-            if (!accelerated) {
-                var rotateImageResult = rotateImagePipe.run(inputMat);
-                totalNanos += rotateImageResult.nanosElapsed;
-            }
-
             totalNanos += resizeImagePipe.run(inputMat).nanosElapsed;
 
             var draw2dCrosshairResult = draw2dCrosshairPipe.run(Pair.of(inputMat, List.of()));

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -75,6 +75,7 @@ private void update() {
             // (pipeline-dependent). I kinda hate how much leak this has...
             // TODO would a callback object be a better fit?
             var wantedProcessType = pipeline.getThresholdType();
+
             frameSupplier.requestFrameThresholdType(wantedProcessType);
             var settings = pipeline.getSettings();
             if (settings instanceof AdvancedPipelineSettings) {