mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Moved CvSink/CvSource to Camera class
This commit is contained in:
Banks Troutman
@@ -1,13 +1,9 @@
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package com.chameleonvision;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.camera.CameraManager;
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import com.chameleonvision.vision.process.CameraProcess;
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import com.chameleonvision.web.Server;
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import edu.wpi.cscore.UsbCamera;
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import java.util.Map;
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public class Main {
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public static void main(String[] args) {
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@@ -1,23 +1,17 @@
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package com.chameleonvision.settings;
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import com.chameleonvision.FileHelper;
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import com.chameleonvision.CameraException;
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import java.io.*;
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import java.nio.file.*;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.GeneralSettings;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.CameraManager;
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import com.google.gson.Gson;
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import com.google.gson.GsonBuilder;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import edu.wpi.cscore.*;
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import java.io.FileNotFoundException;
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import java.io.FileReader;
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import java.io.FileWriter;
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import java.io.IOException;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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public class SettingsManager {
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private static SettingsManager instance;
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@@ -25,10 +19,11 @@ public class SettingsManager {
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private SettingsManager() {
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InitiateGeneralSettings();
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if (!Cameras.containsKey(GeneralSettings.curr_camera) && Cameras.size() > 0) {
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String camName = Cameras.keySet().stream().findFirst().get();
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GeneralSettings.curr_camera = camName;
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GeneralSettings.curr_pipeline = CameraManager.getCamera(camName).getCurrentPipelineIndex();
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var allCameras = CameraManager.getAllCamerasByName();
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if (!allCameras.containsKey(GeneralSettings.curr_camera) && allCameras.size() > 0) {
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var cam = allCameras.entrySet().stream().findFirst().get().getValue();
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GeneralSettings.curr_camera = cam.name;
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GeneralSettings.curr_pipeline = cam.getCurrentPipelineIndex();
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}
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}
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@@ -43,10 +38,7 @@ public class SettingsManager {
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return instance;
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}
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public static HashMap<String, Camera> Cameras = new HashMap<>();
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public static HashMap<String, UsbCamera> UsbCameras = new HashMap<>();
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public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
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public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<>();
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// public static HashMap<String, String> CameraPorts = new HashMap<>();//TODO Implement ports
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public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
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@@ -60,20 +52,7 @@ public class SettingsManager {
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}
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}
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//Access Methods
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public List<String> GetResolutionList() throws CameraException {
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if (!GeneralSettings.curr_camera.equals("")) {
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List<String> list = new ArrayList<>();
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var cam = CameraManager.getCamera(GeneralSettings.curr_camera).UsbCam;
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for (var res : cam.enumerateVideoModes()) {
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list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
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}
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return list;
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}
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throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
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}
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public void updateCameraSetting(String cameraName, int pipelineNumber) {
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GeneralSettings.curr_camera = cameraName;
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GeneralSettings.curr_pipeline = pipelineNumber;
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@@ -83,31 +62,17 @@ public class SettingsManager {
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GeneralSettings.curr_pipeline = pipelineNumber;
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}
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//Savers
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public void SaveSettings() {
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CameraManager.saveCameras();
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SaveGeneralSettings();
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}
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private void SaveCameras() {
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for (Map.Entry<String, Camera> entry : Cameras.entrySet()) {
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try {
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Gson gson = new Gson();
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FileWriter writer = new FileWriter(Paths.get(CameraManager.CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
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gson.toJson(entry.getValue(), writer);
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writer.flush();
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writer.close();
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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}
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private void SaveGeneralSettings() {
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try {
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FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "Settings.json").toString());
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new Gson().toJson(GeneralSettings, writer);
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Gson gson = new GsonBuilder().setPrettyPrinting().create();
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FileWriter writer = new FileWriter(Paths.get(SettingsPath.toString(), "settings.json").toString());
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gson.toJson(GeneralSettings, writer);
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writer.flush();
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writer.close();
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} catch (IOException e) {
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@@ -1,132 +1,148 @@
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package com.chameleonvision.vision.camera;
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import com.chameleonvision.vision.Pipeline;
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import edu.wpi.cscore.UsbCamera;
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import edu.wpi.cscore.UsbCameraInfo;
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import edu.wpi.cscore.VideoMode;
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import edu.wpi.cscore.*;
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import edu.wpi.first.cameraserver.CameraServer;
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import org.opencv.core.Mat;
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import java.util.HashMap;
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import java.util.stream.IntStream;
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public class Camera {
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private static double defaultFOV = 60.8;
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private static double defaultFOV = 60.8;
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public final String name;
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public final String path;
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public final String name;
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public final String path;
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public final UsbCamera UsbCam;
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private final UsbCameraInfo UsbCamInfo;
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private final VideoMode[] availableVideoModes;
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public final UsbCamera UsbCam;
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private final UsbCameraInfo UsbCamInfo;
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private final VideoMode[] availableVideoModes;
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private final CvSink cvSink;
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private final CvSource cvSource;
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private double FOV;
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private double FOV;
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private CameraValues camVals;
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private CamVideoMode camVideoMode;
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private CameraValues camVals;
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private CamVideoMode camVideoMode;
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private int currentPipelineIndex;
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private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
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private int currentPipelineIndex;
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private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
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public Camera(String cameraName) {
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this(cameraName, defaultFOV);
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public Camera(String cameraName) {
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this(cameraName, defaultFOV);
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}
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public Camera(UsbCameraInfo usbCamInfo) {
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this(usbCamInfo, defaultFOV);
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}
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public Camera(String cameraName, double fov) {
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this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
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}
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public Camera(UsbCameraInfo usbCamInfo, double fov) {
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UsbCamInfo = usbCamInfo;
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FOV = fov;
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name = usbCamInfo.name;
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path = usbCamInfo.path;
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UsbCam = new UsbCamera(name, path);
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// set up video mode
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availableVideoModes = UsbCam.enumerateVideoModes();
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setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
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CameraServer cs = CameraServer.getInstance();
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cvSink = cs.getVideo(UsbCam);
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cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
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}
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public void setCamVideoMode(int videoMode) {
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setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
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}
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private void setCamVideoMode(VideoMode videoMode) {
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setCamVideoMode(new CamVideoMode(videoMode));
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}
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private void setCamVideoMode(CamVideoMode camVideoMode) {
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this.camVideoMode = camVideoMode;
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UsbCam.setPixelFormat(camVideoMode.getActualPixelFormat());
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UsbCam.setFPS(camVideoMode.fps);
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UsbCam.setResolution(camVideoMode.width, camVideoMode.height);
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camVals = new CameraValues(this);
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// TODO: Automatically restart CameraProcess when resolution changes (not FPS)
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}
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public void addPipeline() {
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addPipeline(pipelines.size());
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}
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private void addPipeline(int pipelineNumber) {
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if (pipelines.containsKey(pipelineNumber)) return;
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pipelines.put(pipelineNumber, new Pipeline());
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}
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public Pipeline getCurrentPipeline() {
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return pipelines.get(currentPipelineIndex);
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}
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public int getCurrentPipelineIndex() {
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return currentPipelineIndex;
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}
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public void setCurrentPipelineIndex(int pipelineNumber) {
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if (pipelineNumber - 1 > pipelines.size()) return;
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currentPipelineIndex = pipelineNumber;
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}
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public HashMap<Integer, Pipeline> getPipelines() {
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return pipelines;
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}
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public CamVideoMode getVideoMode() {
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return camVideoMode;
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}
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public int getVideoModeIndex() {
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return IntStream.range(0, availableVideoModes.length)
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.filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
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.findFirst()
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.orElse(-1);
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}
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public double getFOV() {
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return FOV;
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}
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public void setFOV(double fov) {
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FOV = fov;
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camVals = new CameraValues(this);
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}
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public int getBrightness() {
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return getCurrentPipeline().brightness;
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}
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public void setBrightness(int brightness) {
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getCurrentPipeline().brightness = brightness;
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UsbCam.setBrightness(brightness);
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}
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public void setExposure(int exposure) {
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getCurrentPipeline().exposure = exposure;
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UsbCam.setExposureManual(exposure);
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}
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public long grabFrame(Mat image) {
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return cvSink.grabFrame(image);
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}
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public Camera(UsbCameraInfo usbCamInfo) {
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this(usbCamInfo, defaultFOV);
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public long grabFrame(Mat image, double timeout) {
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return cvSink.grabFrame(image, timeout);
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}
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public Camera(String cameraName, double fov) {
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this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
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public void putFrame(Mat image) {
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cvSource.putFrame(image);
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}
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public Camera(UsbCameraInfo usbCamInfo, double fov) {
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UsbCamInfo = usbCamInfo;
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FOV = fov;
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name = usbCamInfo.name;
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path = usbCamInfo.path;
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UsbCam = new UsbCamera(name, path);
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// set up video mode
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availableVideoModes = UsbCam.enumerateVideoModes();
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setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
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}
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public void setCamVideoMode(int videoMode) {
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setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
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}
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private void setCamVideoMode(VideoMode videoMode) {
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setCamVideoMode(new CamVideoMode(videoMode));
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}
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private void setCamVideoMode(CamVideoMode camVideoMode) {
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this.camVideoMode = camVideoMode;
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UsbCam.setPixelFormat(camVideoMode.getActualPixelFormat());
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UsbCam.setFPS(camVideoMode.fps);
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UsbCam.setResolution(camVideoMode.width, camVideoMode.height);
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camVals = new CameraValues(this);
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// TODO: Automatically restart CameraProcess when resolution changes (not FPS)
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}
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public void addPipeline() {
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addPipeline(pipelines.size());
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}
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private void addPipeline(int pipelineNumber) {
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if (pipelines.containsKey(pipelineNumber)) return;
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pipelines.put(pipelineNumber, new Pipeline());
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}
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public void setCurrentPipelineIndex(int pipelineNumber) {
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if (pipelineNumber - 1 > pipelines.size()) return;
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currentPipelineIndex = pipelineNumber;
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}
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public Pipeline getCurrentPipeline() {
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return pipelines.get(currentPipelineIndex);
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}
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public int getCurrentPipelineIndex() {
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return currentPipelineIndex;
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}
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public HashMap<Integer, Pipeline> getPipelines() {
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return pipelines;
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}
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public CamVideoMode getVideoMode() {
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return camVideoMode;
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}
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public int getVideoModeIndex() {
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return IntStream.range(0, availableVideoModes.length)
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.filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
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.findFirst()
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.orElse(-1);
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}
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public void setFOV(double fov) {
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FOV = fov;
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camVals = new CameraValues(this);
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}
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public double getFOV() {
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return FOV;
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}
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public void setBrightness(int brightness) {
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getCurrentPipeline().brightness = brightness;
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UsbCam.setBrightness(brightness);
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}
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public int getBrightness() {
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return getCurrentPipeline().brightness;
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}
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public void setExposure(int exposure) {
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getCurrentPipeline().exposure = exposure;
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UsbCam.setExposureManual(exposure);
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}
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}
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@@ -23,20 +23,23 @@ import java.util.List;
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public class CameraManager {
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public static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
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private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
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// TODO: Fix suffix for camera
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// TODO: throw a camera Exeption if no camera is connected
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// TODO: throw a camera Exception if no camera is connected
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static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
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var suffix = 0;
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for (var info : UsbCamera.enumerateUsbCameras()) {
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var cap = new VideoCapture(info.name);
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if (cap.isOpened()) {
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cap.release();
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var name = String.format("%s(%s)", info.name, suffix);
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put(name, info);
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}
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var name = info.name;
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while (this.containsKey(name)) {
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suffix++;
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}
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name = String.format("%s(%s)", info.name, suffix);
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}
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put(name, info);
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}
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}};
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@@ -78,7 +81,7 @@ public class CameraManager {
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return true;
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}
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public static Camera getCamera(String cameraName) {
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private static Camera getCamera(String cameraName) {
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return AllCamerasByName.get(cameraName);
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}
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@@ -1,17 +1,15 @@
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package com.chameleonvision.vision.process;
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import com.chameleonvision.CameraException;
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import com.chameleonvision.MemoryManager;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.camera.CameraManager;
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import com.chameleonvision.vision.camera.CameraValues;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.camera.CameraValues;
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import com.chameleonvision.web.Server;
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import edu.wpi.cscore.CvSink;
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import edu.wpi.cscore.CvSource;
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import edu.wpi.first.networktables.*;
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import edu.wpi.first.cameraserver.CameraServer;
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import edu.wpi.first.networktables.*;
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import org.opencv.core.*;
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import org.opencv.imgproc.Imgproc;
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@@ -40,10 +38,6 @@ public class CameraProcess implements Runnable {
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private VisionProcess visionProcess;
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private CameraValues camVals;
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// cscore
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private CvSink cvSink;
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private CvSource cvPublish;
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// pipeline process items
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private List<MatOfPoint> FoundContours = new ArrayList<>();
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private List<MatOfPoint> FilteredContours = new ArrayList<>();
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@@ -103,11 +97,6 @@ public class CameraProcess implements Runnable {
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// camera settings
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camVals = new CameraValues(camera);
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visionProcess = new VisionProcess(camVals);
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// cscore setup
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CameraServer cs = CameraServer.getInstance();
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cvSink = cs.getVideo(camera.UsbCam);
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cvPublish = cs.putVideo(cameraName, camVals.ImageWidth, camVals.ImageHeight);
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}
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private void drawContour(Mat inputMat, RotatedRect contourRect) {
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@@ -192,7 +181,7 @@ public class CameraProcess implements Runnable {
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currentPipeline = camera.getCurrentPipeline();
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// start fps counter right before grabbing input frame
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||||
startTime = System.nanoTime();
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TimeStamp = cvSink.grabFrame(cameraInputMat);
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TimeStamp = camera.grabFrame(cameraInputMat);
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if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
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continue;
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}
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@@ -210,10 +199,10 @@ public class CameraProcess implements Runnable {
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point.put("yaw", pipelineResult.Yaw);
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point.put("fps", fps);
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WebSend.put("point", point);
|
||||
WebSend.put("raw_point",center);
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||||
WebSend.put("raw_point", center);
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Server.broadcastMessage(WebSend);
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}
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cvPublish.putFrame(streamOutputMat);
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camera.putFrame(streamOutputMat);
|
||||
// calculate FPS after publishing output frame
|
||||
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
|
||||
fps = 1000 / processTimeMs;
|
||||
|
||||
Reference in New Issue
Block a user