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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
@@ -1,132 +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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