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Moved CvSink/CvSource to Camera class

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This commit is contained in:
Banks Troutman
2019-09-20 02:17:22 -04:00
parent afb7872eb6
commit 012aa9559a
20 changed files with 158 additions and 266 deletions
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23
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -1,17 +1,15 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.CameraException;
import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.networktables.*;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -40,10 +38,6 @@ public class CameraProcess implements Runnable {
private VisionProcess visionProcess;
private CameraValues camVals;
// cscore
private CvSink cvSink;
private CvSource cvPublish;
// pipeline process items
private List<MatOfPoint> FoundContours = new ArrayList<>();
private List<MatOfPoint> FilteredContours = new ArrayList<>();
@@ -103,11 +97,6 @@ public class CameraProcess implements Runnable {
// camera settings
camVals = new CameraValues(camera);
visionProcess = new VisionProcess(camVals);
// cscore setup
CameraServer cs = CameraServer.getInstance();
cvSink = cs.getVideo(camera.UsbCam);
cvPublish = cs.putVideo(cameraName, camVals.ImageWidth, camVals.ImageHeight);
}
private void drawContour(Mat inputMat, RotatedRect contourRect) {
@@ -192,7 +181,7 @@ public class CameraProcess implements Runnable {
currentPipeline = camera.getCurrentPipeline();
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
TimeStamp = cvSink.grabFrame(cameraInputMat);
TimeStamp = camera.grabFrame(cameraInputMat);
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
continue;
}
@@ -210,10 +199,10 @@ public class CameraProcess implements Runnable {
point.put("yaw", pipelineResult.Yaw);
point.put("fps", fps);
WebSend.put("point", point);
WebSend.put("raw_point",center);
WebSend.put("raw_point", center);
Server.broadcastMessage(WebSend);
}
cvPublish.putFrame(streamOutputMat);
camera.putFrame(streamOutputMat);
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;