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Moved camera stream to separate thread

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This commit is contained in:
Banks Troutman
2019-09-20 21:25:54 -04:00
parent 096e214a8e
commit 17009bc04c
3 changed files with 77 additions and 13 deletions
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17
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -30,6 +30,9 @@ public class Camera {
private int currentPipelineIndex;
private HashMap<Integer, Pipeline> pipelines;
private final Object cvSourceLock = new Object();
public Camera(String cameraName) {
this(cameraName, defaultFOV);
}
@@ -85,7 +88,9 @@ public class Camera {
// update camera values
camVals = new CameraValues(this);
if ( prevVideoMode != null && prevVideoMode.width != newVideoMode.width && prevVideoMode.height != newVideoMode.height) { // if resolution changed
cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
synchronized (cvSourceLock) {
cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
}
}
}
@@ -114,7 +119,7 @@ public class Camera {
return pipelines;
}
CamVideoMode getVideoMode() {
public CamVideoMode getVideoMode() {
return camVideoMode;
}
@@ -156,7 +161,13 @@ public class Camera {
return cvSink.grabFrame(image, timeout);
}
public CameraValues getCamVals() {
return camVals;
}
public void putFrame(Mat image) {
cvSource.putFrame(image);
synchronized(cvSourceLock) {
cvSource.putFrame(image);
}
}
}

31
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -6,9 +6,6 @@ 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.cameraserver.CameraServer;
import edu.wpi.first.networktables.*;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
@@ -48,6 +45,8 @@ public class CameraProcess implements Runnable {
private Scalar contourRectColor = new Scalar(255, 0, 0);
private long TimeStamp = 0;
private final StreamProcess streamProcess;
private void DriverModeListener(EntryNotification entryNotification) {
if (entryNotification.value.getBoolean()) {
camera.setExposure(25);
@@ -92,8 +91,8 @@ public class CameraProcess implements Runnable {
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
// camera settings
camVals = new CameraValues(camera);
visionProcess = new VisionProcess(camVals);
streamProcess = new StreamProcess(camera);
}
private void drawContour(Mat inputMat, RotatedRect contourRect) {
@@ -170,6 +169,8 @@ public class CameraProcess implements Runnable {
double processTimeMs;
double fps = 0;
new Thread(streamProcess).start();
while (!Thread.interrupted()) {
FoundContours.clear();
FilteredContours.clear();
@@ -186,20 +187,30 @@ public class CameraProcess implements Runnable {
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera) && pipelineResult.IsValid) {
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera)) {
HashMap<String,Object> WebSend = new HashMap<>();
HashMap<String,Object> point = new HashMap<>();
List<Double> center = new ArrayList<>();
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
point.put("yaw", pipelineResult.Yaw);
if (pipelineResult.IsValid) {
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
point.put("yaw", pipelineResult.Yaw);
} else {
center.add(0.0);
center.add(0.0);
point.put("pitch", 0);
point.put("yaw", 0);
}
point.put("fps", fps);
WebSend.put("point", point);
WebSend.put("raw_point", center);
Server.broadcastMessage(WebSend);
}
camera.putFrame(streamOutputMat);
//camera.putFrame(streamOutputMat);
streamProcess.updateFrame(streamOutputMat);
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;

42
Main/src/main/java/com/chameleonvision/vision/process/StreamProcess.java Normal file
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@@ -0,0 +1,42 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.camera.Camera;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
public class StreamProcess implements Runnable {
private final Camera camera;
private final int maxFPS;
private Mat streamFrame;
private final Object streamFrameLock = new Object();
public StreamProcess(Camera camera) {
this.camera = camera;
maxFPS = camera.getVideoMode().fps;
var camVals = camera.getCamVals();
streamFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
}
void updateFrame(Mat inputFrame) {
synchronized (streamFrameLock) {
inputFrame.copyTo(streamFrame);
}
}
@Override
public void run() {
while(!Thread.interrupted()) {
synchronized (streamFrameLock) {
camera.putFrame(streamFrame);
}
var msToWait = (long)1000/maxFPS;
try {
Thread.sleep(msToWait);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}