From 18d678d6a29ab973538acfbe4011904f6ac44f21 Mon Sep 17 00:00:00 2001 From: ori Date: Sun, 5 May 2019 13:11:58 -0700 Subject: [PATCH] working vision handler --- backend/Main.py | 2 +- backend/app/handlers/VisionHandler.py | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/backend/Main.py b/backend/Main.py index f2269b8bf..09d7ccd94 100644 --- a/backend/Main.py +++ b/backend/Main.py @@ -8,7 +8,7 @@ from app.handlers.VisionHandler import VisionHandler if __name__ == "__main__": SettingsManager() - # VisionHandler().run() + VisionHandler().run() # SettingsManager().save_settings() tornado.options.parse_command_line() diff --git a/backend/app/handlers/VisionHandler.py b/backend/app/handlers/VisionHandler.py index d9b555865..27458edb4 100644 --- a/backend/app/handlers/VisionHandler.py +++ b/backend/app/handlers/VisionHandler.py @@ -76,9 +76,9 @@ class VisionHandler: # NetworkTables.initialize() for cam in SettingsManager().usb_cameras: - self.camera_process(SettingsManager().usb_cameras[cam]) + self.camera_process(SettingsManager().usb_cameras[cam],cam) - def camera_process(self, camera): + def camera_process(self, camera,cam_name): def change_camera_values(): camera.setBrightness(0) @@ -90,8 +90,7 @@ class VisionHandler: def mode_listener(table, key, value, is_new): pass - jsonn = json.loads(camera.getConfigJson()) - image = numpy.zeros(shape=(jsonn['width'], jsonn['height'], 3), dtype=numpy.uint8) + image = numpy.zeros(shape=(SettingsManager().cams[cam_name]["video_mode"]["width"], SettingsManager().cams[cam_name]["video_mode"]["height"], 3), dtype=numpy.uint8) table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name) table.addEntryListenerEx(pipeline_listener, key="Pipeline", @@ -101,7 +100,8 @@ class VisionHandler: change_camera_values() cs = CameraServer.getInstance() cv_sink = cs.getVideo(camera=camera) - cv_publish = cs.putVideo(name='ds;fjkl',width=jsonn['width'],height=jsonn['height']) + cv_publish = cs.putVideo(name=cam_name, width=SettingsManager().cams[cam_name]["video_mode"]["width"], + height=SettingsManager().cams[cam_name]["video_mode"]["height"]) while True: start = time.time()