stated camera process and vision process

-added camera thread call in main
-initial work on camera process class
-initial work on vision process class

Main/src/main/java/Classes/SettingsManager.java

@@ -37,12 +37,13 @@ public class SettingsManager  {
     public static HashMap<String,UsbCamera> UsbCameras = new HashMap<String, UsbCamera>();
     public static HashMap<String,UsbCameraInfo> USBCamerasInfo = new HashMap<String,UsbCameraInfo>();
     public static Objects.GeneralSettings GeneralSettings;
-    public static HashMap CameraPort = new HashMap();
-    public static HashMap CamerasCurrentPipeline = new HashMap();
+    public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<String, String>();
+    public static HashMap<String,String> CameraPort = new HashMap<String, String>();
     private Path SettingsPath = Paths.get(System.getProperty("user.dir"),"Settings");
     private Path CamsPath = Paths.get(SettingsPath.toString(),"Cams");
 
 
+
     private void InitiateGeneralSettings(){
         CheckPath(SettingsPath);
         try {

Main/src/main/java/Handlers/Vision/Camera.java

@@ -1,4 +0,0 @@
-package Handlers.Vision;
-
-public class Camera {
-}

Main/src/main/java/Handlers/Vision/CameraProcess.java

@@ -0,0 +1,56 @@
+package Handlers.Vision;
+
+import Classes.SettingsManager;
+import Objects.Pipeline;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.opencv.core.Mat;
+import org.apache.commons.math3.fraction.Fraction;
+import org.apache.commons.math3.util.FastMath;
+import org.opencv.core.MatOfPoint;
+
+import java.util.List;
+
+public class CameraProcess implements Runnable{
+    private String CameraName;
+    public CameraProcess(String CameraName){
+        this.CameraName = CameraName;
+    }
+
+    @Override
+    public void run() {
+        //calling all classes
+        CameraServer cs = CameraServer.getInstance();
+        NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
+        SettingsManager manager = SettingsManager.getInstance();
+        VisionProcess visionProcess = new VisionProcess();
+        //Setting up camera and network table
+        var Table = networkTableInstance.getTable("/Chameleon-Vision/" + CameraName);
+        var PipeLineEntry = Table.getEntry("Pipeline");
+        var DriverModeEntry =  Table.getEntry("Driver_Mode");
+        var cv_sink = cs.getVideo(manager.UsbCameras.get(CameraName));
+        int Width = manager.Cameras.get(CameraName).camVideoMode.width;
+        int Height = manager.Cameras.get(CameraName).camVideoMode.heigh;
+        var cv_publish = cs.putVideo(CameraName,Width,Height);
+        //initial math setup for camera
+        double DiagonalView = FastMath.toRadians(manager.Cameras.get(CameraName).FOV);
+        Fraction AspectFraction = new Fraction(Width,Height);
+        int HorizontalRatio = AspectFraction.getNumerator();
+        int VerticalRatio = AspectFraction.getDenominator();
+        double HorizontalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (HorizontalRatio / DiagonalView)) * 2;
+        double VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
+        double H_FOCAL_LENGTH = Width / (2 * FastMath.tan(HorizontalView /2));
+        double V_FOCAL_LENGTH = Width / (2 * FastMath.tan(VerticalView /2));
+        Mat mat = new Mat();
+        long time;
+
+        while (!Thread.interrupted()){
+            Pipeline pipeline = manager.Cameras.get(CameraName).pipelines.get(manager.CamerasCurrentPipeline.get(CameraName));
+            time = cv_sink.grabFrame(mat);
+            Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue,pipeline.saturation,pipeline.value,mat,pipeline.erode,pipeline.dilate);
+            List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
+        }
+
+    }
+}

Main/src/main/java/Handlers/Vision/VisionProcess.java

@@ -1,4 +1,32 @@
 package Handlers.Vision;
 
+import org.jetbrains.annotations.NotNull;
+import org.opencv.core.*;
+import org.opencv.imgproc.*;
+
+import java.util.ArrayList;
+import java.util.List;
+
 public class VisionProcess {
+    private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
+
+    public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
+        Mat hsv = new Mat();
+        Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
+        new Scalar(hue.get(0),saturation.get(0),value.get(0));
+        Mat threshold = new Mat();
+        Core.inRange(threshold,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
+        if (IsErode){
+            Imgproc.erode(threshold,threshold, Kernel);
+        }
+        if (IsDilate){
+            Imgproc.dilate(threshold,threshold, Kernel);
+        }
+        return threshold;
+    }
+    public List<MatOfPoint> FindContours(Mat BinaryImage){
+        List<MatOfPoint> Contours = new ArrayList<>();
+        Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
+        return Contours;
+    }
 }

Main/src/main/java/Main.java

@@ -1,8 +1,19 @@
 import Classes.SettingsManager;
+import Handlers.Vision.CameraProcess;
 import Handlers.Web.Server;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+import java.util.Map;
+
 public class Main {
     public static void main(String [] args) {
         SettingsManager manager = SettingsManager.getInstance();
+        NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
+        for (Map.Entry<String, UsbCamera> entry: SettingsManager.UsbCameras.entrySet()){
+            new Thread(new CameraProcess(entry.getKey()));
+        }
         Server.main(8888);
     }
 }