Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

stated camera process and vision process

Browse Source 
-added camera thread call in main
-initial work on camera process class
-initial work on vision process class
This commit is contained in:
ori agranat
2019-09-14 17:14:49 +03:00
parent cde4a63feb
commit 1b8943eb27
5 changed files with 98 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Main/src/main/java/Handlers/Vision/Camera.java
View File

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

56
Main/src/main/java/Handlers/Vision/CameraProcess.java Normal file
View File

@@ -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);
}
}
}

28
Main/src/main/java/Handlers/Vision/VisionProcess.java
View File

@@ -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;
}
}