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stated camera process and vision process

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-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
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56
Main/src/main/java/Handlers/Vision/CameraProcess.java Normal file
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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);
}
}
}