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Unit test vision (and implement networktable sending)

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Matt
2019-12-01 20:04:17 -08:00
parent a031f8431a
commit 1bf5ff9ee2
1 changed files with 14 additions and 1 deletions
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15
chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
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@@ -1,10 +1,12 @@
package com.chameleonvision.config;
import com.chameleonvision.util.ProgramDirectoryUtilities;
import com.chameleonvision.vision.camera.CameraStreamer;
import com.chameleonvision.vision.image.StaticImageCapture;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import edu.wpi.cscore.CameraServerCvJNI;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
@@ -55,12 +57,23 @@ class StaticCaptureTest {
}
@Test
void ImageProcessTest() {
void ImageProcessTest() throws InterruptedException {
ImageLoadTest();
CVPipeline2d testPipeline = new CVPipeline2d();
String testImage1 = "CargoSideStraightDark36in";
StaticImageCapture testCapture1 = loadedImages.get(testImage1);
testPipeline.initPipeline(testCapture1);
var streamer = new CameraStreamer(testCapture1, "CargoSideStraightDark36in");
NetworkTableInstance.getDefault().startClient("localhost");
while(true) {
var result = testPipeline.runPipeline(testCapture1.getFrame().getKey());
streamer.runStream(result.outputMat);
Thread.sleep(20);
}
}
}