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Rename StreamDivisor enum and work on CameraStreamer

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Matt
2019-11-07 16:53:31 -08:00
parent cc2c065dc8
commit 1e7f380f07
10 changed files with 101 additions and 34 deletions
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55
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStreamer.java
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@@ -1,7 +1,58 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.camera.StreamDivisor;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
public class CameraStreamer {
private final CameraProcess cameraProcess;
private final String name;
private StreamDivisor divisor = StreamDivisor.NONE;
private CvSource cvSource;
private final Object streamBufferLock = new Object();
private Mat streamBuffer = new Mat();
public CameraStreamer(CameraProcess cameraProcess, String name) {
this.cameraProcess = cameraProcess;
this.name = name;
this.cvSource = CameraServer.getInstance().putVideo(name,
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
}
public void setDivisor(StreamDivisor newDivisor) {
this.divisor = newDivisor;
var camValues = cameraProcess.getProperties();
var newWidth = camValues.staticProperties.imageWidth / newDivisor.value;
var newHeight = camValues.staticProperties.imageHeight / newDivisor.value;
synchronized (streamBufferLock) {
this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
this.cvSource = CameraServer.getInstance().putVideo(this.name,
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
}
ServerHandler.sendFullSettings();
}
public void runStream() {
var newFrame = cameraProcess.getFrame(streamBuffer);
var image = newFrame.getLeft();
if (divisor.value != 1) {
var camVal = cameraProcess.getProperties().staticProperties;
var newWidth = camVal.imageWidth / divisor.value;
var newHeight = camVal.imageHeight / divisor.value;
Size newSize = new Size(newWidth, newHeight);
Imgproc.resize(image, image, newSize);
}
cvSource.putFrame(image);
}
public interface CameraStreamer {
void streamFrame(Mat frame);
}