Rename Camera and CamProcess to USBCamera and USBCameraProcess

Further changes: - Add CameraProcess interface - Change VisionProcess to pass the interface as parameter
2026-06-20 00:51:41 +00:00 · 2019-11-02 10:10:02 -07:00
parent 570a042e35
commit 24313ba45b
12 changed files with 290 additions and 201 deletions
--- a/Main/src/main/java/com/chameleonvision/vision/process/USBCameraProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/USBCameraProcess.java
@@ -0,0 +1,144 @@
+package com.chameleonvision.vision.process;
+
+import com.chameleonvision.vision.Pipeline;
+import com.chameleonvision.vision.camera.CamVideoMode;
+import com.chameleonvision.vision.camera.CameraValues;
+import com.chameleonvision.vision.camera.USBCamera;
+import com.chameleonvision.vision.camera.StreamDivisor;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
+
+import java.util.List;
+
+public class USBCameraProcess implements CameraProcess {
+
+    private final USBCamera usbCamera;
+    private final int maxFPS;
+    private final Object inputFrameLock = new Object();
+    private final Object outputFrameLock = new Object();
+    private Mat inputFrame;
+    private Mat outputFrame;
+    private long timestamp;
+    private StreamDivisor divisor;
+
+    public USBCameraProcess(USBCamera usbCamera) {
+        this.usbCamera = usbCamera;
+        maxFPS = usbCamera.getVideoMode().fps;
+        updateFrameSize();
+    }
+
+    public void updateFrameSize() {
+        var camVals = usbCamera.getCamVals();
+        divisor = usbCamera.getStreamDivisor();
+        var newWidth = camVals.ImageWidth / divisor.value;
+        var newHeight = camVals.ImageHeight / divisor.value;
+        synchronized (inputFrameLock) {
+            inputFrame = new Mat(newWidth, newHeight, CvType.CV_8UC3);
+        }
+        synchronized (outputFrameLock) {
+            outputFrame = new Mat(newWidth, newHeight, CvType.CV_8UC3);
+        }
+    }
+
+    public void updateFrame(Mat inputFrame) {
+        synchronized (inputFrameLock) {
+            inputFrame.copyTo(this.inputFrame);
+        }
+    }
+
+    public long getLatestFrame(Mat outputFrame) {
+        synchronized (outputFrameLock) {
+            this.outputFrame.copyTo(outputFrame);
+            return timestamp;
+        }
+    }
+
+    @Override
+    public void run() {
+        while (!Thread.interrupted()) {
+            synchronized (outputFrameLock) {
+                timestamp = usbCamera.grabFrame(outputFrame);
+            }
+            synchronized (inputFrameLock) {
+                if (divisor.value != 1) {
+                    var camVals = usbCamera.getCamVals();
+                    var newWidth = camVals.ImageWidth / divisor.value;
+                    var newHeight = camVals.ImageHeight / divisor.value;
+                    Size newSize = new Size(newWidth, newHeight);
+                    Imgproc.resize(inputFrame, inputFrame, newSize);
+                }
+                usbCamera.putFrame(inputFrame);
+            }
+            var msToWait = (long) 1000 / maxFPS;
+            try {
+                Thread.sleep(msToWait);
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    // USBCamera stuff
+
+    @Override
+    public String getCamName() {
+        return usbCamera.name;
+    }
+
+    @Override
+    public CameraValues getCamVals() {
+        return usbCamera.getCamVals();
+    }
+
+    @Override
+    public boolean getDriverMode() {
+        return usbCamera.getDriverMode();
+    }
+
+    @Override
+    public void setDriverMode(boolean isDriverMode) {
+        usbCamera.setDriverMode(isDriverMode);
+    }
+
+    @Override
+    public List<Pipeline> getPipelines() {
+        return usbCamera.getPipelines();
+    }
+
+    @Override
+    public Pipeline getCurrentPipeline() {
+        return usbCamera.getCurrentPipeline();
+    }
+
+    @Override
+    public int getCurrentPipelineIndex() {
+        return usbCamera.getCurrentPipelineIndex();
+    }
+
+    @Override
+    public void setExposure(int exposure) {
+        usbCamera.setExposure(exposure);
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        usbCamera.setBrightness(brightness);
+    }
+
+    @Override
+    public CamVideoMode getVideoMode() {
+        return usbCamera.getVideoMode();
+    }
+
+    @Override
+    public String getNickname() {
+        return usbCamera.getNickname();
+    }
+
+    @Override
+    public void setCurrentPipelineIndex(int wantedIndex) {
+        usbCamera.setCurrentPipelineIndex(wantedIndex);
+    }
+}