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Rename Camera and CamProcess to USBCamera and USBCameraProcess

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Further changes:
- Add CameraProcess interface
- Change VisionProcess to pass the interface as parameter
This commit is contained in:
Matt
2019-11-02 10:10:02 -07:00
parent 570a042e35
commit 24313ba45b
12 changed files with 290 additions and 201 deletions
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60
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,10 +1,8 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CalibrationMode;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
@@ -17,7 +15,6 @@ import java.util.List;
public class VisionProcess implements Runnable {
private final Camera camera;
private final String cameraName;
public final CameraProcess cameraProcess;
// NetworkTables
@@ -45,36 +42,36 @@ public class VisionProcess implements Runnable {
private Scalar BoxRectColor = new Scalar(0, 0, 233);
private long timeStamp = 0;
public VisionProcess(Camera processCam) {
camera = processCam;
this.cameraName = camera.name;
public VisionProcess(CameraProcess cameraProcess) {
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/"+processCam.getNickname()));
// USBCamera settings
cvProcess = new CVProcess(cameraProcess.getCamVals());
this.cameraProcess = cameraProcess; // new USBCameraProcess(cameraProcess);
// camera settings
cvProcess = new CVProcess(camera.getCamVals());
cameraProcess = new CameraProcess(camera);
this.cameraName = cameraProcess.getCamName();
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraProcess.getNickname()));
}
private void driverModeListener(EntryNotification entryNotification) {
camera.setDriverMode(entryNotification.value.getBoolean());
cameraProcess.setDriverMode(entryNotification.value.getBoolean());
}
private void pipelineListener(EntryNotification entryNotification) {
var ntPipelineIndex = (int) entryNotification.value.getDouble();
if (ntPipelineIndex >= camera.getPipelines().size()) {
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
if (ntPipelineIndex >= cameraProcess.getPipelines().size()) {
ntPipelineEntry.setNumber(cameraProcess.getCurrentPipelineIndex());
} else {
var pipeline = camera.getCurrentPipeline();
camera.setCurrentPipelineIndex(ntPipelineIndex);
var pipeline = cameraProcess.getCurrentPipeline();
cameraProcess.setCurrentPipelineIndex(ntPipelineIndex);
try {
camera.setExposure(pipeline.exposure);
cameraProcess.setExposure(pipeline.exposure);
} catch (VideoException e) {
System.err.println(e.toString());
}
camera.setBrightness(pipeline.brightness);
if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)) {
SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
cameraProcess.setBrightness(pipeline.brightness);
if (SettingsManager.generalSettings.currentCamera.equals(cameraName)) {
SettingsManager.generalSettings.currentPipeline = ntPipelineIndex;
HashMap<String, Object> pipeChange = new HashMap<>();
pipeChange.put("currentPipeline", ntPipelineIndex);
ServerHandler.broadcastMessage(pipeChange);
@@ -123,7 +120,7 @@ public class VisionProcess implements Runnable {
if (currentPipeline.orientation.equals(Orientation.Inverted)) {
Core.flip(inputImage, inputImage, -1);
}
if (camera.getDriverMode()) {
if (cameraProcess.getDriverMode()) {
inputImage.copyTo(outputImage);
return pipelineResult;
}
@@ -150,9 +147,9 @@ public class VisionProcess implements Runnable {
pipelineResult.IsValid = true;
switch (currentPipeline.calibrationMode) {
case None:
///use the center of the camera to find the pitch and yaw difference
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
///use the center of the USBCamera to find the pitch and yaw difference
pipelineResult.CalibratedX = cameraProcess.getCamVals().CenterX;
pipelineResult.CalibratedY = cameraProcess.getCamVals().CenterY;
break;
case Single:
// use the static point as a calibration method instead of the center
@@ -165,7 +162,7 @@ public class VisionProcess implements Runnable {
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
// var camVals = camera.getCamVals();
// var camVals = cameraProcess.getCamVals();
// if (currentPipeline.isCalibrated) {
// pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
// pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
@@ -173,8 +170,8 @@ public class VisionProcess implements Runnable {
// pipelineResult.CalibratedX = camVals.CenterX;
// pipelineResult.CalibratedY = camVals.CenterY;
// }
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Pitch = cameraProcess.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = cameraProcess.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();
drawContour(outputImage, finalRect);
}
@@ -193,7 +190,7 @@ public class VisionProcess implements Runnable {
double processTimeMs;
double fps = 0;
double uiFps = 0;
int maxFps = camera.getVideoMode().fps;
int maxFps = cameraProcess.getVideoMode().fps;
new Thread(cameraProcess).start();
@@ -201,10 +198,11 @@ public class VisionProcess implements Runnable {
while (!Thread.interrupted()) {
startTime = System.nanoTime();
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / (maxFps + 3)) { // 3 additional fps to allow for overhead
foundContours.clear();
filteredContours.clear();
groupedContours.clear();
deSpeckledContours.clear();
// update FPS for ui only every 0.5 seconds
if ((startTime - fpsLastTime) * 1e-6 >= 500) {
@@ -216,7 +214,7 @@ public class VisionProcess implements Runnable {
fpsLastTime = System.nanoTime();
}
currentPipeline = camera.getCurrentPipeline();
currentPipeline = cameraProcess.getCurrentPipeline();
// start fps counter right before grabbing input frame
timeStamp = cameraProcess.getLatestFrame(cameraInputMat);
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
@@ -226,7 +224,7 @@ public class VisionProcess implements Runnable {
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
if (cameraName.equals(SettingsManager.generalSettings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> calculated = new HashMap<>();
@@ -293,6 +291,6 @@ public class VisionProcess implements Runnable {
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
ntPipelineEntry.setNumber(cameraProcess.getCurrentPipelineIndex());
}
}