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Adjusted folder structure to sit under com.chameleonvision package

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Banks Troutman
2019-09-15 15:03:44 -04:00
parent ec5a94d076
commit 25652ba32e
11 changed files with 29 additions and 32 deletions
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64
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java Normal file
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package com.chameleonvision.vision.process;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
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;
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();
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
//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));
double CenterX = ((double) Width / 2) - 0.5;
double CenterY = ((double) Height/2) - 0.5;
double CamArea = (double)(Width * Height);
VisionProcess visionProcess = new VisionProcess(CenterX,CenterY,CamArea);
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);
if (mat.cols() !=0 && mat.rows() != 0) {
Mat HSVImage = visionProcess.HSVThreshold(pipeline.hue, pipeline.saturation, pipeline.value, mat, pipeline.erode, pipeline.dilate);
// List<MatOfPoint> Contours = visionProcess.FindContours(HSVImage);
// List<MatOfPoint> FilterdContours = visionProcess.FilterContours(Contours, pipeline.area, pipeline.ratio, pipeline.extent, pipeline.sort_mode, pipeline.target_intersection, pipeline.target_group);
cv_publish.putFrame(mat);
}
}
}
}