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Start working on USBCamera

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Matt
2019-11-07 09:02:23 -08:00
parent c213d4c751
commit 338c59e783
3 changed files with 51 additions and 4 deletions
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13
Main/chameleon-vision.iml
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@@ -12,6 +12,19 @@
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2
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProcess.java
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@@ -4,7 +4,7 @@ import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
public interface CameraProcess {
Pair<Mat, Long> getFrame();
Pair<Mat, Long> getFrame(Mat frame);
void setExposure(int exposure);
void setBrightness(int brightness);

40
Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCamera.java
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@@ -1,15 +1,49 @@
package com.chameleonvision.classabstraction.camera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoException;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.cameraserver.CameraServer;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
public class USBCamera {
public class USBCamera implements CameraProcess {
private final UsbCamera baseCamera;
public final CameraProperties properties;
private final CvSink cvSink;
private Mat imageBuffer = new Mat();
public USBCamera(UsbCamera camera) {
public USBCamera(UsbCamera camera, double fov) {
baseCamera = camera;
cvSink = CameraServer.getInstance().getVideo(baseCamera);
VideoMode vidMode = new VideoMode(VideoMode.PixelFormat.kYUYV, 640, 480, 60);
properties = new CameraProperties(baseCamera, 75);
properties = new CameraProperties(baseCamera, fov);
}
@Override
public Pair<Mat, Long> getFrame(Mat frame) {
var timestamp = System.nanoTime();
cvSink.grabFrame(imageBuffer);
imageBuffer.copyTo(frame);
return Pair.of(frame, timestamp - System.nanoTime());
}
@Override
public void setExposure(int exposure) {
try {
baseCamera.setExposureManual(exposure);
} catch (VideoException e) {
System.err.println("USBCamera Does not support exposure change");
}
}
@Override
public void setBrightness(int brightness) {
try {
baseCamera.setBrightness(brightness);
} catch (VideoException e) {
System.err.println("USBCamera Does not support brightness change");
}
}
}