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Created new CaptureStaticProperties when rotating cam

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This commit is contained in:
Omer
2019-12-06 23:48:21 +02:00
parent 9db06f690b
commit 339d6dc478
2 changed files with 29 additions and 8 deletions
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35
chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
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@@ -4,13 +4,17 @@ import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CaptureStaticProperties;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.enums.ImageRotationMode;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.CVPipeline2d;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import io.javalin.websocket.WsBinaryMessageContext;
import io.javalin.websocket.WsCloseContext;
import io.javalin.websocket.WsConnectContext;
@@ -20,10 +24,7 @@ import org.msgpack.jackson.dataformat.MessagePackFactory;
import java.lang.reflect.Field;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
public class SocketHandler {
@@ -137,7 +138,7 @@ public class SocketHandler {
default: {
// only change settings when we aren't in driver mode
if(currentProcess.pipelineManager.getDriverMode()) {
if (currentProcess.pipelineManager.getDriverMode()) {
setField(currentProcess.pipelineManager.driverModePipeline.settings, entry.getKey(), entry.getValue());
} else {
setField(currentPipeline.settings, entry.getKey(), entry.getValue());
@@ -152,14 +153,34 @@ public class SocketHandler {
currentCamera.setBrightness((Integer) entry.getValue());
break;
}
case "videoModeIndex":{
case "videoModeIndex": {
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = new ArrayList<>();//This will reset the calibration
currentCamera.setVideoMode((Integer) entry.getValue());
break;
}
case "streamDivisor":{
case "streamDivisor": {
currentProcess.cameraStreamer.setDivisor(StreamDivisor.values()[(Integer) entry.getValue()], true);
break;
}
case "rotationMode": {//Create new CaptureStaticProperties with new width and height, reset crosshair calib
ImageRotationMode rotationMode = currentPipeline.settings.rotationMode;
CaptureStaticProperties prop = currentCamera.getProperties().getStaticProperties();
int width, height;
if (rotationMode == ImageRotationMode.DEG_90 || rotationMode == ImageRotationMode.DEG_270) {
width = prop.mode.height;
height = prop.mode.width;
} else {
width = prop.mode.width;
height = prop.mode.height;
}
//Creates new video mode with new width and height to create new CaptureStaticProperties and applies it
currentCamera.getProperties().setStaticProperties(new CaptureStaticProperties(new VideoMode(prop.mode.pixelFormat, width, height, prop.mode.fps), prop.fov));
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = Arrays.asList(width/2,height/2);//Reset Crosshair in single point calib
break;
}
}
VisionManager.saveCurrentCameraPipelines();