Move Java backend to properly named folder

2026-06-24 01:31:44 +00:00 · 2019-12-01 01:44:19 -05:00
parent 368484ca9b
commit 386d195d2d
165 changed files with 9 additions and 21 deletions
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
@@ -0,0 +1,85 @@
+package com.chameleonvision.vision.camera;
+
+import com.chameleonvision.vision.enums.StreamDivisor;
+import com.chameleonvision.web.SocketHandler;
+import edu.wpi.cscore.CvSource;
+import edu.wpi.cscore.MjpegServer;
+import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
+
+public class CameraStreamer {
+    private final CameraCapture cameraCapture;
+    private final String name;
+    private StreamDivisor divisor = StreamDivisor.NONE;
+    private CvSource cvSource;
+    private final Object streamBufferLock = new Object();
+    private Mat streamBuffer = new Mat();
+    private Size size;
+
+    public CameraStreamer(CameraCapture cameraCapture, String name) {
+        this.cameraCapture = cameraCapture;
+        this.name = name;
+        this.cvSource = CameraServer.getInstance().putVideo(name,
+                cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
+                cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
+        //noinspection IntegerDivisionInFloatingPointContext
+        this.size = new Size(
+                cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
+                cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value
+        );
+        setDivisor(divisor, false);
+    }
+
+    public void setDivisor(StreamDivisor newDivisor, boolean updateUI) {
+        if (divisor != newDivisor) {
+            this.divisor = newDivisor;
+            var camValues = cameraCapture.getProperties();
+            var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
+            var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
+            this.size = new Size(newWidth, newHeight);
+            synchronized (streamBufferLock) {
+                this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
+                this.cvSource = CameraServer.getInstance().putVideo(this.name,
+                        cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
+                        cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
+            }
+            if (updateUI) {
+                SocketHandler.sendFullSettings();
+            }
+        }
+    }
+
+    public StreamDivisor getDivisor() {
+        return divisor;
+    }
+
+    public void setNewVideoMode(VideoMode newVideoMode) {
+        // Trick to update cvSource and streamBuffer to the new resolution
+        // Must change the cameraProcess resolution first
+        setDivisor(divisor, true);
+    }
+
+    public int getStreamPort() {
+        var s = (MjpegServer) CameraServer.getInstance().getServer("serve_" + name);
+        return s.getPort();
+    }
+
+    public void runStream(Mat image) {
+        synchronized (streamBufferLock) {
+            image.copyTo(streamBuffer);
+        }
+
+        if (divisor.value != 1) {
+//            var camVal = cameraProcess.getProperties().staticProperties;
+//            var newWidth = camVal.imageWidth / divisor.value;
+//            var newHeight = camVal.imageHeight / divisor.value;
+//            Size newSize = new Size(newWidth, newHeight);
+             Imgproc.resize(streamBuffer, streamBuffer, this.size);
+        }
+        cvSource.putFrame(streamBuffer);
+    }
+}