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Networking bugfixes, added PixelFormat to resolution selection

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This commit is contained in:
Banks Troutman
2019-10-06 21:49:17 -04:00
parent 3db2f30ea7
commit 47307e1fbd
7 changed files with 35 additions and 39 deletions
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Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -16,7 +16,7 @@ public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 240;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
public final String name;
@@ -78,7 +78,7 @@ public class Camera {
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && v.pixelFormat == VideoMode.PixelFormat.kYUYV).toArray(VideoMode[]::new);
availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));