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running in to bug in CameraStreamer with native exceptions
This commit is contained in:
Banks Troutman
2019-11-21 05:32:19 -05:00
parent 35509c0162
commit 48da9f5dfd
21 changed files with 678 additions and 211 deletions
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55
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -34,17 +34,29 @@ public class VisionProcess {
// Thread to grab frames from the camera
// TODO: fix video modes!!!
this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).fps);
new Thread(cameraRunnable).start();
// Thread to put frames on the dashboard
this.cameraStreamer = new CameraStreamer(cameraProcess, name);
this.streamRunnable = new CameraStreamerRunnable(1000L/32, cameraStreamer);
new Thread(streamRunnable).start();
// Thread to process vision data
this.visionRunnable = new VisionProcessRunnable();
new Thread(visionRunnable).start();
}
public void start() {
System.out.println("Starting camera thread.");
new Thread(cameraRunnable).start();
while (cameraRunnable.cameraFrame == null) {
try {
if (cameraRunnable.cameraFrame.cols() > 0) break;
} catch (Exception e) {
// e.printStackTrace();
}
}
System.out.println("Starting vision thread.");
new Thread(visionRunnable).start();
System.out.println("Starting stream thread.");
new Thread(streamRunnable).start();
}
public void setPipeline(int pipelineIndex) {
@@ -73,7 +85,7 @@ public class VisionProcess {
* at a specified loopTime
*/
protected class CameraFrameRunnable extends LoopingRunnable {
private Mat cameraFrame = new Mat();
private Mat cameraFrame;
private long timestampMicros;
private final Object frameLock = new Object();
@@ -95,18 +107,23 @@ public class VisionProcess {
// Grab camera frames
var camData = cameraProcess.getFrame();
synchronized (frameLock) {
cameraFrame = camData.getLeft();
if (camData.getLeft().cols() > 0) {
// System.out.println("grabbing frame");
// synchronized (frameLock) {
cameraFrame = camData.getLeft();
// }
timestampMicros = camData.getRight();
}
timestampMicros = camData.getRight();
}
}
public Mat getFrame(Mat dst) {
synchronized (frameLock) {
cameraFrame.copyTo(dst);
return dst;
if (cameraFrame != null) {
dst = cameraFrame;
} else {
System.out.println("no frame");
}
return dst;
}
public long getTimestampMicros() {
@@ -125,7 +142,12 @@ public class VisionProcess {
@Override
public void run() {
while(!Thread.interrupted()) {
result = currentPipeline.runPipeline(cameraRunnable.getFrame(streamBuffer));
streamBuffer = cameraRunnable.getFrame(streamBuffer);
if (streamBuffer.cols() > 0 && streamBuffer.rows() > 0) {
result = currentPipeline.runPipeline(streamBuffer);
} else {
// System.err.println("Bad streambuffer mat");
}
// TODO do something with the result
}
}
@@ -143,7 +165,16 @@ public class VisionProcess {
@Override
protected void process() {
streamer.runStream(cameraRunnable.getFrame(streamBuffer));
CVPipelineResult latestResult = visionRunnable.result;
if (latestResult != null) {
Mat toStreamMat = visionRunnable.result.outputMat;
streamBuffer = toStreamMat;
streamer.runStream(toStreamMat);
// if (toStreamMat != null && toStreamMat.cols() > 0) {
// } else {
// System.out.println("fuuuuck");
// }
}
}
}
}