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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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22
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStreamer.java
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@@ -1,14 +1,11 @@
package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.vision.camera.StreamDivisor;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.CvSource;
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 CameraProcess cameraProcess;
@@ -24,6 +21,7 @@ public class CameraStreamer {
this.cvSource = CameraServer.getInstance().putVideo(name,
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
setDivisor(divisor);
}
public void setDivisor(StreamDivisor newDivisor) {
@@ -37,7 +35,7 @@ public class CameraStreamer {
cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
}
ServerHandler.sendFullSettings();
// ServerHandler.sendFullSettings();
}
public void setNewVideoMode(VideoMode newVideoMode) {
@@ -47,14 +45,16 @@ public class CameraStreamer {
}
public void runStream(Mat image) {
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, newSize);
synchronized (streamBufferLock) {
streamBuffer = image;
}
// 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, newSize);
// }
cvSource.putFrame(streamBuffer);
}