mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
Merge branch 'master' into 'dev'
Master See merge request chameleon-vision/Chameleon-Vision!15
This commit is contained in:
ori agranat
@@ -5,7 +5,7 @@
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<modelVersion>4.0.0</modelVersion>
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<groupId>org.chameleon-vision.main</groupId>
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<artifactId>chameleon-vision</artifactId>
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<version>1.0-SNAPSHOT</version>
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<version>1.0.2</version>
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<build>
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<plugins>
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<!--setup for java jdk 12-->
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@@ -4,6 +4,7 @@ import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.camera.CameraManager;
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import com.chameleonvision.vision.process.VisionProcess;
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import com.chameleonvision.web.Server;
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import edu.wpi.first.networktables.NetworkTableInstance;
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public class Main {
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public static void main(String[] args) {
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@@ -12,7 +13,8 @@ public class Main {
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for (var camSet : CameraManager.getAllCamerasByName().entrySet()) {
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new Thread(new VisionProcess(camSet.getValue())).start();
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}
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// NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
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NetworkTableInstance.getDefault().startClientTeam(SettingsManager.GeneralSettings.team_number);
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// NetworkTableInstance.getDefault().startClient("localhost");
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Server.main(8888);
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} else {
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System.err.println("No cameras connected!");
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@@ -140,7 +140,7 @@ public class Camera {
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return currentPipelineIndex;
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}
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void setCurrentPipelineIndex(int pipelineNumber) {
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public void setCurrentPipelineIndex(int pipelineNumber) {
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if (pipelineNumber - 1 > pipelines.size()) return;
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currentPipelineIndex = pipelineNumber;
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}
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@@ -70,7 +70,9 @@ public class CameraManager {
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private static boolean addCamera(Camera camera, String cameraName) {
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if (AllCamerasByName.containsKey(cameraName)) return false;
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camera.addPipeline();
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for (int i = 0; i < 10;i++){
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camera.addPipeline(); // simple fix to create more pipelines for now
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}
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AllCamerasByName.put(cameraName, camera);
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return true;
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}
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@@ -3,7 +3,9 @@ package com.chameleonvision.vision.process;
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import com.chameleonvision.settings.SettingsManager;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.web.Server;
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import com.chameleonvision.web.ServerHandler;
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import edu.wpi.cscore.VideoException;
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import edu.wpi.first.networktables.*;
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import org.opencv.core.*;
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import org.opencv.imgproc.Imgproc;
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@@ -77,12 +79,18 @@ public class VisionProcess implements Runnable {
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if (camera.getPipelines().containsKey(ntPipelineIndex)) {
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// camera.setEntryNotification.value.getString());
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var pipeline = camera.getCurrentPipeline();
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camera.setExposure(pipeline.exposure);
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camera.setCurrentPipelineIndex(ntPipelineIndex);
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try{
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camera.setExposure(pipeline.exposure);
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}
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catch (VideoException e){
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System.err.println(e.toString());
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}
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camera.setBrightness(pipeline.brightness);
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HashMap<String, Object> pipeChange = new HashMap<>();
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pipeChange.put("curr_pipeline", ntPipelineIndex);
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ServerHandler.broadcastMessage(pipeChange);
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ServerHandler.sendFullSettings();
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} else {
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ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
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@@ -99,12 +99,13 @@ public class ServerHandler {
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sendFullSettings();
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break;
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case "curr_pipeline":
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String newPipeline = (String) value;
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String newPipeline = value.toString();
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var pipelineNumber = Integer.parseInt(newPipeline.replace("pipeline", ""));
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(pipelineNumber);
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// broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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171
README.md
171
README.md
@@ -1,163 +1,78 @@
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# Chameleon-Vision
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a free software for FRC teams to use for vision proccesing on their robots
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Chameleon Vision is free open-source software for FRC teams to use for vision proccesing on their robots.
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## getting started
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## Getting started
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These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
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See Deployment for notes on how to deploy the project on a live system.
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These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
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(Coming soon!)
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### Prerequisites
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---
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#### For the co-processor
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- Java 12 Runtime (See Deployment - Software)
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- Avahi Daemon
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so in order to run this project we will need to install python in order to run the backend and node.js with vue.js in order to run the fronted
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#### For the driver station
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#### backend
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- Bonjour
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- python 3.7 and above
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- opencv 3.4.5
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## Deployment
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Deploying is as simple as uploading the chameleon-vision-1.xx.jar file to your target device.
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Run the program with `java -jar chameleon-vision-1.xx.jar`
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- tornado web framework
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## Software
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- robotpy-cscore
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### Java 12
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Follow the correct instructions for your platform from [BellSoft](https://bell-sw.com/pages/liberica_install_guide-12.0.2/)
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- pynetworktables
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### Avahi Daemon (Linux systems)
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`sudo apt-get install avahi-daemon avahi-discover avahi-utils libnss-mdns mdns-scan`
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- pymq
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#### frontend
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- vue.js
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- vuex
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- vue-router
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- less and less-loader
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- iView
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- vue-native-websocket
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### installing
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#### for the backend
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1. sudo apt-get update
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2. apt-get dist-upgrade
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3. sudo apt-get upgrade
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4. sudo apt-get install python3-pip python3-dev cmake zip unzip build-essential git libnss-mdns --fix-missing
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5. sudo pip3 install numpy (if on raspberry pi do "sudo apt-get install python3-numpy")
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6. sudo apt-get install python3-opencv
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7. pip3 install robotpy-cscore
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8. pip3 install pyzmq
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9. pip3 install tornado
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to run the backend:
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```
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sudo python3 Main.py
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```
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if backed gets suck or no camera are recognized after a crash do:
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```
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sudo pkill -9 python3
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```
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#### compiling:
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in order to compile the program for runtime run: (still needs to install dependencies)
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```
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python3 -m nuitka --follow-imports Main.py
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```
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#### for the frontend
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1. sudo apt-get install nodejs npm
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2. cd chameleon-client
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3. sudo npm install
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4. sudo npm install @vue/cli
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to run the front end you can open the cli ui by:
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```
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vue ui
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```
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of you can auto serve the ui by
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```
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npm run serve
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```
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### Bonjour (Windows Systems)
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Download and install Bonjour [from here](https://support.apple.com/kb/DL999?locale=en_US)
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## Hardware
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this is important when choosing your sbc it is more important to have a good usb controller that a good cpu
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### ARM Co-processors
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Currently only Raspberry Pi 3 or 4 models with at least 1GB of RAM are tested and supported.
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Additional ARM-based single board computers (Odroid, Nvidia Jetson, etc.) will be supported in the near future.
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on the odroid xu4 which is very fast i have got many bottlenecks from the usb controller and many times making the program crach
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#### networking
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it is very important to install Bonjour
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## docs
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main docs can be found at [google docs](https://docs.google.com/document/d/1qDuwHtpIPJfyXGIL8PJG89LZwRWbn2J9f-5g19lWL9U/edit?usp=sharing)
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### x86 Computers
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Currently any 64-Bit devices (Windows, Linux and Mac OS) are supported.
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32 Bit devices are not supported.
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## Authors
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* **Sagi Frimer** - *initial work* - websocket, settings manager, UI
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* **Ori Agranat** - *main coder* - vision loop , UI, websocket, networktables
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* **Ori Agranat** - *main coder* - vision loop, UI, websocket, networktables
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* **Omer Zipory** - *developer* - vision loop, websocket, networking
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* **Banks Troutman** - *developer* - vision loop, websocket, networking
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* **Matt Morley** - *developer* - documentation
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## Acknowledgments
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* the [robotpy project](https://github.com/robotpy) and mainly the cscore libs
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* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
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* basically all of stackoverflow
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* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
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##License
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Copyright (C) 2019 Ori Agranat oriagranat9@gmail.com
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* [Javalin](https://javalin.io/)
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* [Spring Framework](https://spring.io/)
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* This file is part of Chameleon Vision.
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* [JSON](https://json.org)
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Chameleon Vision can not be copied without the express permission of Ori Agranat
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Chameleon Vision binaries may be distributed under [Creative Commons Attribution 4.0](https://creativecommons.org/licenses/by/4.0/)
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* [Google](https://github.com/google) - Specifically [Gson](https://github.com/google/gson)
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## License
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Usage of Chameleon Vision must fall under all terms of [Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International](https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode)
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