Replace classes with new classabstraction classes

2026-06-22 01:11:40 +00:00 · 2019-11-23 11:55:20 -05:00
parent 4bcae6590f
commit 4dc86c6f25
64 changed files with 396 additions and 2066 deletions
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
@@ -0,0 +1,65 @@
+package com.chameleonvision.vision.camera;
+
+import com.chameleonvision.vision.enums.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;
+
+public class CameraStreamer {
+    private final CameraProcess cameraProcess;
+    private final String name;
+    private StreamDivisor divisor = StreamDivisor.NONE;
+    private CvSource cvSource;
+    private final Object streamBufferLock = new Object();
+    private Mat streamBuffer = new Mat();
+
+    public CameraStreamer(CameraProcess cameraProcess, String name) {
+        this.cameraProcess = cameraProcess;
+        this.name = name;
+        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) {
+        this.divisor = newDivisor;
+        var camValues = cameraProcess.getProperties();
+        var newWidth = camValues.staticProperties.imageWidth / newDivisor.value;
+        var newHeight = camValues.staticProperties.imageHeight / newDivisor.value;
+        synchronized (streamBufferLock) {
+            this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
+            this.cvSource = CameraServer.getInstance().putVideo(this.name,
+                    cameraProcess.getProperties().staticProperties.imageWidth / divisor.value,
+                    cameraProcess.getProperties().staticProperties.imageHeight / divisor.value);
+        }
+        ServerHandler.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);
+    }
+
+    public void runStream(Mat image) {
+        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);
+    }
+}