mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Full rewrite of camera system
This commit is contained in:
Banks Troutman
@@ -1,14 +1,15 @@
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package com.chameleonvision.settings;
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import com.chameleonvision.NoCameraException;
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import com.chameleonvision.FileHelper;
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import com.chameleonvision.CameraException;
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import java.io.*;
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import java.nio.file.*;
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import com.chameleonvision.vision.CamVideoMode;
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import com.chameleonvision.vision.Camera;
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import com.chameleonvision.vision.camera.Camera;
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import com.chameleonvision.vision.GeneralSettings;
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import com.chameleonvision.vision.Pipeline;
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import com.chameleonvision.vision.camera.CameraManager;
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import com.google.gson.Gson;
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import java.util.ArrayList;
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@@ -17,22 +18,17 @@ import java.util.List;
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import java.util.Map;
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import edu.wpi.cscore.*;
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import org.opencv.videoio.VideoCapture;
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public class SettingsManager {
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private static SettingsManager instance;
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private SettingsManager() {
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InitiateGeneralSettings();
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InitiateCamerasInfo();
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InitiateUsbCameras();
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InitiateCameras();
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InitiateUsbCamerasSettings();
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if (!Cameras.containsKey(GeneralSettings.curr_camera) && Cameras.size() > 0) {
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String camName = Cameras.keySet().stream().findFirst().get();
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GeneralSettings.curr_camera = camName;
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GeneralSettings.curr_pipeline = Cameras.get(camName).pipelines.keySet().stream().findFirst().get();
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GeneralSettings.curr_pipeline = CameraManager.getCamera(camName).getCurrentPipelineIndex();
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}
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}
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@@ -47,18 +43,16 @@ public class SettingsManager {
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return instance;
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}
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public static HashMap<String, Camera> Cameras = new HashMap<String, Camera>();
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public static HashMap<String, UsbCamera> UsbCameras = new HashMap<String, UsbCamera>();
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public static HashMap<String, UsbCameraInfo> USBCamerasInfo = new HashMap<String, UsbCameraInfo>();
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public static HashMap<String, Camera> Cameras = new HashMap<>();
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public static HashMap<String, UsbCamera> UsbCameras = new HashMap<>();
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public static com.chameleonvision.vision.GeneralSettings GeneralSettings;
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public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<String, String>();
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public static HashMap<String, String> CameraPorts = new HashMap<String, String>();//TODO Implement ports
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private Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
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private Path CamsPath = Paths.get(SettingsPath.toString(), "Cams");
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public static HashMap<String, String> CamerasCurrentPipeline = new HashMap<>();
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// public static HashMap<String, String> CameraPorts = new HashMap<>();//TODO Implement ports
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public static final Path SettingsPath = Paths.get(System.getProperty("user.dir"), "Settings");
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private void InitiateGeneralSettings() {
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CheckPath(SettingsPath);
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FileHelper.CheckPath(SettingsPath);
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try {
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GeneralSettings = new Gson().fromJson(new FileReader(Paths.get(SettingsPath.toString(), "Settings.json").toString()), com.chameleonvision.vision.GeneralSettings.class);
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} catch (FileNotFoundException e) {
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@@ -66,163 +60,33 @@ public class SettingsManager {
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}
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}
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private void InitiateCamerasInfo() {
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List<Integer> TrueCameras = new ArrayList<Integer>();
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UsbCameraInfo[] UsbDevices = UsbCamera.enumerateUsbCameras();
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for (var i = 0; i < UsbDevices.length; i++) {
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var cap = new VideoCapture(UsbDevices[i].dev);
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if (cap.isOpened()) {
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TrueCameras.add(i);
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cap.release();
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}
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}
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for (var i : TrueCameras) {
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var DeviceName = UsbDevices[i].name;
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var suffix = 0;
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while (USBCamerasInfo.containsKey(DeviceName)) {
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suffix++;
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DeviceName = String.format("%s(%s)", UsbDevices[i].name, suffix);
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}
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USBCamerasInfo.put(DeviceName, UsbDevices[i]);
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}
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}
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private void InitiateUsbCameras() {
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for (Map.Entry<String, UsbCameraInfo> entry : USBCamerasInfo.entrySet()) {
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var device = entry.getValue();
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var name = entry.getKey();
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UsbCamera camera = new UsbCamera(name, device.dev);
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UsbCameras.put(name, camera);
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}
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}
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private void InitiateCameras() {
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CheckPath(CamsPath);
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for (Map.Entry<String, UsbCameraInfo> entry : USBCamerasInfo.entrySet()) {
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var camPath = Paths.get(CamsPath.toString(), String.format("%s.json", entry.getKey()));
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if (Files.exists(camPath)) {
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try {
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Camera cam = new Gson().fromJson(new FileReader(camPath.toString()), Camera.class);
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Cameras.put(entry.getKey(), cam);
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} catch (FileNotFoundException e) {
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e.printStackTrace();
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}
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} else {
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CreateNewCam(entry.getKey());
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}
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}
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}
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private void InitiateUsbCamerasSettings() {
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for (Map.Entry<String, UsbCamera> entry : UsbCameras.entrySet()) {
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var cam = entry.getValue();
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var camName = entry.getKey();
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var camInfo = Cameras.get(camName);
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cam.setPixelFormat(VideoMode.PixelFormat.valueOf(camInfo.camVideoMode.pixel_format));
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cam.setFPS(camInfo.camVideoMode.fps);
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cam.setResolution(camInfo.camVideoMode.width, camInfo.camVideoMode.height);
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}
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}
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private void CheckPath(Path path) {
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if (!Files.exists(path)) {
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try {
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Files.createDirectories(path);
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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}
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// Creators
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private void CreateNewCam(String CameraName) {
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Camera cam = new Camera();
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var caminfo = USBCamerasInfo.get(CameraName);
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cam.path = caminfo.path;
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var videomode = UsbCameras.get(CameraName).enumerateVideoModes()[0];
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CamVideoMode CamVideoMode = new CamVideoMode();
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CamVideoMode.fps = videomode.fps;
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CamVideoMode.height = videomode.height;
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CamVideoMode.width = videomode.width;
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CamVideoMode.pixel_format = videomode.pixelFormat.name();
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cam.camVideoMode = CamVideoMode;
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cam.pipelines = new HashMap<String, Pipeline>();
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cam.resolution = 0;
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cam.FOV = 60.8;
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Cameras.put(CameraName, cam);
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CreateNewPipeline(null,cam);
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CreateNewPipeline(null,cam);//Created 2 pipeline for testing TODO add a create pipeline button
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}
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public void CreateNewPipeline(String PipeName,Camera cam) {
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if (PipeName == null) {
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var suffix = 0;
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PipeName = "pipeline" + suffix;
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while (cam.pipelines.containsKey(PipeName)) {
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suffix++;
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PipeName = "pipeline" + suffix;
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}
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} else if (cam.pipelines.containsKey(PipeName)) {
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System.err.println("Pipeline Already Exists");
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}
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cam.pipelines.put(PipeName, new Pipeline());
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}
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//Access Methods
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public Pipeline GetCurrentPipeline() throws NoCameraException {
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if (!GeneralSettings.curr_pipeline.equals("")) {
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return Cameras.get(GeneralSettings.curr_camera).pipelines.get(GeneralSettings.curr_pipeline);
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}
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throw new NoCameraException();
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}
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public Camera GetCurrentCamera() throws NoCameraException {
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public List<String> GetResolutionList() throws CameraException {
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if (!GeneralSettings.curr_camera.equals("")) {
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return Cameras.get(GeneralSettings.curr_camera);
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}
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throw new NoCameraException();
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}
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public UsbCamera GetCurrentUsbCamera() throws NoCameraException {
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if (!GeneralSettings.curr_camera.equals("")) {
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return UsbCameras.get(GeneralSettings.curr_camera);
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}
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throw new NoCameraException();
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}
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public List<String> GetResolutionList() throws NoCameraException {
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if (!GeneralSettings.curr_camera.equals("")) {
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List<String> list = new ArrayList<String>();
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var cam = UsbCameras.get(GeneralSettings.curr_camera);
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List<String> list = new ArrayList<>();
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var cam = CameraManager.getCamera(GeneralSettings.curr_camera).UsbCam;
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for (var res : cam.enumerateVideoModes()) {
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list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
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}
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return list;
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}
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throw new NoCameraException();
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throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
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}
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public void SetCurrentCamera(String CamName) throws Exception {
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if (Cameras.containsKey(CamName)) {
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GeneralSettings.curr_camera = CamName;
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GeneralSettings.curr_pipeline = GetCurrentCamera().pipelines.keySet().stream().findFirst().toString();
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}
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public void updateCameraSetting(String cameraName, int pipelineNumber) {
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GeneralSettings.curr_camera = cameraName;
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GeneralSettings.curr_pipeline = pipelineNumber;
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}
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public void SetCurrentPipeline(String PipelineName) throws Exception {
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if (GetCurrentCamera().pipelines.containsKey(PipelineName)) {
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GeneralSettings.curr_pipeline = PipelineName;
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}
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public void updatePipelineSetting(int pipelineNumber){
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GeneralSettings.curr_pipeline = pipelineNumber;
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}
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//Savers
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public void SaveSettings() {
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SaveCameras();
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CameraManager.saveCameras();
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SaveGeneralSettings();
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}
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@@ -230,7 +94,7 @@ public class SettingsManager {
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for (Map.Entry<String, Camera> entry : Cameras.entrySet()) {
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try {
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Gson gson = new Gson();
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FileWriter writer = new FileWriter(Paths.get(CamsPath.toString(), String.format("%s.json", entry.getKey())).toString());
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FileWriter writer = new FileWriter(Paths.get(CameraManager.CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
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gson.toJson(entry.getValue(), writer);
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writer.flush();
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writer.close();
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