Full rewrite of camera system

2026-06-20 00:51:41 +00:00 · 2019-09-19 14:07:42 -04:00
parent 760f62dd93
commit 508ccff766
16 changed files with 470 additions and 252 deletions
--- a/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
@@ -0,0 +1,132 @@
+package com.chameleonvision.vision.camera;
+
+import com.chameleonvision.vision.Pipeline;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.UsbCameraInfo;
+import edu.wpi.cscore.VideoMode;
+
+import java.util.HashMap;
+import java.util.stream.IntStream;
+
+public class Camera {
+
+    private static double defaultFOV = 60.8;
+
+    public final String name;
+    public final String path;
+
+    public final UsbCamera UsbCam;
+    private final UsbCameraInfo UsbCamInfo;
+    private final VideoMode[] availableVideoModes;
+
+    private double FOV;
+
+    private CameraValues camVals;
+    private CamVideoMode camVideoMode;
+
+    private int currentPipelineIndex;
+    private HashMap<Integer, Pipeline> pipelines = new HashMap<>();
+
+    public Camera(String cameraName) {
+        this(cameraName, defaultFOV);
+    }
+
+    public Camera(UsbCameraInfo usbCamInfo) {
+        this(usbCamInfo, defaultFOV);
+    }
+
+    public Camera(String cameraName, double fov) {
+        this(CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
+    }
+
+    public Camera(UsbCameraInfo usbCamInfo, double fov) {
+        UsbCamInfo = usbCamInfo;
+        FOV = fov;
+        name = usbCamInfo.name;
+        path = usbCamInfo.path;
+
+        UsbCam = new UsbCamera(name, path);
+
+        // set up video mode
+        availableVideoModes = UsbCam.enumerateVideoModes();
+        setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
+    }
+
+    public void setCamVideoMode(int videoMode) {
+        setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
+    }
+
+    private void setCamVideoMode(VideoMode videoMode) {
+        setCamVideoMode(new CamVideoMode(videoMode));
+    }
+
+    private void setCamVideoMode(CamVideoMode camVideoMode) {
+        this.camVideoMode = camVideoMode;
+        UsbCam.setPixelFormat(camVideoMode.getActualPixelFormat());
+        UsbCam.setFPS(camVideoMode.fps);
+        UsbCam.setResolution(camVideoMode.width, camVideoMode.height);
+        camVals = new CameraValues(this);
+        // TODO: Automatically restart CameraProcess when resolution changes (not FPS)
+    }
+
+    public void addPipeline() {
+        addPipeline(pipelines.size());
+    }
+
+    private void addPipeline(int pipelineNumber) {
+        if (pipelines.containsKey(pipelineNumber)) return;
+        pipelines.put(pipelineNumber, new Pipeline());
+    }
+
+    public void setCurrentPipelineIndex(int pipelineNumber) {
+        if (pipelineNumber - 1 > pipelines.size()) return;
+        currentPipelineIndex = pipelineNumber;
+    }
+
+    public Pipeline getCurrentPipeline() {
+        return pipelines.get(currentPipelineIndex);
+    }
+
+    public int getCurrentPipelineIndex() {
+        return currentPipelineIndex;
+    }
+
+    public HashMap<Integer, Pipeline> getPipelines() {
+        return pipelines;
+    }
+
+    public CamVideoMode getVideoMode() {
+        return camVideoMode;
+    }
+
+    public int getVideoModeIndex() {
+        return IntStream.range(0, availableVideoModes.length)
+                .filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
+                .findFirst()
+                .orElse(-1);
+    }
+
+    public void setFOV(double fov) {
+        FOV = fov;
+        camVals = new CameraValues(this);
+    }
+
+    public double getFOV() {
+        return FOV;
+    }
+
+    public void setBrightness(int brightness) {
+        getCurrentPipeline().brightness = brightness;
+        UsbCam.setBrightness(brightness);
+    }
+
+    public int getBrightness() {
+        return getCurrentPipeline().brightness;
+    }
+
+    public void setExposure(int exposure) {
+        getCurrentPipeline().exposure = exposure;
+        UsbCam.setExposureManual(exposure);
+    }
+
+}