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Full rewrite of camera system

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This commit is contained in:
Banks Troutman
2019-09-19 14:07:42 -04:00
parent 760f62dd93
commit 508ccff766
16 changed files with 470 additions and 252 deletions
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70
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -1,8 +1,11 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.CameraException;
import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CameraValues;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraManager;
import com.chameleonvision.vision.camera.CameraValues;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CvSink;
@@ -17,7 +20,9 @@ import java.util.HashMap;
import java.util.List;
public class CameraProcess implements Runnable {
private String CameraName;
private final Camera camera;
private final String cameraName;
// NetworkTables
private NetworkTableEntry ntPipelineEntry;
@@ -48,34 +53,38 @@ public class CameraProcess implements Runnable {
private Mat streamOutputMat = new Mat();
private Scalar contourRectColor = new Scalar(255, 0, 0);
private void ChangeCameraValues(int exposure, int brightness) {
SettingsManager.UsbCameras.get(CameraName).setBrightness(brightness);
SettingsManager.UsbCameras.get(CameraName).setExposureManual(exposure);
public void restartProcess() {
// TODO: Restart process and re-create cvPublish for new resolution
}
private void DriverModeListener(EntryNotification entryNotification) {
if (entryNotification.value.getBoolean()) {
ChangeCameraValues(25, 15);
camera.setExposure(25);
camera.setBrightness(15);
} else {
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
Pipeline pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setBrightness(pipeline.brightness);
}
}
private void PipelineListener(EntryNotification entryNotification) {
if (SettingsManager.Cameras.get(CameraName).pipelines.containsKey(entryNotification.value.getString())) {
SettingsManager.CamerasCurrentPipeline.put(CameraName, entryNotification.value.getString());
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
if (camera.getPipelines().containsKey(entryNotification.value.getString())) {
// camera.setPntryNotification.value.getString());
Pipeline pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setBrightness(pipeline.brightness);
//TODO Send Pipeline change using websocket to client
} else {
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
}
}
public CameraProcess(String cameraName) {
CameraName = cameraName;
SettingsManager.CamerasCurrentPipeline.put(CameraName,SettingsManager.Cameras.get(CameraName).pipelines.keySet().stream().findFirst().toString());
public CameraProcess(Camera processCam) {
camera = processCam;
this.cameraName = camera.name;
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
@@ -88,17 +97,16 @@ public class CameraProcess implements Runnable {
ntDriverModeEntry.addListener(this::DriverModeListener, EntryListenerFlags.kUpdate);
ntPipelineEntry.addListener(this::PipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(cameraName));
ntPipelineEntry.setString("pipeline" + camera.getCurrentPipelineIndex());
// camera settings
camVals = new CameraValues(SettingsManager.Cameras.get(cameraName));
camVals = new CameraValues(camera);
visionProcess = new VisionProcess(camVals);
// cscore setup
CameraServer cs = CameraServer.getInstance();
cvSink = cs.getVideo(SettingsManager.UsbCameras.get(cameraName));
cvSink = cs.getVideo(camera.UsbCam);
cvPublish = cs.putVideo(cameraName, camVals.ImageWidth, camVals.ImageHeight);
}
private void drawContour(Mat inputMat, RotatedRect contourRect) {
@@ -111,10 +119,18 @@ public class CameraProcess implements Runnable {
Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
}
// TODO: Separate video output, contour drawing, data output to separate function, maybe even second thread
private void updateNetworkTables(PipelineResult pipelineResult) {
}
// TODO: Separate video output to separate function, maybe even second thread
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
var pipelineResult = new PipelineResult();
if (currentPipeline == null) {
return pipelineResult;
}
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
@@ -164,9 +180,9 @@ public class CameraProcess implements Runnable {
FoundContours.clear();
FilteredContours.clear();
GroupedContours.clear();
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// System.out.println(SettingsManager.CamerasCurrentPipeline.get(CameraName));
currentPipeline = camera.getCurrentPipeline();
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
TimeStamp = cvSink.grabFrame(cameraInputMat);
@@ -183,10 +199,10 @@ public class CameraProcess implements Runnable {
ntPitchEntry.setNumber(pipelineResult.Pitch);
}
ntTimeStampEntry.setNumber(TimeStamp);
if (CameraName.equals(SettingsManager.GeneralSettings.curr_camera)){
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera) && pipelineResult.IsValid) {
HashMap<String,Object> WebSend = new HashMap<>();
HashMap<String,Object> point = new HashMap<>();
List<Double> center = new ArrayList<Double>();
List<Double> center = new ArrayList<>();
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
@@ -200,7 +216,7 @@ public class CameraProcess implements Runnable {
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;
System.out.printf("%s - Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n",CameraName ,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
System.out.printf("%s - Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
cameraInputMat.release();
hsvThreshMat.release();

3
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,13 +1,12 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.CameraValues;
import com.chameleonvision.vision.camera.CameraValues;
import org.apache.commons.math3.util.FastMath;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import java.util.*;
import java.util.stream.Collectors;
public class VisionProcess {