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Add video mode change support to VisionProcess

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This commit is contained in:
Matt
2019-11-16 11:10:55 -08:00
parent f426552644
commit 58c1924c7e
4 changed files with 34 additions and 3 deletions
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11
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
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@@ -6,6 +6,7 @@ import com.chameleonvision.classabstraction.pipeline.CVPipeline;
import com.chameleonvision.classabstraction.pipeline.CVPipelineResult;
import com.chameleonvision.classabstraction.pipeline.CVPipelineSettings;
import com.chameleonvision.classabstraction.pipeline.DriverVisionPipeline;
import edu.wpi.cscore.VideoMode;
import org.opencv.core.Mat;
import java.util.ArrayList;
@@ -18,6 +19,7 @@ public class VisionProcess {
private final CameraFrameRunnable cameraRunnable;
private final CameraStramerRunnable streamRunnable;
private final VisionProcessRunnable visionRunnable;
private final CameraStreamer cameraStreamer;
private CVPipeline currentPipeline;
private final CVPipelineSettings driverVisionSettings = new CVPipelineSettings();
@@ -33,7 +35,8 @@ public class VisionProcess {
new Thread(cameraRunnable).start();
// Thread to put frames on the dashboard
this.streamRunnable = new CameraStramerRunnable(streamTimeMs, new CameraStreamer(cameraProcess, name));
this.cameraStreamer = new CameraStreamer(cameraProcess, name);
this.streamRunnable = new CameraStramerRunnable(streamTimeMs, cameraStreamer);
new Thread(streamRunnable).start();
// Thread to process vision data
@@ -42,7 +45,6 @@ public class VisionProcess {
}
public void setPipeline(int pipelineIndex) {
CVPipeline newPipeline = pipelines.get(pipelineIndex);
if (newPipeline != null) {
@@ -55,6 +57,11 @@ public class VisionProcess {
currentPipeline.initPipeline(cameraProcess);
}
public void setVideoMode(VideoMode newMode) {
cameraProcess.setVideoMode(newMode);
cameraStreamer.setNewVideoMode(newMode);
}
public CVPipeline getCurrentPipeline() {
return currentPipeline;
}

7
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraProcess.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.classabstraction.camera;
import edu.wpi.cscore.VideoMode;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
@@ -23,4 +24,10 @@ public interface CameraProcess {
* @param brightness the new brightness to set the camera to
*/
void setBrightness(int brightness);
/**
* Set the video mode (fps and resolution) of the camera
* @param mode the wanted mode
*/
void setVideoMode(VideoMode mode);
}

7
Main/src/main/java/com/chameleonvision/classabstraction/camera/CameraStreamer.java
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@@ -3,6 +3,7 @@ package com.chameleonvision.classabstraction.camera;
import com.chameleonvision.vision.camera.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;
@@ -39,6 +40,12 @@ public class CameraStreamer {
ServerHandler.sendFullSettings();
}
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) {
image.copyTo(streamBuffer);
if (divisor.value != 1) {

12
Main/src/main/java/com/chameleonvision/classabstraction/camera/USBCameraProcess.java
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@@ -13,7 +13,7 @@ public class USBCameraProcess implements CameraProcess {
private final UsbCamera baseCamera;
private final CvSink cvSink;
private Mat imageBuffer = new Mat();
public final CameraProperties properties;
public CameraProperties properties;
public USBCameraProcess(UsbCamera camera, CameraConfig config) {
baseCamera = camera;
@@ -53,4 +53,14 @@ public class USBCameraProcess implements CameraProcess {
System.err.println("Current camera does not support brightness change");
}
}
@Override
public void setVideoMode(VideoMode mode) {
try {
baseCamera.setVideoMode(mode);
properties = new CameraProperties(baseCamera, properties.FOV);
} catch (VideoException e) {
System.err.println("Current camera does not support resolution change");
}
}
}