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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;
}