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Added saving for selected pipeline

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This commit is contained in:
Omer
2019-09-18 03:04:48 +03:00
parent 326da862c4
commit 5fd3dc8f6c
3 changed files with 81 additions and 73 deletions
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47
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -14,44 +14,46 @@ import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
public class CameraProcess implements Runnable {
private String CameraName;
private CameraServer cs = CameraServer.getInstance();
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry,ntYawEntry,ntPitchEntry,ntDistanceEntry,ntTimeStampEntry,ntValidEntry;
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry, ntYawEntry, ntPitchEntry, ntDistanceEntry, ntTimeStampEntry, ntValidEntry;
private MemoryManager memManager = new MemoryManager(125);
private int imgWidth, imgHeight;
private void ChangeCameraValues(int Exposure, int Brightness){
private void ChangeCameraValues(int Exposure, int Brightness) {
SettingsManager.getInstance().UsbCameras.get(CameraName).setBrightness(Brightness);
SettingsManager.getInstance().UsbCameras.get(CameraName).setExposureManual(Exposure);
}
private void DriverModeListener(EntryNotification entryNotification){
if (entryNotification.value.getBoolean()){
ChangeCameraValues(25,15);
} else{
private void DriverModeListener(EntryNotification entryNotification) {
if (entryNotification.value.getBoolean()) {
ChangeCameraValues(25, 15);
} else {
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
}
}
private void PipelineListener(EntryNotification entryNotification){
if (SettingsManager.Cameras.get(CameraName).pipelines.containsKey(entryNotification.value.getString())){
SettingsManager.CamerasCurrentPipeline.put(CameraName,entryNotification.value.getString());
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);
//TODO Send Pipeline change using websocket to client
} else{
} else {
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(CameraName));
}
}
public CameraProcess(String CameraName) {
this.CameraName = CameraName;
// add pipeline
SettingsManager.CamerasCurrentPipeline.put(CameraName, SettingsManager.Cameras.get(CameraName).pipelines.keySet().toArray()[0].toString());
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + CameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
@@ -93,7 +95,7 @@ public class CameraProcess implements Runnable {
double processTimeMs;
double fps;
//camera results
double CalibratedX,CalibratedY , Pitch, Yaw;
double CalibratedX, CalibratedY, Pitch, Yaw;
boolean isValid;
while (!Thread.interrupted()) {
@@ -103,6 +105,7 @@ public class CameraProcess implements Runnable {
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// System.out.println(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
cv_sink.grabFrame(inputMat);
@@ -128,14 +131,14 @@ public class CameraProcess implements Runnable {
GroupedContours = visionProcess.GroupTargets(FilteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
if (GroupedContours.size() > 0) {
var finalRect = visionProcess.SortTargetsToOne(GroupedContours, currentPipeline.sort_mode);
if (!currentPipeline.is_calibrated){
if (!currentPipeline.is_calibrated) {
CalibratedX = camVals.CenterX;
CalibratedY = camVals.CenterY;
} else{
CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
Pitch = camVals.CalculatePitch(finalRect.center.y, CalibratedY);
Yaw = camVals.CalculateYaw(finalRect.center.x, CalibratedX);
} else {
CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
Pitch = camVals.CalculatePitch(finalRect.center.y, CalibratedY);
Yaw = camVals.CalculateYaw(finalRect.center.x, CalibratedX);
}
isValid = true;
// Send calc using networktables
@@ -148,7 +151,7 @@ public class CameraProcess implements Runnable {
Imgproc.drawContours(outputMat, a, 0, contourColor, 3);
}
} else{
} else {
isValid = false;
}
}
@@ -158,7 +161,7 @@ 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());
inputMat.release();
hsvThreshMat.release();