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Added driver mode exposure and brightness

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This commit is contained in:
Omer
2019-11-01 11:38:58 +02:00
parent 972df541e9
commit 7ef05e6077
4 changed files with 118 additions and 76 deletions
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76
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.Main;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.Server;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
@@ -12,10 +13,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.nio.channels.Pipe;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
@@ -23,12 +21,15 @@ public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
private static final int DEFAULT_EXPOSURE = 50;
private static final int DEFAULT_BRIGHTNESS = 50;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);
public final String name;
public final String path;
@@ -48,6 +49,11 @@ public class Camera {
private int currentPipelineIndex;
private List<Pipeline> pipelines;
//Driver mode camera settings
public int driverExposure;
public int driverBrightness;
public boolean isDriver;
public Camera(String cameraName) {
this(cameraName, DEFAULT_FOV);
}
@@ -61,18 +67,18 @@ public class Camera {
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor);
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor, DEFAULT_EXPOSURE, DEFAULT_BRIGHTNESS);
}
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor);
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, driverExposure, driverBrightness);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor);
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor, driverExposure, driverBrightness);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness) {
FOV = fov;
name = cameraName;
@@ -115,6 +121,9 @@ public class Camera {
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
isDriver = false;
this.driverBrightness=driverBrightness;
this.driverExposure=driverExposure;
}
VideoMode[] getAvailableVideoModes() {
@@ -217,22 +226,55 @@ public class Camera {
camVals = new CameraValues(this);
}
public void setDriverMode(boolean state)
{
Map<String,Integer> data = new HashMap<>();
isDriver=state;
if(isDriver){
UsbCam.setBrightness(driverBrightness);
UsbCam.setBrightness(driverBrightness);
try{UsbCam.setExposureManual(driverExposure);}
catch (VideoException e)
{
System.out.println("Exposure change isnt supported");
}
data.put("brightness",getBrightness());
data.put("exposure",driverExposure);
}
else{
UsbCam.setBrightness(getCurrentPipeline().brightness);
UsbCam.setBrightness(getCurrentPipeline().brightness);
try{UsbCam.setExposureManual(getCurrentPipeline().exposure);}
catch (VideoException e)
{
System.out.println("Exposure change isnt supported");
}
data.put("brightness",getBrightness());
data.put("exposure",getCurrentPipeline().exposure);
}
ServerHandler.broadcastMessage(data);
}
public int getBrightness() {
return getCurrentPipeline().brightness;
return UsbCam.getBrightness();
}
public void setBrightness(int brightness) {
getCurrentPipeline().brightness = brightness;
if (isDriver)
driverBrightness=brightness;
else
getCurrentPipeline().brightness = brightness;
UsbCam.setBrightness(brightness);
}
public void setExposure(int exposure) {
getCurrentPipeline().exposure = exposure;
if (isDriver)
driverExposure=exposure;
else
getCurrentPipeline().exposure = exposure;
try {
UsbCam.setExposureManual(exposure);
}
catch (VideoException e)
{
} catch (VideoException e) {
System.err.println("Camera Does not support exposure change");
}
}
@@ -259,7 +301,7 @@ public class Camera {
public void setNickname(String newNickname) {
//Deletes old camera nt table
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
nickname = newNickname;
if (CameraManager.AllVisionProcessesByName.containsKey(this.name)) {
NetworkTable newNT = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname);

49
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -17,26 +17,37 @@ import java.util.List;
public class CameraDeserializer implements JsonDeserializer<Camera> {
@Override
public Camera deserialize(JsonElement jsonElement, Type type, JsonDeserializationContext context) throws JsonParseException {
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camName = jsonObj.get("name").getAsString();
var camNickname = jsonObj.get("nickname").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();
var divisor = StreamDivisor.values()[jsonObj.get("streamDivisor").getAsInt()];
var pipelines = jsonObj.get("pipelines");
List<Pipeline> actualPipelines = new ArrayList<>();
ObjectMapper mapper = new ObjectMapper();
TypeFactory typeFactory = mapper.getTypeFactory();
JavaType arrayType = typeFactory.constructCollectionType(List.class, Pipeline.class);
try {
actualPipelines = mapper.readValue(pipelines.toString(), arrayType);
} catch (JsonProcessingException e) {
e.printStackTrace();
}
var jsonObj = jsonElement.getAsJsonObject();
var camFOV = jsonObj.get("FOV").getAsDouble();
var camName = jsonObj.get("name").getAsString();
var camNickname = jsonObj.get("nickname").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();
var driverExposure = jsonObj.get("driverExposure").getAsInt();
var driverBrightness = jsonObj.get("driverBrightness").getAsInt();
var divisor = StreamDivisor.values()[jsonObj.get("streamDivisor").getAsInt()];
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor) : new Camera(camName, camFOV, videoModeIndex, divisor);
newCamera.setNickname(camNickname != null ? camNickname : "");
return newCamera;
var pipelines = jsonObj.get("pipelines");
List<Pipeline> actualPipelines = new ArrayList<>();
ObjectMapper mapper = new ObjectMapper();
TypeFactory typeFactory = mapper.getTypeFactory();
JavaType arrayType = typeFactory.constructCollectionType(List.class, Pipeline.class);
try {
actualPipelines = mapper.readValue(pipelines.toString(), arrayType);
} catch (JsonProcessingException e) {
e.printStackTrace();
}
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor, driverExposure, driverBrightness) : new Camera(camName, camFOV, videoModeIndex, divisor, driverExposure, driverBrightness);
newCamera.setNickname(camNickname != null ? camNickname : "");
return newCamera;
}
catch (NullPointerException e)
{
System.err.println("Error while reading json, value doesnt exist!");
System.err.println("Try to delete the camera settings in settings/cameras/YOURCAMERA.json");
e.printStackTrace();
return null;
}
}
}

5
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -12,13 +12,12 @@ public class CameraSerializer implements JsonSerializer<Camera> {
obj.addProperty("name", camera.name);
obj.addProperty("nickname", camera.getNickname());
obj.addProperty("streamDivisor", camera.getStreamDivisor().ordinal());
var pipelines = context.serialize(camera.getPipelines());
obj.add("pipelines", pipelines);
obj.addProperty("resolution", camera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(camera.getVideoMode()));
obj.add("driverExposure",context.serialize(camera.driverExposure));
obj.add("driverBrightness",context.serialize(camera.driverBrightness));
return obj;
}
}

64
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -49,9 +49,6 @@ public class VisionProcess implements Runnable {
camera = processCam;
this.cameraName = camera.name;
// NetworkTables
// NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
// NetworkTable ntTable = camera.getNtTable();
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/"+processCam.getNickname()));
// camera settings
@@ -60,14 +57,7 @@ public class VisionProcess implements Runnable {
}
private void driverModeListener(EntryNotification entryNotification) {
if (entryNotification.value.getBoolean()) {
camera.setExposure(25);
camera.setBrightness(15);
} else {
Pipeline pipeline = camera.getCurrentPipeline();
camera.setExposure(pipeline.exposure);
camera.setBrightness(pipeline.brightness);
}
camera.setDriverMode(entryNotification.value.getBoolean());
}
private void pipelineListener(EntryNotification entryNotification) {
@@ -158,22 +148,22 @@ public class VisionProcess implements Runnable {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
switch (currentPipeline.calibrationMode){
case None:
///use the center of the camera to find the pitch and yaw difference
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
break;
case Single:
// use the static point as a calibration method instead of the center
pipelineResult.CalibratedX = currentPipeline.point.get(0).doubleValue();
pipelineResult.CalibratedY = currentPipeline.point.get(1).doubleValue();
break;
case Dual:
// use the calculated line to find the difference in length between the point and the line
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
switch (currentPipeline.calibrationMode) {
case None:
///use the center of the camera to find the pitch and yaw difference
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
break;
case Single:
// use the static point as a calibration method instead of the center
pipelineResult.CalibratedX = currentPipeline.point.get(0).doubleValue();
pipelineResult.CalibratedY = currentPipeline.point.get(1).doubleValue();
break;
case Dual:
// use the calculated line to find the difference in length between the point and the line
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
@@ -248,7 +238,7 @@ public class VisionProcess implements Runnable {
point.put("calculated", calculated);
point.put("rawPoint", center);
WebSend.put("point", point);
ServerHandler.broadcastMessage(WebSend);
// ServerHandler.broadcastMessage(WebSend);
}
cameraProcess.updateFrame(streamOutputMat);
@@ -265,26 +255,26 @@ public class VisionProcess implements Runnable {
}
}
}
}
/**
* Removes the old value change listeners
* calls {@link #initNT}
* @param newTable passed to {@link #initNT}
* Removes the old value change listeners
* calls {@link #initNT}
*
* @param newTable passed to {@link #initNT}
*/
public void resetNT(NetworkTable newTable)
{
public void resetNT(NetworkTable newTable) {
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
/**
* Rebases the writing location for the vision process - pipeline output
* Rebases the writing location for the vision process - pipeline output
*
* @param newTable the new writing location
*/
private void initNT(NetworkTable newTable)
{
private void initNT(NetworkTable newTable) {
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");