Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added driver mode exposure and brightness

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

76
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
View File

@@ -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);