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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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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");