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Config tweaks, fixed CameraStreamer

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This commit is contained in:
Banks Troutman
2019-11-26 23:03:07 -05:00
parent d588b1a69e
commit 8b8138eb50
9 changed files with 82 additions and 49 deletions
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18
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -35,7 +35,7 @@ public class VisionProcess {
private volatile CVPipelineResult lastPipelineResult;
BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
private BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
// network table stuff
private final NetworkTable defaultTable;
@@ -323,10 +323,9 @@ public class VisionProcess {
}
private static class CameraStreamerRunnable extends LoopingRunnable {
private class CameraStreamerRunnable extends LoopingRunnable {
final CameraStreamer streamer;
private Mat streamBuffer = new Mat();
private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
// add 2 FPS to allow for a bit of overhead
@@ -336,7 +335,18 @@ public class VisionProcess {
@Override
protected void process() {
try {
if (!streamFrameQueue.isEmpty()) {
Mat latestMat = streamFrameQueue.take();
if (!latestMat.empty()) {
streamer.runStream(latestMat);
} else {
System.out.println("stream mat empty");
}
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}