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resolution change fix, various cleanup

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This commit is contained in:
Banks Troutman
2019-09-22 02:49:30 -04:00
parent 3d1de034c7
commit 8c16815305
10 changed files with 632 additions and 594 deletions
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59
Main/src/main/java/com/chameleonvision/vision/camera/CamVideoMode.java
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@@ -4,23 +4,50 @@ import edu.wpi.cscore.VideoMode;
@SuppressWarnings("WeakerAccess")
public class CamVideoMode {
public final int fps;
public final int width;
public final int height;
public final String pixel_format;
public final int fps;
public final int width;
public final int height;
public final String pixel_format;
public CamVideoMode(VideoMode videoMode) {
fps = videoMode.fps;
width = videoMode.width;
height = videoMode.height;
pixel_format = videoMode.pixelFormat.name();
}
public CamVideoMode(VideoMode videoMode) {
fps = videoMode.fps;
width = videoMode.width;
height = videoMode.height;
pixel_format = videoMode.pixelFormat.name();
}
public VideoMode.PixelFormat getActualPixelFormat() {
return VideoMode.PixelFormat.valueOf(pixel_format);
}
public VideoMode.PixelFormat getActualPixelFormat() {
return VideoMode.PixelFormat.valueOf(pixel_format);
}
public boolean isEqualToVideoMode(VideoMode videoMode) {
return videoMode.fps == fps && videoMode.width == width && videoMode.height == height && videoMode.pixelFormat == getActualPixelFormat();
}
public boolean isEqualToVideoMode(VideoMode videoMode) {
return videoMode.fps == fps && videoMode.width == width && videoMode.height == height && videoMode.pixelFormat == getActualPixelFormat();
}
public boolean equals(VideoMode vm) {
return vm.fps == fps &&
vm.width == width &&
vm.height == height &&
vm.pixelFormat == getActualPixelFormat();
}
@Override
public boolean equals(Object obj) {
if (obj == this) {
return true;
}
if (obj instanceof CamVideoMode) {
var cvm = (CamVideoMode) obj;
return cvm.fps == fps &&
cvm.width == width &&
cvm.height == height &&
cvm.pixel_format.equals(pixel_format);
} else if (obj instanceof VideoMode) {
var vm = (VideoMode) obj;
return equals(vm);
} else {
return false;
}
}
}

53
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,16 +1,21 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import java.util.Arrays;
import java.util.HashMap;
import java.util.stream.IntStream;
public class Camera {
private static double defaultFOV = 60.8;
private static final double DEFAULT_FOV = 60.8;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 240;
public final String name;
public final String path;
@@ -20,25 +25,21 @@ public class Camera {
private final CameraServer cs = CameraServer.getInstance();
private final CvSink cvSink;
private final Object cvSourceLock = new Object();
private CvSource cvSource;
private double FOV;
private CameraValues camVals;
private CamVideoMode camVideoMode;
private int currentPipelineIndex;
private HashMap<Integer, Pipeline> pipelines;
private final Object cvSourceLock = new Object();
public Camera(String cameraName) {
this(cameraName, defaultFOV);
this(cameraName, DEFAULT_FOV);
}
public Camera(UsbCameraInfo usbCamInfo) {
this(usbCamInfo, defaultFOV);
this(usbCamInfo, DEFAULT_FOV);
}
public Camera(String cameraName, double fov) {
@@ -62,8 +63,8 @@ public class Camera {
this.pipelines = pipelines;
// set up video mode
availableVideoModes = UsbCam.enumerateVideoModes();
// set up video modes according to minimums
availableVideoModes = Arrays.stream(UsbCam.enumerateVideoModes()).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
setCamVideoMode(new CamVideoMode(availableVideoModes[0]));
cvSink = cs.getVideo(UsbCam);
@@ -72,8 +73,17 @@ public class Camera {
CameraManager.CameraPorts.put(name, s.getPort());
}
public VideoMode[] getAvailableVideoModes() {
return availableVideoModes;
}
public int getStreamPort() {
var s = (MjpegServer) cs.getServer("serve_" + name);
return s.getPort();
}
public void setCamVideoMode(int videoMode) {
setCamVideoMode(UsbCam.enumerateVideoModes()[videoMode]);
setCamVideoMode(availableVideoModes[videoMode]);
}
private void setCamVideoMode(VideoMode videoMode) {
@@ -89,10 +99,12 @@ public class Camera {
// update camera values
camVals = new CameraValues(this);
if ( prevVideoMode != null && prevVideoMode.width != newVideoMode.width && prevVideoMode.height != newVideoMode.height) { // if resolution changed
if (prevVideoMode != null && !prevVideoMode.equals(newVideoMode)) { // if resolution changed
synchronized (cvSourceLock) {
cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
}
ServerHandler.sendFullSettings();
// ServerHandler.broadcastMessage(new HashMap<String, Object>(){}.put("port", getStreamPort()));
}
}
@@ -117,6 +129,7 @@ public class Camera {
if (pipelineNumber - 1 > pipelines.size()) return;
currentPipelineIndex = pipelineNumber;
}
public HashMap<Integer, Pipeline> getPipelines() {
return pipelines;
}
@@ -127,7 +140,7 @@ public class Camera {
public int getVideoModeIndex() {
return IntStream.range(0, availableVideoModes.length)
.filter(i -> camVideoMode.isEqualToVideoMode(availableVideoModes[i]))
.filter(i -> camVideoMode.equals(availableVideoModes[i]))
.findFirst()
.orElse(-1);
}
@@ -156,16 +169,16 @@ public class Camera {
}
public long grabFrame(Mat image) {
return cvSink.grabFrame(image);
}
return cvSink.grabFrame(image);
}
public CameraValues getCamVals() {
public CameraValues getCamVals() {
return camVals;
}
public void putFrame(Mat image) {
synchronized(cvSourceLock) {
public void putFrame(Mat image) {
synchronized (cvSourceLock) {
cvSource.putFrame(image);
}
}
}
}

200
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -1,7 +1,7 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.FileHelper;
import com.chameleonvision.CameraException;
import com.chameleonvision.FileHelper;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.google.gson.Gson;
@@ -19,115 +19,111 @@ import java.util.List;
public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "Cams");
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;
for (var info : UsbCamera.enumerateUsbCameras()) {
var cap = new VideoCapture(info.dev);
if (cap.isOpened()) {
cap.release();
var name = info.name;
while (this.containsKey(name)) {
suffix++;
name = String.format("%s(%s)", info.name, suffix);
}
put(name, info);
}
}
}};
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;
for (var info : UsbCamera.enumerateUsbCameras()) {
var cap = new VideoCapture(info.dev);
if (cap.isOpened()) {
cap.release();
var name = info.name;
while (this.containsKey(name)) {
suffix++;
name = String.format("%s(%s)", info.name, suffix);
}
put(name, info);
}
}
}};
public static HashMap<String, Camera> getAllCamerasByName() {
return AllCamerasByName;
}
private static HashMap<String, Camera> AllCamerasByName = new HashMap<>();
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
for (var entry : AllUsbCameraInfosByName.entrySet()) {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey()));
File camJsonFile = new File(camPath.toString());
if (camJsonFile.exists() && camJsonFile.length() != 0) {
try {
Gson gson = new GsonBuilder().registerTypeAdapter(Camera.class, new CameraDeserializer()).create();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(entry.getKey(), gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(entry.getKey()), entry.getKey())) {
System.err.println("Failed to add camera! Already exists!");
}
}
}
return true;
}
public static HashMap<String, Camera> getAllCamerasByName() {
return AllCamerasByName;
}
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
camera.addPipeline();
AllCamerasByName.put(cameraName, camera);
return true;
}
public static HashMap<String, Integer> CameraPorts = new HashMap<>();
private static Camera getCamera(String cameraName) {
return AllCamerasByName.get(cameraName);
}
public static boolean initializeCameras() {
if (AllUsbCameraInfosByName.size() == 0) return false;
FileHelper.CheckPath(CamConfigPath);
for (var entry : AllUsbCameraInfosByName.entrySet()) {
var camPath = Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey()));
File camJsonFile = new File(camPath.toString());
if (camJsonFile.exists() && camJsonFile.length() != 0) {
try {
Gson gson = new GsonBuilder().registerTypeAdapter(Camera.class, new CameraDeserializer()).create();
var camJsonFileReader = new FileReader(camPath.toString());
var gsonRead = gson.fromJson(camJsonFileReader, Camera.class);
AllCamerasByName.put(entry.getKey(), gsonRead);
} catch (FileNotFoundException ex) {
ex.printStackTrace();
}
} else {
if (!addCamera(new Camera(entry.getKey()), entry.getKey())) {
System.err.println("Failed to add camera! Already exists!");
}
}
}
return true;
}
public static Camera getCurrentCamera() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = AllCamerasByName.get(SettingsManager.GeneralSettings.curr_camera);
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
}
private static boolean addCamera(Camera camera, String cameraName) {
if (AllCamerasByName.containsKey(cameraName)) return false;
camera.addPipeline();
AllCamerasByName.put(cameraName, camera);
return true;
}
public static void setCurrentCamera(String cameraName) throws CameraException {
if (!AllCamerasByName.containsKey(cameraName))
throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
SettingsManager.GeneralSettings.curr_camera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
private static Camera getCamera(String cameraName) {
return AllCamerasByName.get(cameraName);
}
public static Pipeline getCurrentPipeline() throws CameraException {
return getCurrentCamera().getCurrentPipeline();
}
public static void setCurrentCamera(String cameraName) throws CameraException {
if (!AllCamerasByName.containsKey(cameraName))
throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
SettingsManager.GeneralSettings.curr_camera = cameraName;
SettingsManager.updateCameraSetting(cameraName, getCurrentCamera().getCurrentPipelineIndex());
}
public static void setCurrentPipeline(int pipelineNumber) throws CameraException {
if (!getCurrentCamera().getPipelines().containsKey(pipelineNumber))
throw new CameraException(CameraException.CameraExceptionType.BAD_PIPELINE);
getCurrentCamera().setCurrentPipelineIndex(pipelineNumber);
SettingsManager.updatePipelineSetting(pipelineNumber);
}
public static Camera getCurrentCamera() throws CameraException {
if (AllCamerasByName.size() == 0) throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
var curCam = AllCamerasByName.get(SettingsManager.GeneralSettings.curr_camera);
if (curCam == null) throw new CameraException(CameraException.CameraExceptionType.BAD_CAMERA);
return curCam;
}
public static List<String> getResolutionList() throws CameraException {
if (!SettingsManager.GeneralSettings.curr_camera.equals("")) {
List<String> list = new ArrayList<>();
for (var res : CameraManager.getCamera(SettingsManager.GeneralSettings.curr_camera).getAvailableVideoModes()) {
list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
}
return list;
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}
public static void setCurrentPipeline(int pipelineNumber) throws CameraException {
if (!getCurrentCamera().getPipelines().containsKey(pipelineNumber))
throw new CameraException(CameraException.CameraExceptionType.BAD_PIPELINE);
getCurrentCamera().setCurrentPipelineIndex(pipelineNumber);
SettingsManager.updatePipelineSetting(pipelineNumber);
}
public static Pipeline getCurrentPipeline() throws CameraException {
return getCurrentCamera().getCurrentPipeline();
}
public static List<String> getResolutionList() throws CameraException {
if (!SettingsManager.GeneralSettings.curr_camera.equals("")) {
List<String> list = new ArrayList<>();
var cam = CameraManager.getCamera(SettingsManager.GeneralSettings.curr_camera).UsbCam;
for (var res : cam.enumerateVideoModes()) {
list.add(String.format("%s X %s at %s fps", res.width, res.height, res.fps));
}
return list;
}
throw new CameraException(CameraException.CameraExceptionType.NO_CAMERA);
}
public static void saveCameras() {
for (var entry : AllCamerasByName.entrySet()) {
try {
Gson gson = new GsonBuilder().setPrettyPrinting().registerTypeAdapter(Camera.class, new CameraSerializer()).create();
FileWriter writer = new FileWriter(Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
gson.toJson(entry.getValue(), writer);
writer.flush();
writer.close();
} catch (IOException ex) {
ex.printStackTrace();
}
}
}
public static void saveCameras() {
for (var entry : AllCamerasByName.entrySet()) {
try {
Gson gson = new GsonBuilder().setPrettyPrinting().registerTypeAdapter(Camera.class, new CameraSerializer()).create();
FileWriter writer = new FileWriter(Paths.get(CamConfigPath.toString(), String.format("%s.json", entry.getKey())).toString());
gson.toJson(entry.getValue(), writer);
writer.flush();
writer.close();
} catch (IOException ex) {
ex.printStackTrace();
}
}
}
}