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

resolution change fix, various cleanup

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

53
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
View File

@@ -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);
}
}
}
}