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Attempt further memory fixes, begin unit tests, fix DriverMode rotation

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This commit is contained in:
Banks Troutman
2019-12-01 04:39:21 -05:00
parent daa51b78b3
commit a24e633ceb
17 changed files with 186 additions and 50 deletions
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8
chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
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@@ -1,6 +1,7 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.config.CameraJsonConfig;
import com.chameleonvision.vision.image.CaptureProperties;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoException;
@@ -13,19 +14,20 @@ public class USBCameraCapture implements CameraCapture {
private final UsbCamera baseCamera;
private final CvSink cvSink;
private Mat imageBuffer = new Mat();
private USBCameraProperties properties;
private USBCaptureProperties properties;
public USBCameraCapture(CameraJsonConfig config) {
baseCamera = new UsbCamera(config.name, config.path);
cvSink = CameraServer.getInstance().getVideo(baseCamera);
properties = new USBCameraProperties(baseCamera, config);
properties = new USBCaptureProperties(baseCamera, config);
int videoMode = properties.videoModes.size() - 1 <= config.videomode ? config.videomode : 0;
setVideoMode(videoMode);
}
@Override
public USBCameraProperties getProperties() {
public USBCaptureProperties getProperties() {
return properties;
}