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added driver mode check before vision processing loop

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ori agranat
2019-09-19 23:35:01 +03:00
parent 2966f8ccfc
commit afb7872eb6
1 changed files with 13 additions and 12 deletions
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25
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -52,6 +52,7 @@ public class CameraProcess implements Runnable {
private Mat hsvThreshMat = new Mat();
private Mat streamOutputMat = new Mat();
private Scalar contourRectColor = new Scalar(255, 0, 0);
private long TimeStamp = 0;
public void restartProcess() {
// TODO: Restart process and re-create cvPublish for new resolution
@@ -120,7 +121,12 @@ public class CameraProcess implements Runnable {
}
private void updateNetworkTables(PipelineResult pipelineResult) {
ntValidEntry.setBoolean(pipelineResult.IsValid);
if (pipelineResult.IsValid){
ntYawEntry.setNumber(pipelineResult.Yaw);
ntPitchEntry.setNumber(pipelineResult.Pitch);
}
ntTimeStampEntry.setNumber(TimeStamp);
}
// TODO: Separate video output to separate function, maybe even second thread
@@ -130,7 +136,10 @@ public class CameraProcess implements Runnable {
if (currentPipeline == null) {
return pipelineResult;
}
if (ntDriverModeEntry.getBoolean(false)){
inputImage.copyTo(outputImage);
return pipelineResult;
}
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
@@ -141,7 +150,6 @@ public class CameraProcess implements Runnable {
} else {
inputImage.copyTo(outputImage);
}
FoundContours = visionProcess.FindContours(hsvThreshMat);
if (FoundContours.size() > 0) {
FilteredContours = visionProcess.FilterContours(FoundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent, currentPipeline.sort_mode, currentPipeline.target_intersection, currentPipeline.target_group);
@@ -172,7 +180,7 @@ public class CameraProcess implements Runnable {
@Override
public void run() {
// processing time tracking
long startTime, TimeStamp;
long startTime;
double processTimeMs;
double fps = 0;
@@ -182,7 +190,6 @@ public class CameraProcess implements Runnable {
GroupedContours.clear();
currentPipeline = camera.getCurrentPipeline();
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
TimeStamp = cvSink.grabFrame(cameraInputMat);
@@ -192,13 +199,7 @@ public class CameraProcess implements Runnable {
// get vision data
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
ntValidEntry.setBoolean(pipelineResult.IsValid);
if (pipelineResult.IsValid){
ntYawEntry.setNumber(pipelineResult.Yaw);
ntPitchEntry.setNumber(pipelineResult.Pitch);
}
ntTimeStampEntry.setNumber(TimeStamp);
updateNetworkTables(pipelineResult);
if (cameraName.equals(SettingsManager.GeneralSettings.curr_camera) && pipelineResult.IsValid) {
HashMap<String,Object> WebSend = new HashMap<>();
HashMap<String,Object> point = new HashMap<>();