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added networktables send and websocket send of current camera

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2019-09-18 13:48:34 +03:00
parent bcaad63c28
commit b2b2d00dce
4 changed files with 93 additions and 7 deletions
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32
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CameraValues;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.Server;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.networktables.*;
@@ -12,6 +13,7 @@ import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
public class CameraProcess implements Runnable {
@@ -73,7 +75,7 @@ public class CameraProcess implements Runnable {
public CameraProcess(String cameraName) {
CameraName = cameraName;
SettingsManager.CamerasCurrentPipeline.put(CameraName,SettingsManager.Cameras.get(CameraName).pipelines.keySet().stream().findFirst().toString());
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
@@ -131,6 +133,7 @@ public class CameraProcess implements Runnable {
GroupedContours = visionProcess.GroupTargets(FilteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
if (GroupedContours.size() > 0) {
var finalRect = visionProcess.SortTargetsToOne(GroupedContours, currentPipeline.sort_mode);
pipelineResult.RawPoint = finalRect;
pipelineResult.IsValid = true;
if (!currentPipeline.is_calibrated) {
pipelineResult.CalibratedX = camVals.CenterX;
@@ -141,7 +144,6 @@ public class CameraProcess implements Runnable {
pipelineResult.Pitch = camVals.CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camVals.CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
}
// Send calc using networktables
// TODO Send pitch yaw distance and Raw Point using websockets to client for calib calc
drawContour(outputImage, finalRect);
}
@@ -154,21 +156,20 @@ public class CameraProcess implements Runnable {
@Override
public void run() {
// processing time tracking
long startTime;
long startTime, TimeStamp;
double processTimeMs;
double fps;
double fps = 0;
while (!Thread.interrupted()) {
FoundContours.clear();
FilteredContours.clear();
GroupedContours.clear();
SettingsManager.CamerasCurrentPipeline.put(CameraName,SettingsManager.Cameras.get(CameraName).pipelines.keySet().stream().findFirst().toString());
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// System.out.println(SettingsManager.CamerasCurrentPipeline.get(CameraName));
// start fps counter right before grabbing input frame
startTime = System.nanoTime();
cvSink.grabFrame(cameraInputMat);
TimeStamp = cvSink.grabFrame(cameraInputMat);
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
continue;
}
@@ -176,6 +177,25 @@ 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);
if (CameraName.equals(SettingsManager.GeneralSettings.curr_camera)){
HashMap<String,Object> WebSend = new HashMap<>();
HashMap<String,Object> point = new HashMap<>();
List<Double> center = new ArrayList<Double>();
center.add(pipelineResult.RawPoint.center.x);
center.add(pipelineResult.RawPoint.center.y);
point.put("pitch", pipelineResult.Pitch);
point.put("yaw", pipelineResult.Yaw);
point.put("fps", fps);
WebSend.put("point", point);
WebSend.put("raw_point",center);
Server.broadcastMessage(WebSend);
}
cvPublish.putFrame(streamOutputMat);
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;