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100 fps mark

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ori
2019-08-14 14:23:32 -07:00
parent a3138d8e4f
commit b7116baf3f
1 changed files with 21 additions and 23 deletions
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44
backend/app/handlers/VisionHandler.py
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@@ -261,7 +261,7 @@ class VisionHandler(metaclass=Singleton):
global nt_data
global table
nt_data = {'valid': False}
asyncio.set_event_loop(asyncio.new_event_loop())
# asyncio.set_event_loop(asyncio.new_event_loop())
self.settings_manager.cams_curr_pipeline[cam_name] = "pipeline0"
pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
FOV = self.settings_manager.cams[cam_name]["FOV"]
@@ -324,10 +324,29 @@ class VisionHandler(metaclass=Singleton):
_, image = cv_sink.grabFrame(image)
def _publish_thread():
# asyncio.set_event_loop(asyncio.new_event_loop())
while True:
try:
cv_publish.putFrame(p_image)
table.putBoolean('valid', nt_data['valid'])
# check if point is valid
if nt_data['valid']:
#send the point using network tables
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
#if the selected camera in ui is this cam send the point to the ui
if self.settings_manager.general_settings['curr_camera'] == cam_name:
try:
send_all_async({
'raw_point': nt_data['raw_point'],
'point': {
'pitch': nt_data['pitch'],
'yaw': nt_data['yaw'],
'fps': nt_data['fps']
}
})
except:
pass
except:
pass
@@ -343,27 +362,6 @@ class VisionHandler(metaclass=Singleton):
socket.send_pyobj(image)
p_image = socket.recv_pyobj()
nt_data = socket.recv_json()
table.putBoolean('valid', nt_data['valid'])
# check if point is valid
if nt_data['valid']:
#send the point using network tables
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
#if the selected camera in ui is this cam send the point to the ui
if self.settings_manager.general_settings['curr_camera'] == cam_name:
try:
if nt_data['raw_point'] is not None:
send_all_async({
'raw_point': nt_data['raw_point'],
'point': {
'pitch': nt_data['pitch'],
'yaw': nt_data['yaw'],
'fps': nt_data['fps']
}
})
except Exception as e:
print(e)
#send the image to the camera server
def camera_process(self, cam_name, port, FOV):