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Merge branch 'dev' into 'V2.0/single-point-calibration'

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# Conflicts:
#   Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
#   Main/src/main/java/com/chameleonvision/web/Server.java
This commit is contained in:
ori agranat
2019-10-29 20:30:42 +00:00
parent e24cc5564a a7f306d0b9
commit bddb9c0935
6 changed files with 74 additions and 33 deletions
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27
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -7,6 +7,8 @@ import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.nio.channels.Pipe;
@@ -65,9 +67,11 @@ public class Camera {
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
FOV = fov;
name = cameraName;
@@ -140,18 +144,21 @@ public class Camera {
ServerHandler.sendFullSettings();
}
}
public void addPipeline() {
Pipeline p = new Pipeline();
p.nickname = "New pipeline " + pipelines.size();
addPipeline(p);
}
public void addPipeline(Pipeline p){
public void addPipeline(Pipeline p) {
this.pipelines.add(p);
}
public void deletePipeline(int index) {
pipelines.remove(index);
}
public void deletePipeline() {
deletePipeline(getCurrentPipelineIndex());
}
@@ -184,7 +191,8 @@ public class Camera {
public List<Pipeline> getPipelines() {
return pipelines;
}
public List<String> getPipelinesNickname(){
public List<String> getPipelinesNickname() {
var pipelines = getPipelines();
return pipelines.stream().map(pipeline -> pipeline.nickname).collect(Collectors.toList());
}
@@ -220,7 +228,13 @@ public class Camera {
public void setExposure(int exposure) {
getCurrentPipeline().exposure = exposure;
UsbCam.setExposureManual(exposure);
try {
UsbCam.setExposureManual(exposure);
}
catch (VideoException e)
{
System.err.println("Camera Does not support exposure change");
}
}
public long grabFrame(Mat image) {
@@ -244,10 +258,17 @@ public class Camera {
}
public void setNickname(String newNickname) {
//Deletes old camera nt table
NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname).getInstance().deleteAllEntries();
nickname = newNickname;
if (CameraManager.AllVisionProcessesByName.containsKey(this.name)) {
NetworkTable newNT = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + this.nickname);
CameraManager.AllVisionProcessesByName.get(this.name).resetNT(newNT);
}
}
public String getNickname() {
return nickname == null ? name : nickname;
}
}

2
Main/src/main/java/com/chameleonvision/vision/camera/CameraManager.java
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@@ -22,7 +22,7 @@ public class CameraManager {
private static final Path CamConfigPath = Paths.get(SettingsManager.SettingsPath.toString(), "cameras");
private static LinkedHashMap<String, Camera> AllCamerasByName = new LinkedHashMap<>();
private static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
public static HashMap<String, VisionProcess> AllVisionProcessesByName = new HashMap<>();
static HashMap<String, UsbCameraInfo> AllUsbCameraInfosByName = new HashMap<>() {{
var suffix = 0;

55
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -23,6 +23,8 @@ public class VisionProcess implements Runnable {
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
private int ntDriveModeListenerID;
private int ntPipelineListenerID;
private NetworkTableEntry ntYawEntry;
private NetworkTableEntry ntPitchEntry;
private NetworkTableEntry ntDistanceEntry;
@@ -48,18 +50,9 @@ public class VisionProcess implements Runnable {
this.cameraName = camera.name;
// NetworkTables
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
ntPipelineEntry = ntTable.getEntry("pipeline");
ntDriverModeEntry = ntTable.getEntry("driver_mode");
ntPitchEntry = ntTable.getEntry("pitch");
ntYawEntry = ntTable.getEntry("yaw");
ntDistanceEntry = ntTable.getEntry("distance");
ntTimeStampEntry = ntTable.getEntry("timestamp");
ntValidEntry = ntTable.getEntry("is_valid");
ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
// NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
// NetworkTable ntTable = camera.getNtTable();
initNT(NetworkTableInstance.getDefault().getTable("/chameleon-vision/"+processCam.getNickname()));
// camera settings
cvProcess = new CVProcess(camera.getCamVals());
@@ -79,9 +72,9 @@ public class VisionProcess implements Runnable {
private void pipelineListener(EntryNotification entryNotification) {
var ntPipelineIndex = (int) entryNotification.value.getDouble();
if (ntPipelineIndex >= camera.getPipelines().size()){
if (ntPipelineIndex >= camera.getPipelines().size()) {
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
} else{
} else {
var pipeline = camera.getCurrentPipeline();
camera.setCurrentPipelineIndex(ntPipelineIndex);
try {
@@ -159,7 +152,7 @@ public class VisionProcess implements Runnable {
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
if (filteredContours.size() > 0) {
deSpeckledContours = cvProcess.rejectSpeckles(filteredContours, currentPipeline.speckle.doubleValue());
if (deSpeckledContours.size() > 0){
if (deSpeckledContours.size() > 0) {
groupedContours = cvProcess.groupTargets(deSpeckledContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
if (groupedContours.size() > 0) {
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
@@ -271,5 +264,37 @@ public class VisionProcess implements Runnable {
// System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
}
}
}
/**
* Removes the old value change listeners
* calls {@link #initNT}
* @param newTable passed to {@link #initNT}
*
*/
public void resetNT(NetworkTable newTable)
{
ntDriverModeEntry.removeListener(ntDriveModeListenerID);
ntPipelineEntry.removeListener(ntPipelineListenerID);
initNT(newTable);
}
/**
* Rebases the writing location for the vision process - pipeline output
* @param newTable the new writing location
*/
private void initNT(NetworkTable newTable)
{
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driver_mode");
ntPitchEntry = newTable.getEntry("pitch");
ntYawEntry = newTable.getEntry("yaw");
ntDistanceEntry = newTable.getEntry("distance");
ntTimeStampEntry = newTable.getEntry("timestamp");
ntValidEntry = newTable.getEntry("is_valid");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
}
}