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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;