Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' of https://github.com/chameleon-vision/Chameleon-Vision into dev

Browse Source
This commit is contained in:
Matt
2019-11-27 15:39:30 -08:00
parent 37159f9e6c 16c6caab8a
commit bf3de38a2b
15 changed files with 101 additions and 103 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
View File

@@ -32,6 +32,6 @@ public class CameraJsonConfig {
public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) {
USBCameraProperties camProps = process.getProperties();
return new CameraJsonConfig(camProps.FOV, camProps.name, camProps.path, camProps.getNickname());
return new CameraJsonConfig(camProps.getFOV(), camProps.name, camProps.path, camProps.getNickname());
}
}

26
Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
View File

@@ -27,18 +27,20 @@ public class CameraStreamer {
}
public void setDivisor(StreamDivisor newDivisor, boolean updateUI) {
this.divisor = newDivisor;
var camValues = cameraCapture.getProperties();
var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
synchronized (streamBufferLock) {
this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
this.cvSource = CameraServer.getInstance().putVideo(this.name,
cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
}
if (updateUI) {
SocketHandler.sendFullSettings();
if (divisor != newDivisor) {
this.divisor = newDivisor;
var camValues = cameraCapture.getProperties();
var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
synchronized (streamBufferLock) {
this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
this.cvSource = CameraServer.getInstance().putVideo(this.name,
cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
}
if (updateUI) {
SocketHandler.sendFullSettings();
}
}
}

11
Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
View File

@@ -38,7 +38,7 @@ public class USBCameraProperties extends CaptureProperties {
public final boolean isPS3Eye;
private String nickname;
public double FOV;
private double FOV;
USBCameraProperties(UsbCamera baseCamera, CameraJsonConfig config) {
FOV = config.fov;
@@ -67,6 +67,15 @@ public class USBCameraProperties extends CaptureProperties {
videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
}
public void setFOV(double FOV) {
this.FOV = FOV;
staticProperties = new CaptureStaticProperties(staticProperties.imageWidth, staticProperties.imageHeight, FOV);
}
public double getFOV() {
return FOV;
}
public void setNickname(String nickname) {
this.nickname = nickname;
}

2
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
View File

@@ -143,7 +143,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
totalPipelineTimeNanos += collect2dTargetsResult.getRight();
// takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvResult.getLeft()));
Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rotateFlipResult.getLeft(), hsvResult.getLeft()));
totalPipelineTimeNanos += outputMatResult.getRight();
// takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)

3
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
View File

@@ -41,7 +41,7 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
groupedContours.clear();
if (input.size() > 0) {
if (input.size() > (group.equals(TargetGroup.Single) ? 0 : 1)) {
List<MatOfPoint> sorted = new ArrayList<>(input);
sorted.sort(sortByMomentsX);
@@ -88,7 +88,6 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
groupedContours.add(rect);
}
} catch (IndexOutOfBoundsException e) {
System.err.println("GroupContours: WTF");
finalContourList.clear();
}
}

68
Main/src/main/java/com/chameleonvision/web/RequestHandler.java Normal file
View File

@@ -0,0 +1,68 @@
package com.chameleonvision.web;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.http.Context;
import java.util.Map;
public class RequestHandler {
public static void onGeneralSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map map = objectMapper.readValue(ctx.body(), Map.class);
// TODO: change to function, to restart NetworkTables
ConfigManager.settings.teamNumber = (int) map.get("teamNumber");
ConfigManager.settings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
ConfigManager.settings.ip = (String) map.get("ip");
ConfigManager.settings.netmask = (String) map.get("netmask");
ConfigManager.settings.gateway = (String) map.get("gateway");
ConfigManager.settings.hostname = (String) map.get("hostname");
ConfigManager.saveGeneralSettings();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException e) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
CameraCapture currentCamera = currentVisionProcess.getCamera();
Number newFOV = (Number) camSettings.get("fov");
Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
Integer newResolution = (Integer) camSettings.get("resolution");
currentCamera.getProperties().setFOV((double) newFOV);
currentVisionProcess.cameraStreamer.setDivisor(StreamDivisor.values()[newStreamDivisor], true);
// TODO: Video Mode Index!!!!
// var currentResolutionIndex = curCam.getVideoModeIndex();
// if (currentResolutionIndex != newResolution) {
// curCam.setCamVideoMode(newResolution, true);
// }
VisionManager.saveAllCameras();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException e) {
e.printStackTrace();
ctx.status(500);
}
}
}

66
Main/src/main/java/com/chameleonvision/web/Requesthandler.java
View File

@@ -1,66 +0,0 @@
package com.chameleonvision.web;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.settings.GeneralSettings;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.vision.camera.CameraManager;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.JsonMappingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.javalin.http.Context;
import java.util.HashMap;
import java.util.Map;
public class Requesthandler {
public static void onGeneralSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map map = objectMapper.readValue(ctx.body(), Map.class);
SettingsManager.GeneralSettings.teamNumber = (int) map.get("teamNumber");
SettingsManager.GeneralSettings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
SettingsManager.GeneralSettings.ip = (String) map.get("ip");
SettingsManager.GeneralSettings.netmask = (String) map.get("netmask");
SettingsManager.GeneralSettings.gateway = (String) map.get("gateway");
SettingsManager.GeneralSettings.hostname = (String) map.get("hostname");
SettingsManager.saveSettings();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException e) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
var curCam = CameraManager.getCurrentCamera();
Number newFOV = (Number) camSettings.get("fov");
Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
Integer newResolution = (Integer) camSettings.get("resolution");
curCam.setFOV(newFOV);
var currentStreamDivisorOrdinal = curCam.getStreamDivisor().ordinal();
if (currentStreamDivisorOrdinal != newStreamDivisor) {
curCam.setStreamDivisor(newStreamDivisor, true);
}
var currentResolutionIndex = curCam.getVideoModeIndex();
if (currentResolutionIndex != newResolution) {
curCam.setCamVideoMode(newResolution, true);
}
CameraManager.saveCameras();
SocketHandler.sendFullSettings();
ctx.status(200);
} catch (JsonProcessingException | CameraException e) {
e.printStackTrace();
ctx.status(500);
}
}
}

4
Main/src/main/java/com/chameleonvision/web/Server.java
View File

@@ -28,8 +28,8 @@ public class Server {
socketHandler.onBinaryMessage(ctx);
});
});
app.post("/api/settings/general", Requesthandler::onGeneralSettings);
app.post("/api/settings/camera", Requesthandler::onCameraSettings);
app.post("/api/settings/general", RequestHandler::onGeneralSettings);
app.post("/api/settings/camera", RequestHandler::onCameraSettings);
app.start(port);
}
}

2
Main/src/main/java/com/chameleonvision/web/SocketHandler.java
View File

@@ -217,7 +217,7 @@ public class SocketHandler {
HashMap<String, Object> tmp = new HashMap<>();
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
CameraCapture currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
tmp.put("fov", currentCamera.getProperties().FOV);
tmp.put("fov", currentCamera.getProperties().getFOV());
tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
// TODO: (HIGH) get videomode index!
// tmp.put("resolution", currentCamera.getVideoModeIndex());