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

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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
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26
Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
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@@ -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
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@@ -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
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@@ -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
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@@ -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();
}
}