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Code Issues Packages Projects Releases Wiki Activity

reworked driverMode, fixed streamDivisor

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This commit is contained in:
Banks Troutman
2019-11-02 03:34:51 -04:00
parent 58e39b2922
commit bff2c2d8e0
5 changed files with 117 additions and 56 deletions
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112
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
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@@ -1,10 +1,7 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.Main;
import com.chameleonvision.settings.Platform;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.Server;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
@@ -12,7 +9,6 @@ import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import org.opencv.core.Mat;
import java.nio.channels.Pipe;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
@@ -21,15 +17,14 @@ public class Camera {
private static final double DEFAULT_FOV = 60.8;
private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
private static final int DEFAULT_EXPOSURE = 50;
private static final int DEFAULT_BRIGHTNESS = 50;
public static final int DEFAULT_EXPOSURE = 50;
public static final int DEFAULT_BRIGHTNESS = 50;
private static final int MINIMUM_FPS = 30;
private static final int MINIMUM_WIDTH = 320;
private static final int MINIMUM_HEIGHT = 200;
private static final int MAX_INIT_MS = 1500;
private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);
public final String name;
public final String path;
@@ -50,9 +45,9 @@ public class Camera {
private List<Pipeline> pipelines;
//Driver mode camera settings
public int driverExposure;
public int driverBrightness;
public boolean isDriver;
private int driverExposure;
private int driverBrightness;
private boolean isDriver;
public Camera(String cameraName) {
this(cameraName, DEFAULT_FOV);
@@ -67,18 +62,18 @@ public class Camera {
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor, DEFAULT_EXPOSURE, DEFAULT_BRIGHTNESS,false);
this(cameraName, usbCamInfo, fov, new ArrayList<>(), 0, divisor, false);
}
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness,boolean isDriver) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, driverExposure, driverBrightness, isDriver);
public Camera(String cameraName, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness,boolean isDriver) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor, driverExposure, driverBrightness,isDriver);
public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
this(cameraName, fov, new ArrayList<>(), videoModeIndex, divisor, isDriver);
}
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, int driverExposure, int driverBrightness,boolean isDriver) {
public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, List<Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor, boolean isDriver) {
FOV = fov;
name = cameraName;
@@ -121,11 +116,6 @@ public class Camera {
cvSink = cs.getVideo(UsbCam);
cvSource = cs.putVideo(name, camVals.ImageWidth / streamDivisor.value , camVals.ImageHeight / streamDivisor.value);
//Driver mode settings
this.isDriver = isDriver;
this.driverBrightness=driverBrightness;
this.driverExposure=driverExposure;
}
VideoMode[] getAvailableVideoModes() {
@@ -144,18 +134,28 @@ public class Camera {
private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
var prevVideoMode = this.camVideoMode;
this.camVideoMode = newVideoMode;
UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
// update camera values
camVals = new CameraValues(this);
if (prevVideoMode != null && !prevVideoMode.equals(newVideoMode) && updateCvSource) { // if resolution changed
synchronized (cvSourceLock) {
cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
if (prevVideoMode != null && !prevVideoMode.equals(newVideoMode)) { // if resolution changed
UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
if (updateCvSource) {
updateCvSource();
}
ServerHandler.sendFullSettings();
}
}
private void updateCvSource() {
synchronized (cvSourceLock) {
var newWidth = camVideoMode.width / streamDivisor.value;
var newHeight = camVideoMode.height / streamDivisor.value;
cvSource = cs.putVideo(name, newWidth, newHeight);
}
CameraManager.getVisionProcessByCameraName(name).cameraProcess.updateFrameSize();
ServerHandler.sendFullSettings();
}
public void addPipeline() {
Pipeline p = new Pipeline();
p.nickname = "New pipeline " + pipelines.size();
@@ -195,8 +195,11 @@ public class Camera {
return streamDivisor;
}
public void setStreamDivisor(int divisor) {
public void setStreamDivisor(int divisor, boolean updateCvSource) {
streamDivisor = StreamDivisor.values()[divisor];
if (updateCvSource) {
updateCvSource();
}
}
public List<Pipeline> getPipelines() {
@@ -230,15 +233,11 @@ public class Camera {
public void setDriverMode(boolean state)
{
isDriver=state;
if(isDriver){
UsbCam.setBrightness(driverBrightness);//We call setBrightness because it updates after 2 calls
UsbCam.setBrightness(driverBrightness);//Check it after we update to 2020 libraries
try{UsbCam.setExposureManual(driverExposure);}
catch (VideoException e)
{
System.out.println("Exposure change isn't supported");
}
isDriver = state;
if( isDriver ) {
setBrightness(driverBrightness); //We call setBrightness because it updates after 2 calls
setBrightness(driverBrightness); //Check it after we update to 2020 libraries
setExposure(driverExposure);
}
else{
UsbCam.setBrightness(getCurrentPipeline().brightness);
@@ -263,18 +262,24 @@ public class Camera {
public void setBrightness(int brightness) {
if (isDriver)
driverBrightness=brightness;
else
if (isDriver) {
driverBrightness = brightness;
UsbCam.setBrightness(brightness); // set twice to reduce timeout
}
else {
getCurrentPipeline().brightness = brightness;
}
UsbCam.setBrightness(brightness);
}
public void setExposure(int exposure) {
if (isDriver)
driverExposure=exposure;
else
if (isDriver) {
driverExposure = exposure;
}
else {
getCurrentPipeline().exposure = exposure;
}
try {
UsbCam.setExposureManual(exposure);
} catch (VideoException e) {
@@ -316,4 +321,27 @@ public class Camera {
return nickname == null ? name : nickname;
}
public void setDriverExposure(int exposure) {
driverExposure = exposure;
if (isDriver) {
setExposure(exposure);
}
}
public void setDriverBrightness(int brightness) {
driverBrightness = brightness;
if (isDriver) {
setBrightness(brightness);
}
}
public int getDriverExposure() {
return driverExposure;
}
public int getDriverBrightness() {
return driverBrightness;
}
}

20
Main/src/main/java/com/chameleonvision/vision/camera/CameraDeserializer.java
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@@ -23,10 +23,18 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
var camName = jsonObj.get("name").getAsString();
var camNickname = jsonObj.get("nickname").getAsString();
var videoModeIndex = jsonObj.get("resolution").getAsInt();
var isDriver = jsonObj.get("isDriver").getAsBoolean();
var driverExposure = jsonObj.get("driverExposure").getAsInt();
var driverBrightness = jsonObj.get("driverBrightness").getAsInt();
var divisor = StreamDivisor.values()[jsonObj.get("streamDivisor").getAsInt()];
// new for 2.0
var isDriverObj = jsonObj.get("isDriver");
var driverExposureObj = jsonObj.get("driverExposure");
var driverBrightnessObj = jsonObj.get("driverBrightness");
var divisorObj = jsonObj.get("streamDivisor");
// always null-check new features
boolean isDriver = isDriverObj != null && isDriverObj.getAsBoolean();
int driverExposure = driverExposureObj == null ? Camera.DEFAULT_EXPOSURE : driverExposureObj.getAsInt();
int driverBrightness = driverBrightnessObj == null ? Camera.DEFAULT_BRIGHTNESS : driverBrightnessObj.getAsInt();
StreamDivisor divisor = divisorObj == null ? StreamDivisor.none : StreamDivisor.values()[divisorObj.getAsInt()];
var pipelines = jsonObj.get("pipelines");
List<Pipeline> actualPipelines = new ArrayList<>();
@@ -39,8 +47,10 @@ public class CameraDeserializer implements JsonDeserializer<Camera> {
e.printStackTrace();
}
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor, driverExposure, driverBrightness,isDriver) : new Camera(camName, camFOV, videoModeIndex, divisor, driverExposure, driverBrightness,isDriver);
var newCamera = actualPipelines != null ? new Camera(camName, camFOV, actualPipelines, videoModeIndex, divisor, isDriver) : new Camera(camName, camFOV, videoModeIndex, divisor, isDriver);
newCamera.setNickname(camNickname != null ? camNickname : "");
newCamera.setDriverExposure(driverExposure);
newCamera.setDriverBrightness(driverBrightness);
return newCamera;
}
catch (NullPointerException e)

4
Main/src/main/java/com/chameleonvision/vision/camera/CameraSerializer.java
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@@ -17,8 +17,8 @@ public class CameraSerializer implements JsonSerializer<Camera> {
obj.addProperty("resolution", camera.getVideoModeIndex());
obj.add("camVideoMode", context.serialize(camera.getVideoMode()));
obj.add("isDriver",context.serialize(camera.getDriverMode()));
obj.add("driverExposure",context.serialize(camera.driverExposure));
obj.add("driverBrightness",context.serialize(camera.driverBrightness));
obj.add("driverExposure",context.serialize(camera.getDriverExposure()));
obj.add("driverBrightness",context.serialize(camera.getDriverBrightness()));
return obj;
}
}

10
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -19,7 +19,7 @@ public class VisionProcess implements Runnable {
private final Camera camera;
private final String cameraName;
private final CameraProcess cameraProcess;
public final CameraProcess cameraProcess;
// NetworkTables
public NetworkTableEntry ntPipelineEntry;
public NetworkTableEntry ntDriverModeEntry;
@@ -165,6 +165,14 @@ public class VisionProcess implements Runnable {
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
break;
}
// var camVals = camera.getCamVals();
// if (currentPipeline.isCalibrated) {
// pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
// pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
// } else {
// pipelineResult.CalibratedX = camVals.CenterX;
// pipelineResult.CalibratedY = camVals.CenterY;
// }
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);
pipelineResult.Area = finalRect.size.area();

27
Main/src/main/java/com/chameleonvision/web/ServerHandler.java
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@@ -65,10 +65,25 @@ public class ServerHandler {
}
case "cameraSettings": {
HashMap camSettings = (HashMap) entry.getValue();
CameraManager.getCurrentCamera().setFOV((Number) camSettings.get("fov"));
CameraManager.getCurrentCamera().setStreamDivisor((Integer) camSettings.get("streamDivisor"));
CameraManager.getCurrentCamera().setCamVideoMode((Integer) camSettings.get("resolution"), true);
SettingsManager.saveSettings();
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();
sendFullSettings();
break;
}
@@ -238,8 +253,8 @@ public class ServerHandler {
try {
var currentCamera = CameraManager.getCurrentCamera();
tmp.put("isDriver", currentCamera.getDriverMode());
tmp.put("driverBrightness", currentCamera.driverBrightness);
tmp.put("driverExposure", currentCamera.driverExposure);
tmp.put("driverBrightness", currentCamera.getDriverBrightness());
tmp.put("driverExposure", currentCamera.getDriverExposure());
} catch (CameraException e) {
e.printStackTrace();
}