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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;
}
}