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Update OpenCV to new WPI Maven Repo

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Adds support for Linux AARCH64
This commit is contained in:
Banks Troutman
2019-09-26 01:52:20 -04:00
parent e665a8c9e6
commit c46ec3066d
2 changed files with 59 additions and 11 deletions
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57
Main/pom.xml
View File

@@ -49,6 +49,11 @@
<name>WPI Maven repo</name>
<url>https://first.wpi.edu/FRC/roborio/maven/release</url>
</repository>
<repository>
<id>WPIArtifactory</id>
<name>WPILib Artifactory Server-releases</name>
<url>https://frcmaven.wpi.edu:443/artifactory/release</url>
</repository>
</repositories>
<dependencies>
<!--javalin micro webservices framework-->
@@ -84,7 +89,6 @@
<artifactId>gson</artifactId>
<version>2.8.5</version>
</dependency>
<!--what is this for again?-->
<dependency>
<groupId>org.springframework</groupId>
<artifactId>spring-beans</artifactId>
@@ -95,11 +99,17 @@
<artifactId>commons-lang3</artifactId>
<version>3.9</version>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-databind</artifactId>
<version>2.10.0.pr1</version>
</dependency>
<!-- supported platforms for wpilib JNI classifiers
linuxathena
linuxaarch64bionic
linuxraspbian
linuxx86-64
osxx86-64
windowsx86-64
-->
<!--frc cscore java libs-->
@@ -182,6 +192,43 @@
</dependency>
<!-- WPI OpenCV for all supported platforms -->
<!-- NEW 2020 OpenCV Deps -->
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-java</artifactId>
<version>3.4.7-1</version>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<classifier>linuxaarch64bionic</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<classifier>linuxraspbian</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<classifier>linuxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<classifier>osxx86-64</classifier>
</dependency>
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2020.opencv</groupId>
<artifactId>opencv-jni</artifactId>
<version>3.4.7-1</version>
<classifier>windowsx86-64</classifier>
</dependency>
<!-- OLD 2019 OpenCV Deps
<dependency>
<groupId>edu.wpi.first.thirdparty.frc2019.opencv</groupId>
<artifactId>opencv-java</artifactId>
@@ -211,10 +258,6 @@
<version>3.4.4-5</version>
<classifier>linuxraspbian</classifier>
</dependency>
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-databind</artifactId>
<version>2.10.0.pr1</version>
</dependency>
-->
</dependencies>
</project>

13
Main/src/main/java/com/chameleonvision/vision/camera/Camera.java
View File

@@ -1,11 +1,13 @@
package com.chameleonvision.vision.camera;
import com.chameleonvision.CameraException;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.*;
import edu.wpi.first.cameraserver.CameraServer;
import org.opencv.core.Mat;
import org.springframework.core.env.Environment;
import java.util.Arrays;
import java.util.HashMap;
@@ -80,7 +82,12 @@ public class Camera {
var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
}
availableVideoModes = Arrays.stream(UsbCam.enumerateVideoModes()).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
var trueVideoModes = UsbCam.enumerateVideoModes();
availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT && v.pixelFormat == VideoMode.PixelFormat.kYUYV).toArray(VideoMode[]::new);
if (availableVideoModes.length == 0) {
System.err.println("Camera not supported!");
throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
}
if (videoModeIndex <= availableVideoModes.length - 1) {
setCamVideoMode(videoModeIndex, false);
} else {
@@ -109,9 +116,7 @@ public class Camera {
private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
var prevVideoMode = this.camVideoMode;
this.camVideoMode = newVideoMode;
UsbCam.setPixelFormat(newVideoMode.getActualPixelFormat());
UsbCam.setFPS(newVideoMode.fps);
UsbCam.setResolution(newVideoMode.width, newVideoMode.height);
UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
// update camera values
camVals = new CameraValues(this);