mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-23 01:21:40 +00:00
code cleanup and ui route bugfix
This commit is contained in:
ori agranat
@@ -13,197 +13,202 @@ import java.util.stream.IntStream;
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public class Camera {
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private static final double DEFAULT_FOV = 60.8;
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private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
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private static final int MINIMUM_FPS = 30;
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private static final int MINIMUM_WIDTH = 320;
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private static final int MINIMUM_HEIGHT = 200;
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private static final int MAX_INIT_MS = 1500;
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private static final double DEFAULT_FOV = 60.8;
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private static final StreamDivisor DEFAULT_STREAMDIVISOR = StreamDivisor.none;
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private static final int MINIMUM_FPS = 30;
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private static final int MINIMUM_WIDTH = 320;
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private static final int MINIMUM_HEIGHT = 200;
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private static final int MAX_INIT_MS = 1500;
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public final String name;
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public final String path;
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public final String name;
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public final String path;
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private final UsbCamera UsbCam;
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private final VideoMode[] availableVideoModes;
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private final UsbCamera UsbCam;
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private final VideoMode[] availableVideoModes;
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private final CameraServer cs = CameraServer.getInstance();
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private final CvSink cvSink;
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private final Object cvSourceLock = new Object();
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private CvSource cvSource;
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private Double FOV;
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private StreamDivisor streamDivisor;
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private CameraValues camVals;
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private CamVideoMode camVideoMode;
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private int currentPipelineIndex;
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private HashMap<Integer, Pipeline> pipelines;
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private final CameraServer cs = CameraServer.getInstance();
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private final CvSink cvSink;
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private final Object cvSourceLock = new Object();
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private CvSource cvSource;
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private Double FOV;
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private StreamDivisor streamDivisor;
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private CameraValues camVals;
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private CamVideoMode camVideoMode;
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private int currentPipelineIndex;
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private HashMap<Integer, Pipeline> pipelines;
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public Camera(String cameraName) {
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this(cameraName, DEFAULT_FOV);
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}
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public Camera(String cameraName) {
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this(cameraName, DEFAULT_FOV);
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}
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public Camera(String cameraName, double fov) {
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this(cameraName,CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
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}
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public Camera(String cameraName, UsbCameraInfo usbCameraInfo, double fov) {
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this(cameraName,usbCameraInfo, fov, DEFAULT_STREAMDIVISOR);
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}
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public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov,StreamDivisor divisor) {
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this(cameraName ,usbCamInfo, fov, new HashMap<>(), 0, divisor);
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}
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public Camera(String cameraName, double fov) {
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this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov);
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}
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public Camera(String cameraName, double fov, int videoModeIndex , StreamDivisor divisor) {
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this(cameraName, fov, new HashMap<>(), videoModeIndex, divisor);
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}
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public Camera(String cameraName, UsbCameraInfo usbCameraInfo, double fov) {
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this(cameraName, usbCameraInfo, fov, DEFAULT_STREAMDIVISOR);
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}
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public Camera(String cameraName, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex , StreamDivisor divisor) {
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this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor);
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}
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public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, StreamDivisor divisor) {
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this(cameraName, usbCamInfo, fov, new HashMap<>(), 0, divisor);
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}
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public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
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FOV = fov;
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name = cameraName;
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path = usbCamInfo.path;
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streamDivisor = divisor;
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UsbCam = new UsbCamera(name, path);
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public Camera(String cameraName, double fov, int videoModeIndex, StreamDivisor divisor) {
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this(cameraName, fov, new HashMap<>(), videoModeIndex, divisor);
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}
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this.pipelines = pipelines;
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public Camera(String cameraName, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
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this(cameraName, CameraManager.AllUsbCameraInfosByName.get(cameraName), fov, pipelines, videoModeIndex, divisor);
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}
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// set up video modes according to minimums
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if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
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System.out.print("Waiting on camera... ");
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long initTimeout = System.nanoTime();
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while(!UsbCam.isConnected())
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{
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if (((System.nanoTime() - initTimeout) / 1e6 ) >= MAX_INIT_MS) {
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break;
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}
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}
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var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
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System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
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}
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var trueVideoModes = UsbCam.enumerateVideoModes();
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availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
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if (availableVideoModes.length == 0) {
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System.err.println("Camera not supported!");
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throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
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}
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if (videoModeIndex <= availableVideoModes.length - 1) {
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setCamVideoMode(videoModeIndex, false);
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} else {
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setCamVideoMode(0, false);
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}
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public Camera(String cameraName, UsbCameraInfo usbCamInfo, double fov, HashMap<Integer, Pipeline> pipelines, int videoModeIndex, StreamDivisor divisor) {
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FOV = fov;
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name = cameraName;
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path = usbCamInfo.path;
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streamDivisor = divisor;
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UsbCam = new UsbCamera(name, path);
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cvSink = cs.getVideo(UsbCam);
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cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
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}
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this.pipelines = pipelines;
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VideoMode[] getAvailableVideoModes() {
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return availableVideoModes;
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}
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// set up video modes according to minimums
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if (Platform.getCurrentPlatform() == Platform.WINDOWS_64 && !UsbCam.isConnected()) {
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System.out.print("Waiting on camera... ");
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long initTimeout = System.nanoTime();
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while (!UsbCam.isConnected()) {
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if (((System.nanoTime() - initTimeout) / 1e6) >= MAX_INIT_MS) {
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break;
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}
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}
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var initTimeMs = (System.nanoTime() - initTimeout) / 1e6;
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System.out.printf("Camera initialized in %.2fms\n", initTimeMs);
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}
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var trueVideoModes = UsbCam.enumerateVideoModes();
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availableVideoModes = Arrays.stream(trueVideoModes).filter(v -> v.fps >= MINIMUM_FPS && v.width >= MINIMUM_WIDTH && v.height >= MINIMUM_HEIGHT).toArray(VideoMode[]::new);
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if (availableVideoModes.length == 0) {
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System.err.println("Camera not supported!");
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throw new RuntimeException(new CameraException(CameraException.CameraExceptionType.BAD_CAMERA));
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}
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if (videoModeIndex <= availableVideoModes.length - 1) {
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setCamVideoMode(videoModeIndex, false);
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} else {
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setCamVideoMode(0, false);
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}
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public int getStreamPort() {
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var s = (MjpegServer) cs.getServer("serve_" + name);
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return s.getPort();
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}
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cvSink = cs.getVideo(UsbCam);
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cvSource = cs.putVideo(name, camVals.ImageWidth, camVals.ImageHeight);
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}
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public void setCamVideoMode(int videoMode, boolean updateCvSource) {
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setCamVideoMode(new CamVideoMode(availableVideoModes[videoMode]), updateCvSource);
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}
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VideoMode[] getAvailableVideoModes() {
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return availableVideoModes;
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}
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private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
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var prevVideoMode = this.camVideoMode;
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this.camVideoMode = newVideoMode;
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UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
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public int getStreamPort() {
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var s = (MjpegServer) cs.getServer("serve_" + name);
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return s.getPort();
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}
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// update camera values
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camVals = new CameraValues(this);
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if (prevVideoMode != null && !prevVideoMode.equals(newVideoMode) && updateCvSource) { // if resolution changed
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synchronized (cvSourceLock) {
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cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
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}
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ServerHandler.sendFullSettings();
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}
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}
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public void setCamVideoMode(int videoMode, boolean updateCvSource) {
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setCamVideoMode(new CamVideoMode(availableVideoModes[videoMode]), updateCvSource);
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}
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public void addPipeline() {
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addPipeline(pipelines.size());
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}
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private void setCamVideoMode(CamVideoMode newVideoMode, boolean updateCvSource) {
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var prevVideoMode = this.camVideoMode;
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this.camVideoMode = newVideoMode;
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UsbCam.setVideoMode(newVideoMode.getActualPixelFormat(), newVideoMode.width, newVideoMode.height, newVideoMode.fps);
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private void addPipeline(int pipelineNumber) {
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if (pipelines.containsKey(pipelineNumber)) return;
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pipelines.put(pipelineNumber, new Pipeline());
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}
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public void deleteCurrentPipeline() {
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pipelines.remove(getCurrentPipelineIndex());
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}
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// update camera values
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camVals = new CameraValues(this);
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if (prevVideoMode != null && !prevVideoMode.equals(newVideoMode) && updateCvSource) { // if resolution changed
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synchronized (cvSourceLock) {
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cvSource = cs.putVideo(name, newVideoMode.width, newVideoMode.height);
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}
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ServerHandler.sendFullSettings();
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}
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}
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public Pipeline getCurrentPipeline() {
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return pipelines.get(currentPipelineIndex);
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}
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public void addPipeline() {
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addPipeline(pipelines.size());
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}
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public int getCurrentPipelineIndex() {
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return currentPipelineIndex;
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}
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public void setCurrentPipelineIndex(int pipelineNumber) {
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if (pipelineNumber - 1 > pipelines.size()) return;
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currentPipelineIndex = pipelineNumber;
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}
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public StreamDivisor getStreamDivisor(){
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return streamDivisor;
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}
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public void setStreamDivisor(int divisor){
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streamDivisor = StreamDivisor.values()[divisor];
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}
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private void addPipeline(int pipelineNumber) {
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if (pipelines.containsKey(pipelineNumber)) return;
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pipelines.put(pipelineNumber, new Pipeline());
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}
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public HashMap<Integer, Pipeline> getPipelines() {
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return pipelines;
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}
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public void deleteCurrentPipeline() {
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pipelines.remove(getCurrentPipelineIndex());
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}
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public CamVideoMode getVideoMode() {
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return camVideoMode;
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}
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public Pipeline getCurrentPipeline() {
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return pipelines.get(currentPipelineIndex);
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}
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public int getVideoModeIndex() {
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return IntStream.range(0, availableVideoModes.length)
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.filter(i -> camVideoMode.equals(availableVideoModes[i]))
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.findFirst()
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.orElse(-1);
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}
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public int getCurrentPipelineIndex() {
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return currentPipelineIndex;
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}
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public double getFOV() {
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return FOV;
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}
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public void setCurrentPipelineIndex(int pipelineNumber) {
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if (pipelineNumber - 1 > pipelines.size()) return;
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currentPipelineIndex = pipelineNumber;
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}
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public void setFOV(Number fov) {
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FOV = fov.doubleValue();
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camVals = new CameraValues(this);
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}
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public StreamDivisor getStreamDivisor() {
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return streamDivisor;
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}
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public int getBrightness() {
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return getCurrentPipeline().brightness;
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}
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public void setStreamDivisor(int divisor) {
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streamDivisor = StreamDivisor.values()[divisor];
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}
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public void setBrightness(int brightness) {
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getCurrentPipeline().brightness = brightness;
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UsbCam.setBrightness(brightness);
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}
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public HashMap<Integer, Pipeline> getPipelines() {
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return pipelines;
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}
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public void setExposure(int exposure) {
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getCurrentPipeline().exposure = exposure;
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UsbCam.setExposureManual(exposure);
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}
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public CamVideoMode getVideoMode() {
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return camVideoMode;
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}
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public long grabFrame(Mat image) {
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return cvSink.grabFrame(image);
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}
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public int getVideoModeIndex() {
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return IntStream.range(0, availableVideoModes.length)
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.filter(i -> camVideoMode.equals(availableVideoModes[i]))
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.findFirst()
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.orElse(-1);
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}
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public CameraValues getCamVals() {
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return camVals;
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}
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public double getFOV() {
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return FOV;
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}
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public void putFrame(Mat image) {
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synchronized (cvSourceLock) {
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cvSource.putFrame(image);
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}
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}
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public void setFOV(Number fov) {
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FOV = fov.doubleValue();
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camVals = new CameraValues(this);
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}
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public int getBrightness() {
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return getCurrentPipeline().brightness;
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}
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public void setBrightness(int brightness) {
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getCurrentPipeline().brightness = brightness;
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UsbCam.setBrightness(brightness);
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}
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public void setExposure(int exposure) {
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getCurrentPipeline().exposure = exposure;
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UsbCam.setExposureManual(exposure);
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}
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public long grabFrame(Mat image) {
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return cvSink.grabFrame(image);
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}
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public CameraValues getCamVals() {
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return camVals;
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}
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public void putFrame(Mat image) {
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synchronized (cvSourceLock) {
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cvSource.putFrame(image);
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}
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}
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}
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@@ -18,7 +18,7 @@ public class CVProcess {
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private final CameraValues cameraValues;
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private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
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private Size blur = new Size(2,2);
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private Size blur = new Size(2, 2);
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private Mat hsvImage = new Mat();
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private List<MatOfPoint> foundContours = new ArrayList<>();
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private Mat binaryMat = new Mat();
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@@ -58,7 +58,7 @@ public class CVProcess {
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for (MatOfPoint Contour : inputContours) {
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try {
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double contourArea = Imgproc.contourArea(Contour);
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double AreaRatio = (contourArea / cameraValues.ImageArea)*100;
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double AreaRatio = (contourArea / cameraValues.ImageArea) * 100;
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double minArea = (MathHandler.sigmoid(area.get(0)));
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double maxArea = (MathHandler.sigmoid(area.get(1)));
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if (AreaRatio < minArea || AreaRatio > maxArea) {
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@@ -89,10 +89,12 @@ public class CVProcess {
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private double calcDistance(RotatedRect rect) {
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return FastMath.sqrt(FastMath.pow(cameraValues.CenterX - rect.center.x, 2) + FastMath.pow(cameraValues.CenterY - rect.center.y, 2));
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}
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private double calcMomentsX(MatOfPoint c){
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private double calcMomentsX(MatOfPoint c) {
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Moments m = Imgproc.moments(c);
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return (m.get_m10()/m.get_m00());
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return (m.get_m10() / m.get_m00());
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}
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RotatedRect sortTargetsToOne(List<RotatedRect> inputRects, SortMode sortMode) {
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switch (sortMode) {
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case Largest:
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@@ -116,37 +118,34 @@ public class CVProcess {
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List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
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finalCountours.clear();
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if (!targetGroup.equals(TargetGroup.Single)) {
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if (targetGroup.equals(TargetGroup.Dual)) {
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inputContours.sort(sortByMomentsX);
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for (var i = 0; i < inputContours.size(); i++) {
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List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
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for (var c = 0; c < targetGroup.ordinal(); c++) {
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try {
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MatOfPoint firstContour = inputContours.get(i + c);
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MatOfPoint secondContour = inputContours.get(i + c + 1);
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if (isIntersecting(firstContour, secondContour, intersectionPoint)) {
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FinalContourList.addAll(secondContour.toList());
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}
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else{
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FinalContourList.clear();
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break;
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}
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firstContour.release();
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secondContour.release();
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MatOfPoint2f contour = new MatOfPoint2f();
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contour.fromList(FinalContourList);
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if (contour.cols() != 0 && contour.rows() != 0) {
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RotatedRect rect = Imgproc.minAreaRect(contour);
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finalCountours.add(rect);
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}
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} catch (IndexOutOfBoundsException e) {
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try {
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MatOfPoint firstContour = inputContours.get(i);
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MatOfPoint secondContour = inputContours.get(i + 1);
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if (isIntersecting(firstContour, secondContour, intersectionPoint)) {
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FinalContourList.addAll(secondContour.toList());
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} else {
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FinalContourList.clear();
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break;
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}
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firstContour.release();
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secondContour.release();
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MatOfPoint2f contour = new MatOfPoint2f();
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contour.fromList(FinalContourList);
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if (contour.cols() != 0 && contour.rows() != 0) {
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RotatedRect rect = Imgproc.minAreaRect(contour);
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finalCountours.add(rect);
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}
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} catch (IndexOutOfBoundsException e) {
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FinalContourList.clear();
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break;
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}
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}
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} else {
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} else if (targetGroup.equals(TargetGroup.Single)) {
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for (MatOfPoint inputContour : inputContours) {
|
||||
MatOfPoint2f contour = new MatOfPoint2f();
|
||||
contour.fromArray(inputContour.toArray());
|
||||
@@ -174,7 +173,7 @@ public class CVProcess {
|
||||
double y0A = a.center.y;
|
||||
double x0B = b.center.x;
|
||||
double y0B = b.center.y;
|
||||
double intersectionX = ((mA * x0A) - y0A - (mB * x0B) + y0B )/ (mA - mB);
|
||||
double intersectionX = ((mA * x0A) - y0A - (mB * x0B) + y0B) / (mA - mB);
|
||||
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
|
||||
double massX = (x0A + x0B) / 2;
|
||||
double massY = (y0A + y0B) / 2;
|
||||
|
||||
@@ -6,60 +6,60 @@ import org.opencv.core.Mat;
|
||||
|
||||
public class CameraProcess implements Runnable {
|
||||
|
||||
private final Camera camera;
|
||||
private final int maxFPS;
|
||||
private final Object inputFrameLock = new Object();
|
||||
private final Object outputFrameLock = new Object();
|
||||
private Mat inputFrame;
|
||||
private Mat outputFrame;
|
||||
private long timestamp;
|
||||
private final Camera camera;
|
||||
private final int maxFPS;
|
||||
private final Object inputFrameLock = new Object();
|
||||
private final Object outputFrameLock = new Object();
|
||||
private Mat inputFrame;
|
||||
private Mat outputFrame;
|
||||
private long timestamp;
|
||||
|
||||
CameraProcess(Camera camera) {
|
||||
this.camera = camera;
|
||||
maxFPS = camera.getVideoMode().fps;
|
||||
CameraProcess(Camera camera) {
|
||||
this.camera = camera;
|
||||
maxFPS = camera.getVideoMode().fps;
|
||||
var camVals = camera.getCamVals();
|
||||
inputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
outputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
}
|
||||
}
|
||||
|
||||
private void updateFrameSize() {
|
||||
var camVals = camera.getCamVals();
|
||||
synchronized (inputFrameLock) {
|
||||
inputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
}
|
||||
synchronized (outputFrameLock) {
|
||||
outputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
}
|
||||
}
|
||||
private void updateFrameSize() {
|
||||
var camVals = camera.getCamVals();
|
||||
synchronized (inputFrameLock) {
|
||||
inputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
}
|
||||
synchronized (outputFrameLock) {
|
||||
outputFrame = new Mat(camVals.ImageWidth, camVals.ImageHeight, CvType.CV_8UC3);
|
||||
}
|
||||
}
|
||||
|
||||
void updateFrame(Mat inputFrame) {
|
||||
void updateFrame(Mat inputFrame) {
|
||||
synchronized (inputFrameLock) {
|
||||
inputFrame.copyTo(this.inputFrame);
|
||||
}
|
||||
}
|
||||
|
||||
long getLatestFrame(Mat outputFrame) {
|
||||
synchronized (outputFrameLock) {
|
||||
this.outputFrame.copyTo(outputFrame);
|
||||
return timestamp;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
while (!Thread.interrupted()) {
|
||||
synchronized (outputFrameLock) {
|
||||
timestamp = camera.grabFrame(outputFrame);
|
||||
}
|
||||
synchronized (inputFrameLock) {
|
||||
inputFrame.copyTo(this.inputFrame);
|
||||
}
|
||||
}
|
||||
|
||||
long getLatestFrame(Mat outputFrame) {
|
||||
synchronized (outputFrameLock) {
|
||||
this.outputFrame.copyTo(outputFrame);
|
||||
return timestamp;
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
while (!Thread.interrupted()) {
|
||||
synchronized (outputFrameLock) {
|
||||
timestamp = camera.grabFrame(outputFrame);
|
||||
}
|
||||
synchronized (inputFrameLock) {
|
||||
camera.putFrame(inputFrame);
|
||||
}
|
||||
var msToWait = (long) 1000 / maxFPS;
|
||||
try {
|
||||
Thread.sleep(msToWait);
|
||||
} catch (InterruptedException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
camera.putFrame(inputFrame);
|
||||
}
|
||||
var msToWait = (long) 1000 / maxFPS;
|
||||
try {
|
||||
Thread.sleep(msToWait);
|
||||
} catch (InterruptedException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,11 +3,11 @@ package com.chameleonvision.vision.process;
|
||||
import org.opencv.core.RotatedRect;
|
||||
|
||||
public class PipelineResult {
|
||||
public boolean IsValid = false;
|
||||
public double CalibratedX = 0.0;
|
||||
public double CalibratedY = 0.0;
|
||||
public double Pitch = 0.0;
|
||||
public double Yaw = 0.0;
|
||||
public double Area = 0.0;
|
||||
RotatedRect RawPoint;
|
||||
public boolean IsValid = false;
|
||||
public double CalibratedX = 0.0;
|
||||
public double CalibratedY = 0.0;
|
||||
public double Pitch = 0.0;
|
||||
public double Yaw = 0.0;
|
||||
public double Area = 0.0;
|
||||
RotatedRect RawPoint;
|
||||
}
|
||||
|
||||
@@ -16,248 +16,247 @@ import java.util.List;
|
||||
|
||||
public class VisionProcess implements Runnable {
|
||||
|
||||
private final Camera camera;
|
||||
private final String cameraName;
|
||||
private final CameraProcess cameraProcess;
|
||||
// NetworkTables
|
||||
public NetworkTableEntry ntPipelineEntry;
|
||||
public NetworkTableEntry ntDriverModeEntry;
|
||||
private NetworkTableEntry ntYawEntry;
|
||||
private NetworkTableEntry ntPitchEntry;
|
||||
private NetworkTableEntry ntDistanceEntry;
|
||||
private NetworkTableEntry ntTimeStampEntry;
|
||||
private NetworkTableEntry ntValidEntry;
|
||||
// chameleon specific
|
||||
private Pipeline currentPipeline;
|
||||
private CVProcess cvProcess;
|
||||
// pipeline process items
|
||||
private List<MatOfPoint> foundContours = new ArrayList<>();
|
||||
private List<MatOfPoint> filteredContours = new ArrayList<>();
|
||||
private List<RotatedRect> groupedContours = new ArrayList<>();
|
||||
private Mat cameraInputMat = new Mat();
|
||||
private Mat hsvThreshMat = new Mat();
|
||||
private Mat streamOutputMat = new Mat();
|
||||
private Scalar contourRectColor = new Scalar(255, 0, 0);
|
||||
private Scalar BoxRectColor = new Scalar(0, 0, 233);
|
||||
private long timeStamp = 0;
|
||||
private final Camera camera;
|
||||
private final String cameraName;
|
||||
private final CameraProcess cameraProcess;
|
||||
// NetworkTables
|
||||
public NetworkTableEntry ntPipelineEntry;
|
||||
public NetworkTableEntry ntDriverModeEntry;
|
||||
private NetworkTableEntry ntYawEntry;
|
||||
private NetworkTableEntry ntPitchEntry;
|
||||
private NetworkTableEntry ntDistanceEntry;
|
||||
private NetworkTableEntry ntTimeStampEntry;
|
||||
private NetworkTableEntry ntValidEntry;
|
||||
// chameleon specific
|
||||
private Pipeline currentPipeline;
|
||||
private CVProcess cvProcess;
|
||||
// pipeline process items
|
||||
private List<MatOfPoint> foundContours = new ArrayList<>();
|
||||
private List<MatOfPoint> filteredContours = new ArrayList<>();
|
||||
private List<RotatedRect> groupedContours = new ArrayList<>();
|
||||
private Mat cameraInputMat = new Mat();
|
||||
private Mat hsvThreshMat = new Mat();
|
||||
private Mat streamOutputMat = new Mat();
|
||||
private Scalar contourRectColor = new Scalar(255, 0, 0);
|
||||
private Scalar BoxRectColor = new Scalar(0, 0, 233);
|
||||
private long timeStamp = 0;
|
||||
|
||||
public VisionProcess(Camera processCam) {
|
||||
camera = processCam;
|
||||
this.cameraName = camera.name;
|
||||
public VisionProcess(Camera processCam) {
|
||||
camera = processCam;
|
||||
this.cameraName = camera.name;
|
||||
|
||||
// NetworkTables
|
||||
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
|
||||
ntPipelineEntry = ntTable.getEntry("pipeline");
|
||||
ntDriverModeEntry = ntTable.getEntry("driver_mode");
|
||||
ntPitchEntry = ntTable.getEntry("pitch");
|
||||
ntYawEntry = ntTable.getEntry("yaw");
|
||||
ntDistanceEntry = ntTable.getEntry("distance");
|
||||
ntTimeStampEntry = ntTable.getEntry("timestamp");
|
||||
ntValidEntry = ntTable.getEntry("is_valid");
|
||||
ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
|
||||
ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
|
||||
ntDriverModeEntry.setBoolean(false);
|
||||
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
|
||||
// NetworkTables
|
||||
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraName);
|
||||
ntPipelineEntry = ntTable.getEntry("pipeline");
|
||||
ntDriverModeEntry = ntTable.getEntry("driver_mode");
|
||||
ntPitchEntry = ntTable.getEntry("pitch");
|
||||
ntYawEntry = ntTable.getEntry("yaw");
|
||||
ntDistanceEntry = ntTable.getEntry("distance");
|
||||
ntTimeStampEntry = ntTable.getEntry("timestamp");
|
||||
ntValidEntry = ntTable.getEntry("is_valid");
|
||||
ntDriverModeEntry.addListener(this::driverModeListener, EntryListenerFlags.kUpdate);
|
||||
ntPipelineEntry.addListener(this::pipelineListener, EntryListenerFlags.kUpdate);
|
||||
ntDriverModeEntry.setBoolean(false);
|
||||
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
|
||||
|
||||
// camera settings
|
||||
cvProcess = new CVProcess(camera.getCamVals());
|
||||
cameraProcess = new CameraProcess(camera);
|
||||
}
|
||||
// camera settings
|
||||
cvProcess = new CVProcess(camera.getCamVals());
|
||||
cameraProcess = new CameraProcess(camera);
|
||||
}
|
||||
|
||||
private void driverModeListener(EntryNotification entryNotification) {
|
||||
if (entryNotification.value.getBoolean()) {
|
||||
camera.setExposure(25);
|
||||
camera.setBrightness(15);
|
||||
} else {
|
||||
Pipeline pipeline = camera.getCurrentPipeline();
|
||||
camera.setExposure(pipeline.exposure);
|
||||
camera.setBrightness(pipeline.brightness);
|
||||
}
|
||||
}
|
||||
private void driverModeListener(EntryNotification entryNotification) {
|
||||
if (entryNotification.value.getBoolean()) {
|
||||
camera.setExposure(25);
|
||||
camera.setBrightness(15);
|
||||
} else {
|
||||
Pipeline pipeline = camera.getCurrentPipeline();
|
||||
camera.setExposure(pipeline.exposure);
|
||||
camera.setBrightness(pipeline.brightness);
|
||||
}
|
||||
}
|
||||
|
||||
private void pipelineListener(EntryNotification entryNotification) {
|
||||
var ntPipelineIndex = (int) entryNotification.value.getDouble();
|
||||
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
|
||||
private void pipelineListener(EntryNotification entryNotification) {
|
||||
var ntPipelineIndex = (int) entryNotification.value.getDouble();
|
||||
if (camera.getPipelines().containsKey(ntPipelineIndex)) {
|
||||
// camera.setEntryNotification.value.getString());
|
||||
var pipeline = camera.getCurrentPipeline();
|
||||
camera.setCurrentPipelineIndex(ntPipelineIndex);
|
||||
try{
|
||||
camera.setExposure(pipeline.exposure);
|
||||
}
|
||||
catch (VideoException e){
|
||||
System.err.println(e.toString());
|
||||
}
|
||||
camera.setBrightness(pipeline.brightness);
|
||||
if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)){
|
||||
SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
|
||||
HashMap<String, Object> pipeChange = new HashMap<>();
|
||||
pipeChange.put("currentPipeline", ntPipelineIndex);
|
||||
ServerHandler.broadcastMessage(pipeChange);
|
||||
ServerHandler.sendFullSettings();
|
||||
var pipeline = camera.getCurrentPipeline();
|
||||
camera.setCurrentPipelineIndex(ntPipelineIndex);
|
||||
try {
|
||||
camera.setExposure(pipeline.exposure);
|
||||
} catch (VideoException e) {
|
||||
System.err.println(e.toString());
|
||||
}
|
||||
camera.setBrightness(pipeline.brightness);
|
||||
if (SettingsManager.GeneralSettings.currentCamera.equals(cameraName)) {
|
||||
SettingsManager.GeneralSettings.currentPipeline = ntPipelineIndex;
|
||||
HashMap<String, Object> pipeChange = new HashMap<>();
|
||||
pipeChange.put("currentPipeline", ntPipelineIndex);
|
||||
ServerHandler.broadcastMessage(pipeChange);
|
||||
ServerHandler.sendFullSettings();
|
||||
|
||||
}
|
||||
} else {
|
||||
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
ntPipelineEntry.setNumber(camera.getCurrentPipelineIndex());
|
||||
}
|
||||
}
|
||||
|
||||
private void drawContour(Mat inputMat, RotatedRect contourRect) {
|
||||
if (contourRect == null) return;
|
||||
List<MatOfPoint> drawnContour = new ArrayList<>();
|
||||
Point[] vertices = new Point[4];
|
||||
contourRect.points(vertices);
|
||||
MatOfPoint contour = new MatOfPoint(vertices);
|
||||
drawnContour.add(contour);
|
||||
Rect box = Imgproc.boundingRect(contour);
|
||||
Imgproc.drawContours(inputMat, drawnContour, 0, contourRectColor, 3);
|
||||
Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
|
||||
Imgproc.rectangle(inputMat,new Point(box.x, box.y), new Point((box.x + box.width),(box.y + box.height)), BoxRectColor,2);
|
||||
}
|
||||
private void drawContour(Mat inputMat, RotatedRect contourRect) {
|
||||
if (contourRect == null) return;
|
||||
List<MatOfPoint> drawnContour = new ArrayList<>();
|
||||
Point[] vertices = new Point[4];
|
||||
contourRect.points(vertices);
|
||||
MatOfPoint contour = new MatOfPoint(vertices);
|
||||
drawnContour.add(contour);
|
||||
Rect box = Imgproc.boundingRect(contour);
|
||||
Imgproc.drawContours(inputMat, drawnContour, 0, contourRectColor, 3);
|
||||
Imgproc.circle(inputMat, contourRect.center, 3, contourRectColor);
|
||||
Imgproc.rectangle(inputMat, new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), BoxRectColor, 2);
|
||||
}
|
||||
|
||||
private void updateNetworkTables(PipelineResult pipelineResult) {
|
||||
if (pipelineResult.IsValid) {
|
||||
ntValidEntry.setBoolean(true);
|
||||
ntYawEntry.setNumber(pipelineResult.Yaw);
|
||||
ntPitchEntry.setNumber(pipelineResult.Pitch);
|
||||
ntDistanceEntry.setNumber(pipelineResult.Area);
|
||||
ntTimeStampEntry.setNumber(timeStamp);
|
||||
NetworkTableInstance.getDefault().flush();
|
||||
} else {
|
||||
ntYawEntry.setNumber(0.0);
|
||||
ntPitchEntry.setNumber(0.0);
|
||||
ntDistanceEntry.setNumber(0.0);
|
||||
ntTimeStampEntry.setNumber(timeStamp);
|
||||
ntValidEntry.setBoolean(false);
|
||||
}
|
||||
}
|
||||
private void updateNetworkTables(PipelineResult pipelineResult) {
|
||||
if (pipelineResult.IsValid) {
|
||||
ntValidEntry.setBoolean(true);
|
||||
ntYawEntry.setNumber(pipelineResult.Yaw);
|
||||
ntPitchEntry.setNumber(pipelineResult.Pitch);
|
||||
ntDistanceEntry.setNumber(pipelineResult.Area);
|
||||
ntTimeStampEntry.setNumber(timeStamp);
|
||||
NetworkTableInstance.getDefault().flush();
|
||||
} else {
|
||||
ntYawEntry.setNumber(0.0);
|
||||
ntPitchEntry.setNumber(0.0);
|
||||
ntDistanceEntry.setNumber(0.0);
|
||||
ntTimeStampEntry.setNumber(timeStamp);
|
||||
ntValidEntry.setBoolean(false);
|
||||
}
|
||||
}
|
||||
|
||||
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
|
||||
var pipelineResult = new PipelineResult();
|
||||
private PipelineResult runVisionProcess(Mat inputImage, Mat outputImage) {
|
||||
var pipelineResult = new PipelineResult();
|
||||
|
||||
if (currentPipeline == null) {
|
||||
return pipelineResult;
|
||||
}
|
||||
if (currentPipeline.orientation.equals(Orientation.Inverted)) {
|
||||
Core.flip(inputImage, inputImage, -1);
|
||||
}
|
||||
if (ntDriverModeEntry.getBoolean(false)) {
|
||||
inputImage.copyTo(outputImage);
|
||||
return pipelineResult;
|
||||
}
|
||||
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
|
||||
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
|
||||
if (currentPipeline == null) {
|
||||
return pipelineResult;
|
||||
}
|
||||
if (currentPipeline.orientation.equals(Orientation.Inverted)) {
|
||||
Core.flip(inputImage, inputImage, -1);
|
||||
}
|
||||
if (ntDriverModeEntry.getBoolean(false)) {
|
||||
inputImage.copyTo(outputImage);
|
||||
return pipelineResult;
|
||||
}
|
||||
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0).intValue(), currentPipeline.saturation.get(0).intValue(), currentPipeline.value.get(0).intValue());
|
||||
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1).intValue(), currentPipeline.saturation.get(1).intValue(), currentPipeline.value.get(1).intValue());
|
||||
|
||||
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
|
||||
cvProcess.hsvThreshold(inputImage, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
|
||||
|
||||
if (currentPipeline.isBinary == true) {
|
||||
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
|
||||
} else {
|
||||
inputImage.copyTo(outputImage);
|
||||
}
|
||||
foundContours = cvProcess.findContours(hsvThreshMat);
|
||||
if (foundContours.size() > 0) {
|
||||
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
|
||||
if (filteredContours.size() > 0) {
|
||||
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
|
||||
if (groupedContours.size() > 0) {
|
||||
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
|
||||
if (currentPipeline.isBinary == true) {
|
||||
Imgproc.cvtColor(hsvThreshMat, outputImage, Imgproc.COLOR_GRAY2BGR, 3);
|
||||
} else {
|
||||
inputImage.copyTo(outputImage);
|
||||
}
|
||||
foundContours = cvProcess.findContours(hsvThreshMat);
|
||||
if (foundContours.size() > 0) {
|
||||
filteredContours = cvProcess.filterContours(foundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent);
|
||||
if (filteredContours.size() > 0) {
|
||||
groupedContours = cvProcess.groupTargets(filteredContours, currentPipeline.targetIntersection, currentPipeline.targetGroup);
|
||||
if (groupedContours.size() > 0) {
|
||||
var finalRect = cvProcess.sortTargetsToOne(groupedContours, currentPipeline.sortMode);
|
||||
// System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
|
||||
pipelineResult.RawPoint = finalRect;
|
||||
pipelineResult.IsValid = true;
|
||||
if (!currentPipeline.isCalibrated) {
|
||||
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
|
||||
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
|
||||
} else {
|
||||
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
|
||||
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
|
||||
}
|
||||
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();
|
||||
drawContour(outputImage, finalRect);
|
||||
}
|
||||
}
|
||||
}
|
||||
pipelineResult.RawPoint = finalRect;
|
||||
pipelineResult.IsValid = true;
|
||||
if (!currentPipeline.isCalibrated) {
|
||||
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
|
||||
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
|
||||
} else {
|
||||
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
|
||||
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
|
||||
}
|
||||
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();
|
||||
drawContour(outputImage, finalRect);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return pipelineResult;
|
||||
}
|
||||
return pipelineResult;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
// processing time tracking
|
||||
long startTime;
|
||||
long fpsLastTime = 0;
|
||||
double processTimeMs;
|
||||
double fps = 0;
|
||||
double uiFps = 0;
|
||||
int maxFps = camera.getVideoMode().fps;
|
||||
@Override
|
||||
public void run() {
|
||||
// processing time tracking
|
||||
long startTime;
|
||||
long fpsLastTime = 0;
|
||||
double processTimeMs;
|
||||
double fps = 0;
|
||||
double uiFps = 0;
|
||||
int maxFps = camera.getVideoMode().fps;
|
||||
|
||||
new Thread(cameraProcess).start();
|
||||
new Thread(cameraProcess).start();
|
||||
|
||||
long lastFrameEndNanosec = 0;
|
||||
long lastFrameEndNanosec = 0;
|
||||
|
||||
while (!Thread.interrupted()) {
|
||||
startTime = System.nanoTime();
|
||||
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
|
||||
foundContours.clear();
|
||||
filteredContours.clear();
|
||||
groupedContours.clear();
|
||||
while (!Thread.interrupted()) {
|
||||
startTime = System.nanoTime();
|
||||
if ((startTime - lastFrameEndNanosec) * 1e-6 >= 1000.0 / maxFps + 3) { // 3 additional fps to allow for overhead
|
||||
foundContours.clear();
|
||||
filteredContours.clear();
|
||||
groupedContours.clear();
|
||||
|
||||
// update FPS for ui only every 0.5 seconds
|
||||
if ((startTime - fpsLastTime) * 1e-6 >= 500) {
|
||||
if (fps >= maxFps) {
|
||||
uiFps = maxFps;
|
||||
} else {
|
||||
uiFps = fps;
|
||||
}
|
||||
fpsLastTime = System.nanoTime();
|
||||
}
|
||||
// update FPS for ui only every 0.5 seconds
|
||||
if ((startTime - fpsLastTime) * 1e-6 >= 500) {
|
||||
if (fps >= maxFps) {
|
||||
uiFps = maxFps;
|
||||
} else {
|
||||
uiFps = fps;
|
||||
}
|
||||
fpsLastTime = System.nanoTime();
|
||||
}
|
||||
|
||||
currentPipeline = camera.getCurrentPipeline();
|
||||
// start fps counter right before grabbing input frame
|
||||
timeStamp = cameraProcess.getLatestFrame(cameraInputMat);
|
||||
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
|
||||
continue;
|
||||
}
|
||||
currentPipeline = camera.getCurrentPipeline();
|
||||
// start fps counter right before grabbing input frame
|
||||
timeStamp = cameraProcess.getLatestFrame(cameraInputMat);
|
||||
if (cameraInputMat.cols() == 0 && cameraInputMat.rows() == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// get vision data
|
||||
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
|
||||
updateNetworkTables(pipelineResult);
|
||||
if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
|
||||
HashMap<String, Object> WebSend = new HashMap<>();
|
||||
HashMap<String, Object> point = new HashMap<>();
|
||||
HashMap<String, Object> calculated = new HashMap<>();
|
||||
List<Double> center = new ArrayList<>();
|
||||
if (pipelineResult.IsValid) {
|
||||
center.add(pipelineResult.RawPoint.center.x);
|
||||
center.add(pipelineResult.RawPoint.center.y);
|
||||
calculated.put("pitch", pipelineResult.Pitch);
|
||||
calculated.put("yaw", pipelineResult.Yaw);
|
||||
} else {
|
||||
center.add(0.0);
|
||||
center.add(0.0);
|
||||
calculated.put("pitch", 0);
|
||||
calculated.put("yaw", 0);
|
||||
}
|
||||
point.put("fps", uiFps);
|
||||
point.put("calculated",calculated);
|
||||
point.put("rawPoint",center);
|
||||
WebSend.put("point", point);
|
||||
ServerHandler.broadcastMessage(WebSend);
|
||||
}
|
||||
// get vision data
|
||||
var pipelineResult = runVisionProcess(cameraInputMat, streamOutputMat);
|
||||
updateNetworkTables(pipelineResult);
|
||||
if (cameraName.equals(SettingsManager.GeneralSettings.currentCamera)) {
|
||||
HashMap<String, Object> WebSend = new HashMap<>();
|
||||
HashMap<String, Object> point = new HashMap<>();
|
||||
HashMap<String, Object> calculated = new HashMap<>();
|
||||
List<Double> center = new ArrayList<>();
|
||||
if (pipelineResult.IsValid) {
|
||||
center.add(pipelineResult.RawPoint.center.x);
|
||||
center.add(pipelineResult.RawPoint.center.y);
|
||||
calculated.put("pitch", pipelineResult.Pitch);
|
||||
calculated.put("yaw", pipelineResult.Yaw);
|
||||
} else {
|
||||
center.add(0.0);
|
||||
center.add(0.0);
|
||||
calculated.put("pitch", 0);
|
||||
calculated.put("yaw", 0);
|
||||
}
|
||||
point.put("fps", uiFps);
|
||||
point.put("calculated", calculated);
|
||||
point.put("rawPoint", center);
|
||||
WebSend.put("point", point);
|
||||
ServerHandler.broadcastMessage(WebSend);
|
||||
}
|
||||
|
||||
cameraProcess.updateFrame(streamOutputMat);
|
||||
cameraProcess.updateFrame(streamOutputMat);
|
||||
|
||||
cameraInputMat.release();
|
||||
hsvThreshMat.release();
|
||||
cameraInputMat.release();
|
||||
hsvThreshMat.release();
|
||||
|
||||
// calculate FPS
|
||||
lastFrameEndNanosec = System.nanoTime();
|
||||
processTimeMs = (lastFrameEndNanosec - startTime) * 1e-6;
|
||||
fps = 1000 / processTimeMs;
|
||||
//please dont enable if you are not debugging
|
||||
// System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
// calculate FPS
|
||||
lastFrameEndNanosec = System.nanoTime();
|
||||
processTimeMs = (lastFrameEndNanosec - startTime) * 1e-6;
|
||||
fps = 1000 / processTimeMs;
|
||||
//please dont enable if you are not debugging
|
||||
// System.out.printf("%s - Process time: %-5.2fms, FPS: %-5.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", cameraName, processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -25,7 +25,8 @@ public class Server {
|
||||
ws.onBinaryMessage(ctx -> {
|
||||
handler.onBinaryMessage(ctx);
|
||||
});
|
||||
app.start(port);
|
||||
});
|
||||
|
||||
app.start(port);
|
||||
}
|
||||
}
|
||||
@@ -43,41 +43,42 @@ public class ServerHandler {
|
||||
}
|
||||
|
||||
void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
|
||||
Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<Map<String,Object>>(){});
|
||||
for (Map.Entry<String,Object> entry: deserialized.entrySet()) {
|
||||
Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<Map<String, Object>>() {
|
||||
});
|
||||
for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
|
||||
try {
|
||||
switch (entry.getKey()) {
|
||||
case "generalSettings": {
|
||||
for (HashMap.Entry<String,Object> e : ((HashMap<String,Object>)entry.getValue()).entrySet()){
|
||||
setField(SettingsManager.GeneralSettings,e.getKey(),e.getValue());
|
||||
for (HashMap.Entry<String, Object> e : ((HashMap<String, Object>) entry.getValue()).entrySet()) {
|
||||
setField(SettingsManager.GeneralSettings, e.getKey(), e.getValue());
|
||||
}
|
||||
break;
|
||||
}
|
||||
case "cameraSettings": {
|
||||
HashMap camSettings = (HashMap)entry.getValue();
|
||||
CameraManager.getCurrentCamera().setFOV((Number)camSettings.get("fov"));
|
||||
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);
|
||||
CameraManager.getCurrentCamera().setCamVideoMode((Integer) camSettings.get("resolution"), true);
|
||||
break;
|
||||
}
|
||||
case "changeCameraName":{
|
||||
case "changeCameraName": {
|
||||
// needs to be implemented
|
||||
}
|
||||
case "changePipelineName":{
|
||||
case "changePipelineName": {
|
||||
// needs to be implemented
|
||||
}
|
||||
case "duplicatePipeline":{
|
||||
case "duplicatePipeline": {
|
||||
// needs to be implemented
|
||||
}
|
||||
case "command": {
|
||||
switch ((String) entry.getValue()){
|
||||
switch ((String) entry.getValue()) {
|
||||
case "addNewPipeline":
|
||||
CameraManager.getCurrentCamera().addPipeline();
|
||||
break;
|
||||
case "deleteCurrentPipeline":
|
||||
var cam = CameraManager.getCurrentCamera();
|
||||
CameraManager.getCurrentCamera().deleteCurrentPipeline();
|
||||
CameraManager.getCurrentCamera().setCurrentPipelineIndex(cam.getCurrentPipelineIndex() -1);
|
||||
CameraManager.getCurrentCamera().setCurrentPipelineIndex(cam.getCurrentPipelineIndex() - 1);
|
||||
sendFullSettings();
|
||||
break;
|
||||
}
|
||||
@@ -86,31 +87,31 @@ public class ServerHandler {
|
||||
}
|
||||
case "currentCamera": {
|
||||
CameraManager.setCurrentCamera((String) entry.getValue());
|
||||
HashMap<String,Object> tmp = new HashMap<>();
|
||||
tmp.put("pipeline",CameraManager.getCurrentCamera().getCurrentPipeline());
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
tmp.put("pipeline", CameraManager.getCurrentCamera().getCurrentPipeline());
|
||||
tmp.put("port", CameraManager.getCurrentCamera().getStreamPort());
|
||||
tmp.put("resolutionList",CameraManager.getResolutionList());
|
||||
tmp.put("resolutionList", CameraManager.getResolutionList());
|
||||
broadcastMessage(tmp);
|
||||
break;
|
||||
}
|
||||
case "currentPipeline": {
|
||||
CameraManager.getCurrentCamera().setCurrentPipelineIndex((Integer) entry.getValue());
|
||||
HashMap<String,Object> tmp = new HashMap<>();
|
||||
tmp.put("pipeline",getOrdinalPipeline());
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
tmp.put("pipeline", getOrdinalPipeline());
|
||||
broadcastMessage(tmp);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
setField(CameraManager.getCurrentCamera().getCurrentPipeline(),entry.getKey(),entry.getValue());
|
||||
switch (entry.getKey()){
|
||||
case "exposure":{
|
||||
try{
|
||||
setField(CameraManager.getCurrentCamera().getCurrentPipeline(), entry.getKey(), entry.getValue());
|
||||
switch (entry.getKey()) {
|
||||
case "exposure": {
|
||||
try {
|
||||
CameraManager.getCurrentCamera().setExposure((Integer) entry.getValue());
|
||||
} catch (Exception e){
|
||||
} catch (Exception e) {
|
||||
System.err.println("Camera Does not support exposure change");
|
||||
}
|
||||
}
|
||||
case "brightness":{
|
||||
case "brightness": {
|
||||
CameraManager.getCurrentCamera().setBrightness((Integer) entry.getValue());
|
||||
}
|
||||
}
|
||||
@@ -120,21 +121,22 @@ public class ServerHandler {
|
||||
} catch (Exception e) {
|
||||
System.err.println(e.getMessage());
|
||||
}
|
||||
broadcastMessage(deserialized,context);
|
||||
broadcastMessage(deserialized, context);
|
||||
}
|
||||
}
|
||||
|
||||
private void setField(Object obj, String fieldName, Object value) {
|
||||
try {
|
||||
Field field = obj.getClass().getField(fieldName);
|
||||
if (BeanUtils.isSimpleValueType(field.getType())){
|
||||
if (field.getType().isEnum()){
|
||||
field.set(obj,field.getType().getEnumConstants()[(Integer) value]);
|
||||
}else{
|
||||
field.set(obj,value);
|
||||
if (BeanUtils.isSimpleValueType(field.getType())) {
|
||||
if (field.getType().isEnum()) {
|
||||
field.set(obj, field.getType().getEnumConstants()[(Integer) value]);
|
||||
} else {
|
||||
field.set(obj, value);
|
||||
}
|
||||
} else if(field.getType() == List.class){
|
||||
} else if (field.getType() == List.class) {
|
||||
// if(((ParameterizedType)field.getGenericType()).getActualTypeArguments()[0] == Double.class){
|
||||
field.set(obj,value);
|
||||
field.set(obj, value);
|
||||
}
|
||||
} catch (NoSuchFieldException | IllegalAccessException ex) {
|
||||
ex.printStackTrace();
|
||||
@@ -147,7 +149,7 @@ public class ServerHandler {
|
||||
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
|
||||
continue;
|
||||
}
|
||||
try{
|
||||
try {
|
||||
ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(obj));
|
||||
user.send(b);
|
||||
} catch (JsonProcessingException e) {
|
||||
@@ -160,46 +162,49 @@ public class ServerHandler {
|
||||
broadcastMessage(obj, null);//Broadcasts the message to every user
|
||||
}
|
||||
|
||||
private static HashMap<String,Object> getOrdinalPipeline() throws CameraException, IllegalAccessException {
|
||||
HashMap<String,Object> tmp = new HashMap<>();
|
||||
for (Field f : Pipeline.class.getFields()){
|
||||
if (!f.getType().isEnum()){
|
||||
tmp.put(f.getName(),f.get(CameraManager.getCurrentCamera().getCurrentPipeline()));
|
||||
} else{
|
||||
private static HashMap<String, Object> getOrdinalPipeline() throws CameraException, IllegalAccessException {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
for (Field f : Pipeline.class.getFields()) {
|
||||
if (!f.getType().isEnum()) {
|
||||
tmp.put(f.getName(), f.get(CameraManager.getCurrentCamera().getCurrentPipeline()));
|
||||
} else {
|
||||
var i = (Enum) f.get(CameraManager.getCurrentCamera().getCurrentPipeline());
|
||||
tmp.put(f.getName(),i.ordinal());
|
||||
tmp.put(f.getName(), i.ordinal());
|
||||
}
|
||||
}
|
||||
return tmp;
|
||||
}
|
||||
private static HashMap<String,Object> getOrdinalSettings(){
|
||||
HashMap<String,Object> tmp = new HashMap<>();
|
||||
tmp.put("teamNumber",SettingsManager.GeneralSettings.teamNumber);
|
||||
tmp.put("connectionType",SettingsManager.GeneralSettings.connectionType.ordinal());
|
||||
tmp.put("ip",SettingsManager.GeneralSettings.ip);
|
||||
tmp.put("gateway",SettingsManager.GeneralSettings.gateway);
|
||||
tmp.put("netmask",SettingsManager.GeneralSettings.netmask);
|
||||
tmp.put("hostname",SettingsManager.GeneralSettings.hostname);
|
||||
|
||||
private static HashMap<String, Object> getOrdinalSettings() {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
tmp.put("teamNumber", SettingsManager.GeneralSettings.teamNumber);
|
||||
tmp.put("connectionType", SettingsManager.GeneralSettings.connectionType.ordinal());
|
||||
tmp.put("ip", SettingsManager.GeneralSettings.ip);
|
||||
tmp.put("gateway", SettingsManager.GeneralSettings.gateway);
|
||||
tmp.put("netmask", SettingsManager.GeneralSettings.netmask);
|
||||
tmp.put("hostname", SettingsManager.GeneralSettings.hostname);
|
||||
return tmp;
|
||||
}
|
||||
private static HashMap<String ,Object> getOrdinalCameraSettings(){
|
||||
HashMap<String,Object> tmp = new HashMap<>();
|
||||
|
||||
private static HashMap<String, Object> getOrdinalCameraSettings() {
|
||||
HashMap<String, Object> tmp = new HashMap<>();
|
||||
try {
|
||||
var currentCamera = CameraManager.getCurrentCamera();
|
||||
tmp.put("fov",currentCamera.getFOV());
|
||||
tmp.put("streamDivisor",currentCamera.getStreamDivisor().ordinal());
|
||||
tmp.put("resolution",currentCamera.getVideoModeIndex());
|
||||
tmp.put("fov", currentCamera.getFOV());
|
||||
tmp.put("streamDivisor", currentCamera.getStreamDivisor().ordinal());
|
||||
tmp.put("resolution", currentCamera.getVideoModeIndex());
|
||||
} catch (CameraException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
return tmp;
|
||||
}
|
||||
|
||||
public static void sendFullSettings() {
|
||||
//General settings
|
||||
Map<String, Object> fullSettings = new HashMap<>();
|
||||
try {
|
||||
fullSettings.put("settings", getOrdinalSettings());
|
||||
fullSettings.put("cameraSettings",getOrdinalCameraSettings());
|
||||
fullSettings.put("cameraSettings", getOrdinalCameraSettings());
|
||||
fullSettings.put("cameraList", CameraManager.getAllCamerasByName().keySet());
|
||||
var currentCamera = CameraManager.getCurrentCamera();
|
||||
fullSettings.put("pipeline", getOrdinalPipeline());
|
||||
|
||||
@@ -1 +1 @@
|
||||
<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link rel=stylesheet href=/Roboto.css><link href=/css/chunk-234aed0c.62cd23bf.css rel=prefetch><link href=/css/chunk-28383ebf.5bdfa61d.css rel=prefetch><link href=/css/chunk-38331e86.3e507f7b.css rel=prefetch><link href=/css/chunk-4b541045.d47fe89d.css rel=prefetch><link href=/css/chunk-6014d13c.da97df88.css rel=prefetch><link href=/css/chunk-716fb61c.ab43288b.css rel=prefetch><link href=/css/chunk-79b72a3d.52ef46aa.css rel=prefetch><link href=/css/chunk-7a810817.e757f52a.css rel=prefetch><link href=/css/chunk-7cf477eb.a93b3047.css rel=prefetch><link href=/js/chunk-1a7066d8.1b23c0c0.js rel=prefetch><link href=/js/chunk-234aed0c.fbf7ad5e.js rel=prefetch><link href=/js/chunk-28383ebf.93476238.js rel=prefetch><link href=/js/chunk-2d0d3320.bae28379.js rel=prefetch><link href=/js/chunk-38331e86.2606c966.js rel=prefetch><link href=/js/chunk-4b541045.d5203d49.js rel=prefetch><link href=/js/chunk-6014d13c.c132acbd.js rel=prefetch><link href=/js/chunk-716fb61c.84a36d26.js rel=prefetch><link href=/js/chunk-79b72a3d.aeb36768.js rel=prefetch><link href=/js/chunk-7a810817.bca05c28.js rel=prefetch><link href=/js/chunk-7cf477eb.de18472d.js rel=prefetch><link href=/css/app.eb572613.css rel=preload as=style><link href=/css/chunk-vendors.97f47167.css rel=preload as=style><link href=/js/app.4845058e.js rel=preload as=script><link href=/js/chunk-vendors.6cb32058.js rel=preload as=script><link href=/css/chunk-vendors.97f47167.css rel=stylesheet><link href=/css/app.eb572613.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.6cb32058.js></script><script src=/js/app.4845058e.js></script></body></html>
|
||||
<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link rel=stylesheet href=/Roboto.css><link href=/css/chunk-234aed0c.62cd23bf.css rel=prefetch><link href=/css/chunk-28383ebf.5bdfa61d.css rel=prefetch><link href=/css/chunk-38331e86.3e507f7b.css rel=prefetch><link href=/css/chunk-4b541045.d47fe89d.css rel=prefetch><link href=/css/chunk-6014d13c.da97df88.css rel=prefetch><link href=/css/chunk-716fb61c.ab43288b.css rel=prefetch><link href=/css/chunk-79b72a3d.52ef46aa.css rel=prefetch><link href=/css/chunk-7a810817.e757f52a.css rel=prefetch><link href=/css/chunk-7cf477eb.a93b3047.css rel=prefetch><link href=/js/chunk-1a7066d8.62f1ea08.js rel=prefetch><link href=/js/chunk-234aed0c.be70e2b2.js rel=prefetch><link href=/js/chunk-28383ebf.995507d7.js rel=prefetch><link href=/js/chunk-2d0d3320.6be348e1.js rel=prefetch><link href=/js/chunk-38331e86.79b1cbc4.js rel=prefetch><link href=/js/chunk-4b541045.184cf02c.js rel=prefetch><link href=/js/chunk-6014d13c.5e43ddd0.js rel=prefetch><link href=/js/chunk-716fb61c.84a36d26.js rel=prefetch><link href=/js/chunk-79b72a3d.bdb0c98e.js rel=prefetch><link href=/js/chunk-7a810817.774f35d1.js rel=prefetch><link href=/js/chunk-7cf477eb.c81dadc5.js rel=prefetch><link href=/css/app.eb572613.css rel=preload as=style><link href=/css/chunk-vendors.97f47167.css rel=preload as=style><link href=/js/app.62b07d03.js rel=preload as=script><link href=/js/chunk-vendors.6cb32058.js rel=preload as=script><link href=/css/chunk-vendors.97f47167.css rel=stylesheet><link href=/css/app.eb572613.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.6cb32058.js></script><script src=/js/app.62b07d03.js></script></body></html>
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|
||||
(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-1a7066d8"],{"0b81":function(e,t,a){"use strict";a.r(t);var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("CVselect",{attrs:{name:"Camera",list:e.cameraList},model:{value:e.currentCameraIndex,callback:function(t){e.currentCameraIndex=t},expression:"currentCameraIndex"}}),a("CVselect",{attrs:{name:"Resulotion",list:e.resolutionList},model:{value:e.cameraSettings.resolution,callback:function(t){e.$set(e.cameraSettings,"resolution",t)},expression:"cameraSettings.resolution"}}),a("CVselect",{attrs:{name:"Stream Resulotion",list:["1:1","1:2","1:4","1:6"]},model:{value:e.cameraSettings.streamDivisor,callback:function(t){e.$set(e.cameraSettings,"streamDivisor",t)},expression:"cameraSettings.streamDivisor"}}),a("CVnumberinput",{attrs:{name:"Diagonal FOV"},model:{value:e.cameraSettings.fov,callback:function(t){e.$set(e.cameraSettings,"fov",t)},expression:"cameraSettings.fov"}}),a("v-btn",{staticStyle:{"margin-top":"10px"},attrs:{small:"",color:"#4baf62"},on:{click:e.sendCameraSettings}},[e._v("Save Camera Settings")])],1)},n=[],r=a("8384"),i=a("9696"),l={name:"CameraSettings",components:{CVselect:r["a"],CVnumberinput:i["a"]},data(){return{}},methods:{sendCameraSettings(){this.handleInput("cameraSettings",this.cameraSettings)}},computed:{currentCameraIndex:{get(){return this.$store.state.currentCameraIndex},set(e){this.$store.commit("currentCameraIndex",e)}},cameraList:{get(){return this.$store.state.cameraList},set(e){this.$store.commit("cameraList",e)}},resolutionList:{get(){return this.$store.state.resolutionList}},cameraSettings:{get(){return this.$store.state.cameraSettings},set(e){this.$store.commit("cameraSettings",e)}}}},c=l,o=a("2877"),m=a("6544"),u=a.n(m),d=a("8336"),p=Object(o["a"])(c,s,n,!1,null,"04c1992d",null);t["default"]=p.exports;u()(p,{VBtn:d["a"]})},9696:function(e,t,a){"use strict";var s=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("v-row",{attrs:{dense:"",align:"center"}},[a("v-col",{attrs:{cols:2}},[a("span",[e._v(e._s(e.name))])]),a("v-col",[a("v-text-field",{staticClass:"mt-0 pt-0",staticStyle:{width:"70px"},attrs:{dark:"","hide-details":"","single-line":"",type:"number"},model:{value:e.localValue,callback:function(t){e.localValue=t},expression:"localValue"}})],1)],1)],1)},n=[],r={name:"NumberInput",props:["name","value"],data(){return{}},computed:{localValue:{get(){return this.value},set(e){this.$emit("input",parseInt(e))}}}},i=r,l=a("2877"),c=a("6544"),o=a.n(c),m=a("62ad"),u=a("0fd9"),d=a("8654"),p=Object(l["a"])(i,s,n,!1,null,"10e05c36",null);t["a"]=p.exports;o()(p,{VCol:m["a"],VRow:u["a"],VTextField:d["a"]})}}]);
|
||||
//# sourceMappingURL=chunk-1a7066d8.1b23c0c0.js.map
|
||||
//# sourceMappingURL=chunk-1a7066d8.62f1ea08.js.map
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||||
(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-2d0d3320"],{"5c73":function(e,t,a){"use strict";a.r(t);var n=function(){var e=this,t=e.$createElement,a=e._self._c||t;return a("div",[a("CVrangeSlider",{attrs:{name:"Area",min:0,max:100,step:.1},on:{input:function(t){return e.handleInput("area",e.value.area)}},model:{value:e.value.area,callback:function(t){e.$set(e.value,"area",t)},expression:"value.area"}}),a("CVrangeSlider",{attrs:{name:"Ratio (W/H)",min:0,max:100,step:.1},on:{input:function(t){return e.handleInput("ratio",e.value.ratio)}},model:{value:e.value.ratio,callback:function(t){e.$set(e.value,"ratio",t)},expression:"value.ratio"}}),a("CVrangeSlider",{attrs:{name:"Extent",min:0,max:100},on:{input:function(t){return e.handleInput("extent",e.value.extent)}},model:{value:e.value.extent,callback:function(t){e.$set(e.value,"extent",t)},expression:"value.extent"}}),a("CVselect",{attrs:{name:"Target Group",list:["Single","Dual"]},on:{input:function(t){return e.handleInput("targetGroup",e.value.targetGroup)}},model:{value:e.value.targetGroup,callback:function(t){e.$set(e.value,"targetGroup",t)},expression:"value.targetGroup"}}),a("CVselect",{attrs:{name:"Target Intersection",list:["None","Up","Down","Left","Right"],disabled:e.isDisabled},on:{input:function(t){return e.handleInput("targetIntersection",e.value.targetIntersection)}},model:{value:e.value.targetIntersection,callback:function(t){e.$set(e.value,"targetIntersection",t)},expression:"value.targetIntersection"}})],1)},r=[],u=a("1029"),l=a("8384"),o={name:"Contours",props:["value"],components:{CVrangeSlider:u["a"],CVselect:l["a"]},data(){return{}},computed:{isDisabled(){return 0===this.value.targetGroup}}},i=o,s=a("2877"),c=Object(s["a"])(i,n,r,!1,null,"4f8edba3",null);t["default"]=c.exports}}]);
|
||||
//# sourceMappingURL=chunk-2d0d3320.bae28379.js.map
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||||
//# sourceMappingURL=chunk-2d0d3320.6be348e1.js.map
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||||
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||||
(window["webpackJsonp"]=window["webpackJsonp"]||[]).push([["chunk-38331e86"],{"4c92":function(t,i,s){"use strict";s.r(i);var e=function(){var t=this,i=t.$createElement,s=t._self._c||i;return s("div",[s("CVselect",{attrs:{name:"SortMode",list:["Largest","Smallest","Highest","Lowest","Rightmost","Leftmost","Closest"]},on:{input:function(i){return t.handleInput("sortMode",t.value.sortMode)}},model:{value:t.value.sortMode,callback:function(i){t.$set(t.value,"sortMode",i)},expression:"value.sortMode"}}),s("span",[t._v("Calibrate:")]),s("v-divider",{attrs:{dark:"",color:"white"}}),s("v-row",{attrs:{align:"center",justify:"start"}},[s("v-col",{staticStyle:{"padding-right":"0px"},attrs:{cols:3}},[s("v-btn",{attrs:{small:"",color:"#4baf62"},on:{click:t.takePointA}},[t._v("Take Point A")])],1),s("v-col",{staticStyle:{"margin-left":"0px"},attrs:{cols:3}},[s("v-btn",{attrs:{small:"",color:"#4baf62"},on:{click:t.takePointB}},[t._v("Take Point B")])],1),s("v-col",[s("v-btn",{attrs:{small:"",color:"yellow darken-3"},on:{click:t.clearSlope}},[t._v("Clear All Points")])],1)],1),s("v-snackbar",{attrs:{timeout:3e3,top:"",color:"error"},model:{value:t.snackbar,callback:function(i){t.snackbar=i},expression:"snackbar"}},[s("span",{staticStyle:{color:"#000"}},[t._v("Points are too close")]),s("v-btn",{attrs:{color:"black",text:""},on:{click:function(i){t.snackbar=!1}}},[t._v("Close")])],1)],1)},o=[],a=s("8384"),n={name:"Output",props:["value"],components:{CVselect:a["a"]},methods:{takePointA(){this.pointA=this.rawPoint,this.calcSlope()},takePointB(){this.pointB=this.rawPoint,this.calcSlope()},calcSlope(){if(void 0!==this.pointA&&void 0!==this.pointB){let t=(this.pointB[1]-this.pointA[1])/(this.pointB[0]-this.pointA[0]),i=this.pointA[1]-t*this.pointA[0];!1===isNaN(t)&&!1===isNaN(i)?this.sendSlope(t,i,!0):this.snackbar=!0,this.pointA=void 0,this.pointB=void 0}},sendSlope(t,i,s){this.handleInput("m",t),this.handleInput("b",i),this.handleInput("isCalibrated",s)},clearSlope(){this.sendSlope(1,0,!1),this.pointA=void 0,this.pointB=void 0}},data(){return{snackbar:!1,pointA:void 0,pointB:void 0}},computed:{rawPoint:{get(){return this.$store.state.point.rawPoint}}}},c=n,l=s("2877"),r=s("6544"),h=s.n(r),v=s("8336"),u=s("62ad"),d=s("ce7e"),p=s("0fd9"),k=(s("ca71"),s("a9ad")),m=s("f2e7"),b=s("fe6c"),f=s("58df"),w=s("d9bd"),A=Object(f["a"])(k["a"],m["a"],Object(b["b"])(["absolute","top","bottom","left","right"])).extend({name:"v-snackbar",props:{multiLine:Boolean,timeout:{type:Number,default:6e3},vertical:Boolean},data:()=>({activeTimeout:-1}),computed:{classes(){return{"v-snack--active":this.isActive,"v-snack--absolute":this.absolute,"v-snack--bottom":this.bottom||!this.top,"v-snack--left":this.left,"v-snack--multi-line":this.multiLine&&!this.vertical,"v-snack--right":this.right,"v-snack--top":this.top,"v-snack--vertical":this.vertical}}},watch:{isActive(){this.setTimeout()}},created(){this.$attrs.hasOwnProperty("auto-height")&&Object(w["d"])("auto-height",this)},mounted(){this.setTimeout()},methods:{setTimeout(){window.clearTimeout(this.activeTimeout),this.isActive&&this.timeout&&(this.activeTimeout=window.setTimeout(()=>{this.isActive=!1},this.timeout))}},render(t){return t("transition",{attrs:{name:"v-snack-transition"}},[this.isActive&&t("div",{staticClass:"v-snack",class:this.classes,on:this.$listeners},[t("div",this.setBackgroundColor(this.color,{staticClass:"v-snack__wrapper"}),[t("div",{staticClass:"v-snack__content"},this.$slots.default)])])])}}),g=Object(l["a"])(c,e,o,!1,null,"58812995",null);i["default"]=g.exports;h()(g,{VBtn:v["a"],VCol:u["a"],VDivider:d["a"],VRow:p["a"],VSnackbar:A})},ca71:function(t,i,s){}}]);
|
||||
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||||
//# sourceMappingURL=chunk-38331e86.79b1cbc4.js.map
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||||
<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link href=/css/app.ae0631ad.css rel=preload as=style><link href=/js/app.a39e3e86.js rel=preload as=script><link href=/js/chunk-vendors.60cc7e7e.js rel=preload as=script><link href=/css/app.ae0631ad.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.60cc7e7e.js></script><script src=/js/app.a39e3e86.js></script></body></html>
|
||||
<!DOCTYPE html><html lang=en><head><meta charset=utf-8><meta http-equiv=X-UA-Compatible content="IE=edge"><meta name=viewport content="width=device-width,initial-scale=1"><link rel=icon href=/favicon.png><title>Chameleon Vision</title><link rel=stylesheet href=/Roboto.css><link href=/css/chunk-234aed0c.62cd23bf.css rel=prefetch><link href=/css/chunk-28383ebf.5bdfa61d.css rel=prefetch><link href=/css/chunk-38331e86.3e507f7b.css rel=prefetch><link href=/css/chunk-4b541045.d47fe89d.css rel=prefetch><link href=/css/chunk-6014d13c.da97df88.css rel=prefetch><link href=/css/chunk-716fb61c.ab43288b.css rel=prefetch><link href=/css/chunk-79b72a3d.52ef46aa.css rel=prefetch><link href=/css/chunk-7a810817.e757f52a.css rel=prefetch><link href=/css/chunk-7cf477eb.a93b3047.css rel=prefetch><link href=/js/chunk-1a7066d8.62f1ea08.js rel=prefetch><link href=/js/chunk-234aed0c.be70e2b2.js rel=prefetch><link href=/js/chunk-28383ebf.995507d7.js rel=prefetch><link href=/js/chunk-2d0d3320.6be348e1.js rel=prefetch><link href=/js/chunk-38331e86.79b1cbc4.js rel=prefetch><link href=/js/chunk-4b541045.184cf02c.js rel=prefetch><link href=/js/chunk-6014d13c.5e43ddd0.js rel=prefetch><link href=/js/chunk-716fb61c.84a36d26.js rel=prefetch><link href=/js/chunk-79b72a3d.bdb0c98e.js rel=prefetch><link href=/js/chunk-7a810817.774f35d1.js rel=prefetch><link href=/js/chunk-7cf477eb.c81dadc5.js rel=prefetch><link href=/css/app.eb572613.css rel=preload as=style><link href=/css/chunk-vendors.97f47167.css rel=preload as=style><link href=/js/app.62b07d03.js rel=preload as=script><link href=/js/chunk-vendors.6cb32058.js rel=preload as=script><link href=/css/chunk-vendors.97f47167.css rel=stylesheet><link href=/css/app.eb572613.css rel=stylesheet></head><body><noscript><strong>We're sorry but Chameleon Vision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong></noscript><div id=app></div><script src=/js/chunk-vendors.6cb32058.js></script><script src=/js/app.62b07d03.js></script></body></html>
|
||||
@@ -6,7 +6,7 @@ function lazyLoad(view){
|
||||
return() => import(`@/views/${view}.vue`)
|
||||
}
|
||||
export default new Router({
|
||||
mode: 'history',
|
||||
// mode: 'history',
|
||||
base: process.env.BASE_URL,
|
||||
routes: [
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user