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https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +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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