Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-07-03 03:01:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

working camera process

Browse Source 
it need more work with integration
This commit is contained in:
ori
2019-04-29 14:15:53 -07:00
parent 6ee31a9d0c
commit d073f6fcd2
2 changed files with 16 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
backend/app/handlers/CamerasHandler.py
View File

@@ -42,6 +42,8 @@ class CamerasHandler:
camera = cscore.UsbCamera(name=device_name, dev=device.dev) camera = cscore.UsbCamera(name=device_name, dev=device.dev)
camera.setPixelFormat(pixelFormat=camera.enumerateVideoModes()[0].pixelFormat) #TODO if dictionary is empy do this else take from dictionary camera.setPixelFormat(pixelFormat=camera.enumerateVideoModes()[0].pixelFormat) #TODO if dictionary is empy do this else take from dictionary
camera.setFPS(camera.enumerateVideoModes()[0].fps)
camera.setResolution(width=camera.enumerateVideoModes()[0].width,height=camera.enumerateVideoModes()[0].height)
cameras[device_name] = camera cameras[device_name] = camera

22
backend/app/handlers/VisionHandler.py
View File

@@ -4,9 +4,10 @@ import networktables
import cv2 import cv2
import numpy import numpy
from cscore import CameraServer from cscore import CameraServer
from .CamerasHandler import CamerasHandler from CamerasHandler import CamerasHandler
from app.classes.SettingsManager import SettingsManager from app.classes.SettingsManager import SettingsManager
import time import time
import json
class VisionHandler: class VisionHandler:
@@ -91,7 +92,8 @@ class VisionHandler:
def mode_listener(table, key, value, is_new): def mode_listener(table, key, value, is_new):
pass pass
image = numpy.zeros(shape=(0, 0, 3), dtype=numpy.uint8) jsonn = json.loads(camera.getConfigJson())
image = numpy.zeros(shape=(jsonn['width'], jsonn['height'], 3), dtype=numpy.uint8)
table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name) table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name)
table.addEntryListenerEx(pipeline_listener, key="Pipeline", table.addEntryListenerEx(pipeline_listener, key="Pipeline",
@@ -99,17 +101,21 @@ class VisionHandler:
table.addEntryListenerEx(mode_listener, key="Driver_Mode", table.addEntryListenerEx(mode_listener, key="Driver_Mode",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE) flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
change_camera_values() change_camera_values()
cs = CameraServer.getInstance()
cv_sink = CameraServer.getInstance().getVideo(camera=camera) cv_sink = cs.getVideo(camera=camera)
cv_publish = cs.putVideo(name='ds;fjkl',width=jsonn['width'],height=jsonn['height'])
while True: while True:
start = time.time()
_, image = cv_sink.grabFrame(image) _, image = cv_sink.grabFrame(image)
# hsv_image = self._hsv_threshold() # hsv_image = self._hsv_threshold()
filtered_contours = None filtered_contours = None
if table.getBoolean("Driver_Mode", False): # if table.getBoolean("Driver_Mode", False):
#contours = self.find_contours(hsv_image) #contours = self.find_contours(hsv_image)
# filtered_contours = self.filter_contours(contours) # filtered_contours = self.filter_contours(contours)
pass # pass
# image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=[]) # image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=[])
# stream.putFrame(image) cv_publish.putFrame(image)
end = time.time()
print(1/(end-start))