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Camera configuration rewrite, begin on CameraStreamer threading fix

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This commit is contained in:
Banks Troutman
2019-11-26 17:57:51 -05:00
parent 6506281ddf
commit d588b1a69e
11 changed files with 293 additions and 173 deletions
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40
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -17,6 +17,8 @@ import org.opencv.core.Mat;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingDeque;
public class VisionProcess {
@@ -29,11 +31,12 @@ public class VisionProcess {
private CVPipeline currentPipeline;
private int currentPipelineIndex = 0;
private final CVPipelineSettings driverModeSettings = new CVPipelineSettings();
private CVPipeline driverModePipeline = new DriverVisionPipeline(driverModeSettings);
private CVPipeline driverModePipeline = new DriverVisionPipeline(new CVPipelineSettings());
private volatile CVPipelineResult lastPipelineResult;
BlockingQueue<Mat> streamFrameQueue = new LinkedBlockingDeque<>(1);
// network table stuff
private final NetworkTable defaultTable;
private NetworkTableEntry ntPipelineEntry;
@@ -240,6 +243,12 @@ public class VisionProcess {
pipelines.add(pipeline);
}
public void addPipeline(CVPipelineSettings settings) {
if (settings instanceof CVPipeline2dSettings) {
pipelines.add(new CVPipeline2d((CVPipeline2dSettings) settings));
}
}
public CameraCapture getCamera() {
return cameraCapture;
}
@@ -248,6 +257,11 @@ public class VisionProcess {
return (currentPipeline == driverModePipeline);
}
public void setDriverModeSettings(CVPipelineSettings settings) {
driverModePipeline.settings = settings;
}
public CVPipelineSettings getDriverModeSettings() {
return driverModePipeline.settings;
}
@@ -285,6 +299,12 @@ public class VisionProcess {
}
}
try {
streamFrameQueue.add(lastPipelineResult.outputMat);
} catch (Exception e) {
System.out.println("Vision running faster than stream");
}
var deltaTimeNanos = lastUpdateTimeNanos - System.nanoTime();
fpsAveragingBuffer.addFirst(1.0 / (deltaTimeNanos * 1E-09));
lastUpdateTimeNanos = System.nanoTime();
@@ -310,25 +330,13 @@ public class VisionProcess {
private CameraStreamerRunnable(int cameraFPS, CameraStreamer streamer) {
// add 2 FPS to allow for a bit of overhead
// TODO: (low) test the effect of this
// super(1000L/(cameraFPS + 2));
super(10L);
super(1000L/(cameraFPS + 2));
this.streamer = streamer;
}
@Override
protected void process() {
// System.out.println("running camera streamer");
// Mat latestMat = lastPipelineResult.outputMat; //visionRunnable.result;
// if (latestMat != null && latestMat.cols() > 0) {
// latestMat.copyTo(streamBuffer);
// streamer.runStream(streamBuffer);
// streamBuffer.release();
// if (toStreamMat != null && toStreamMat.cols() > 0) {
// } else {
// System.out.println("fuuuuck");
// }
// }
}
}
}