Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

add vision thread "framerate" limiting

Browse Source
This commit is contained in:
Matt
2019-11-21 22:04:17 -08:00
parent 91baccf92e
commit d736a252b0
1 changed files with 23 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
Main/src/main/java/com/chameleonvision/classabstraction/VisionProcess.java
View File

@@ -27,6 +27,7 @@ public class VisionProcess {
// shitty stuff
private volatile Mat lastCameraFrame = new Mat();
private volatile boolean hasUnprocessedFrame = true;
private volatile CVPipelineResult lastPipelineResult;
public VisionProcess(CameraProcess cameraProcess, String name) {
@@ -56,7 +57,7 @@ public class VisionProcess {
new Thread(cameraRunnable).start();
while (cameraRunnable.cameraFrame == null) {
try {
if (cameraRunnable.cameraFrame.cols() > 0) break;
if (lastCameraFrame.cols() > 0) break;
} catch (Exception e) {
// e.printStackTrace();
}
@@ -111,19 +112,20 @@ public class VisionProcess {
@Override
public void process() {
while(!Thread.interrupted()) {
System.out.println("running camera grabber process");
// Grab camera frames
var camData = cameraProcess.getFrame();
if (camData.getLeft().cols() > 0) {
// Grab camera frames
var camData = cameraProcess.getFrame();
if (camData.getLeft().cols() > 0) {
// System.out.println("grabbing frame");
// synchronized (frameLock) {
// cameraFrame = camData.getLeft();
// }
timestampMicros = camData.getRight();
camData.getLeft().copyTo(lastCameraFrame);
timestampMicros = camData.getRight();
camData.getLeft().copyTo(lastCameraFrame);
hasUnprocessedFrame = true;
}
}
}
public Mat getFrame(Mat dst) {
@@ -148,7 +150,19 @@ public class VisionProcess {
@Override
public void run() {
while(!Thread.interrupted()) {
System.out.println("running vision process");
while(!hasUnprocessedFrame) {
try {
Thread.sleep(3);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
lastCameraFrame.copyTo(streamBuffer); // = //cameraRunnable.getFrame(streamBuffer);
hasUnprocessedFrame = false;
if (streamBuffer.cols() > 0 && streamBuffer.rows() > 0) {
result = currentPipeline.runPipeline(streamBuffer);
lastPipelineResult = result;
@@ -172,6 +186,7 @@ public class VisionProcess {
@Override
protected void process() {
System.out.println("running camera streamer");
CVPipelineResult latestResult = lastPipelineResult; //visionRunnable.result;
if (latestResult != null) {
Mat toStreamMat = visionRunnable.result.outputMat;