Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Further abstract image capture, fix some UI bugs

Browse Source
This commit is contained in:
Banks Troutman
2019-11-25 05:34:04 -05:00
parent 26e0bb733b
commit ddba967793
23 changed files with 165 additions and 130 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
View File

@@ -2,7 +2,7 @@ package com.chameleonvision.vision;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.util.LoopingRunnable;
import com.chameleonvision.vision.camera.CameraProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CameraStreamer;
import com.chameleonvision.vision.pipeline.*;
import com.chameleonvision.web.ServerHandler;
@@ -19,7 +19,7 @@ import java.util.List;
public class VisionProcess {
private final CameraProcess cameraProcess;
private final CameraCapture cameraCapture;
private final List<CVPipeline> pipelines = new ArrayList<>();
private final CameraFrameRunnable cameraRunnable;
private final CameraStreamerRunnable streamRunnable;
@@ -51,29 +51,29 @@ public class VisionProcess {
private NetworkTableEntry ntValidEntry;
private Gson gson = new GsonBuilder().setPrettyPrinting().create();
VisionProcess(CameraProcess cameraProcess, String name) {
this.cameraProcess = cameraProcess;
VisionProcess(CameraCapture cameraCapture, String name) {
this.cameraCapture = cameraCapture;
pipelines.add(new CVPipeline2d("New Pipeline"));
setPipeline(0, false);
// Thread to grab frames from the camera
// TODO: (HIGH) fix video modes!!!
this.cameraRunnable = new CameraFrameRunnable(cameraProcess.getProperties().videoModes.get(0).fps);
this.cameraRunnable = new CameraFrameRunnable(cameraCapture.getProperties().videoModes.get(0).fps);
lastPipelineResult = new DriverVisionPipeline.DriverPipelineResult(
null, cameraRunnable.getFrame(new Mat()), 0
);
// Thread to put frames on the dashboard
this.cameraStreamer = new CameraStreamer(cameraProcess, name);
this.cameraStreamer = new CameraStreamer(cameraCapture, name);
this.streamRunnable = new CameraStreamerRunnable(30, cameraStreamer);
// Thread to process vision data
this.visionRunnable = new VisionProcessRunnable();
// network table
defaultTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraProcess.getProperties().name);
defaultTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + cameraCapture.getProperties().name);
}
public void start() {
@@ -156,7 +156,7 @@ public class VisionProcess {
currentPipelineIndex = pipelineIndex;
// update the configManager
if(ConfigManager.settings.currentCamera.equals(cameraProcess.getProperties().name)) {
if(ConfigManager.settings.currentCamera.equals(cameraCapture.getProperties().name)) {
ConfigManager.settings.currentPipeline = pipelineIndex;
if (updateUI) {
@@ -171,11 +171,11 @@ public class VisionProcess {
private void setPipelineInternal(CVPipeline pipeline) {
currentPipeline = pipeline;
currentPipeline.initPipeline(cameraProcess);
currentPipeline.initPipeline(cameraCapture);
}
private void updateUI(CVPipelineResult data) {
if(cameraProcess.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
if(cameraCapture.getProperties().name.equals(ConfigManager.settings.currentCamera)) {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> calculated = new HashMap<>();
@@ -235,7 +235,7 @@ public class VisionProcess {
}
public void setVideoMode(VideoMode newMode) {
cameraProcess.setVideoMode(newMode);
cameraCapture.setVideoMode(newMode);
cameraRunnable.updateCameraFPS(newMode.fps);
cameraStreamer.setNewVideoMode(newMode);
}
@@ -261,8 +261,8 @@ public class VisionProcess {
pipelines.add(pipeline);
}
public CameraProcess getCamera() {
return cameraProcess;
public CameraCapture getCamera() {
return cameraCapture;
}
public boolean getDriverMode() {
@@ -304,10 +304,9 @@ public class VisionProcess {
@Override
public void process() {
// System.out.println("running camera grabber process");
// Grab camera frames
var camData = cameraProcess.getFrame();
var camData = cameraCapture.getFrame();
if (camData.getLeft().cols() > 0) {
// System.out.println("grabbing frame");
// synchronized (frameLock) {