Further abstract image capture, fix some UI bugs

2026-06-21 01:01:41 +00:00 · 2019-11-25 05:34:04 -05:00
parent 26e0bb733b
commit ddba967793
23 changed files with 165 additions and 130 deletions
--- a/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
@@ -0,0 +1,67 @@
+package com.chameleonvision.vision.camera;
+
+import com.chameleonvision.config.CameraConfig;
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoException;
+import edu.wpi.cscore.VideoMode;
+import edu.wpi.first.cameraserver.CameraServer;
+import org.apache.commons.lang3.tuple.Pair;
+import org.opencv.core.Mat;
+
+public class USBCameraCapture implements CameraCapture {
+    private final UsbCamera baseCamera;
+    private final CvSink cvSink;
+    private Mat imageBuffer = new Mat();
+    private USBCameraProperties properties;
+
+    public USBCameraCapture(CameraConfig config) {
+        baseCamera = new UsbCamera(config.name, config.path);
+        cvSink = CameraServer.getInstance().getVideo(baseCamera);
+        properties = new USBCameraProperties(baseCamera, config);
+
+        setVideoMode(properties.videoModes.get(0));
+    }
+
+    @Override
+    public USBCameraProperties getProperties() {
+        return properties;
+    }
+
+    @Override
+    public Pair<Mat, Long> getFrame() {
+        Long deltaTime;
+        synchronized (cvSink) {
+            deltaTime = cvSink.grabFrame(imageBuffer) * 1000L;
+        }
+        return Pair.of(imageBuffer, deltaTime);
+    }
+
+    @Override
+    public void setExposure(int exposure) {
+        try {
+            baseCamera.setExposureManual(exposure);
+        } catch (VideoException e) {
+            System.err.println("Current camera does not support exposure change");
+        }
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        try {
+            baseCamera.setBrightness(brightness);
+        } catch (VideoException e) {
+            System.err.println("Current camera does not support brightness change");
+        }
+    }
+
+    @Override
+    public void setVideoMode(VideoMode mode) {
+        try {
+            baseCamera.setVideoMode(mode);
+            properties.updateVideoMode(mode);
+        } catch (VideoException e) {
+            System.err.println("Current camera does not support resolution change");
+        }
+    }
+}