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

bug fixes in ui and bug fixes in sever handler

Browse Source 
-- updated pom
This commit is contained in:
ori agranat
2019-11-27 21:46:07 +02:00
parent ca7f15aeb7
commit e195cce026
5 changed files with 16 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
Main/src/main/java/com/chameleonvision/vision/VisionProcess.java
View File

@@ -6,8 +6,8 @@ import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.CameraStreamer;
import com.chameleonvision.vision.pipeline.*;
import com.chameleonvision.web.ServerHandler;
import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.networktables.*;
import edu.wpi.first.wpiutil.CircularBuffer;
@@ -20,7 +20,6 @@ import java.util.List;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingDeque;
import static java.lang.Math.min;
public class VisionProcess {
@@ -51,7 +50,7 @@ public class VisionProcess {
private NetworkTableEntry ntAreaEntry;
private NetworkTableEntry ntTimeStampEntry;
private NetworkTableEntry ntValidEntry;
private Gson gson = new GsonBuilder().setPrettyPrinting().create();
private ObjectMapper objectMapper;
VisionProcess(CameraCapture cameraCapture, String name) {
this.cameraCapture = cameraCapture;
@@ -172,6 +171,7 @@ public class VisionProcess {
center.add(bestTarget.rawPoint.center.y);
calculated.put("pitch", bestTarget.pitch);
calculated.put("yaw", bestTarget.yaw);
calculated.put("area", bestTarget.area);
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff in UI
} else {
@@ -205,8 +205,11 @@ public class VisionProcess {
ntPitchEntry.setDouble(targets.get(0).pitch);
ntYawEntry.setDouble(targets.get(0).yaw);
ntAreaEntry.setDouble(targets.get(0).area);
ntAuxListEntry.setString(gson.toJson(targets.subList(0, min(targets.size(), 5))));
try {
ntAreaEntry.setString(objectMapper.writeValueAsString(targets));
} catch (JsonProcessingException e) {
e.printStackTrace();
}
} else if (data instanceof CVPipeline3d.CVPipeline3dResult) {
// TODO: (2.1) 3d stuff...
}