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added pipeline listener methods and fixed centermost sort

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-added change camera values function
-added pipeline listener
- added driver mode listener 
-changed centermost to use Collections and grab the minimum distance
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2019-09-17 11:22:54 +03:00
parent 6187b1a205
commit fca17885bb
2 changed files with 39 additions and 10 deletions
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46
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -4,9 +4,7 @@ import com.chameleonvision.MemoryManager;
import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.CameraValues;
import com.chameleonvision.vision.Pipeline;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.*;
import edu.wpi.first.cameraserver.CameraServer;
import org.apache.commons.math3.stat.descriptive.moment.Mean;
import org.opencv.core.*;
@@ -19,13 +17,33 @@ public class CameraProcess implements Runnable {
private String CameraName;
private CameraServer cs = CameraServer.getInstance();
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry;
private NetworkTableEntry ntPipelineEntry, ntDriverModeEntry,ntYawEntry,ntPitchEntry,ntDistanceEntry,ntTimeStampEntry;
private MemoryManager memManager = new MemoryManager(125);
private int imgWidth, imgHeight;
private void ChangeCameraValues(int Exposure, int Brightness){
SettingsManager.getInstance().UsbCameras.get(CameraName).setBrightness(Brightness);
SettingsManager.getInstance().UsbCameras.get(CameraName).setExposureManual(Exposure);
}
private void DriverModeListener(EntryNotification entryNotification){
if (entryNotification.value.getBoolean()){
ChangeCameraValues(25,15);
} else{
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
}
}
private void PipelineListener(EntryNotification entryNotification){
if (SettingsManager.Cameras.get(CameraName).pipelines.containsKey(entryNotification.value.getString())){
SettingsManager.CamerasCurrentPipeline.put(CameraName,entryNotification.value.getString());
Pipeline pipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
ChangeCameraValues(pipeline.exposure, pipeline.brightness);
//TODO Send Pipeline change using websocket to client
} else{
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(CameraName));
}
}
public CameraProcess(String CameraName) {
this.CameraName = CameraName;
@@ -36,7 +54,14 @@ public class CameraProcess implements Runnable {
NetworkTable ntTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + CameraName);
ntPipelineEntry = ntTable.getEntry("Pipeline");
ntDriverModeEntry = ntTable.getEntry("Driver_Mode");
ntPitchEntry = ntTable.getEntry("Pitch");
ntYawEntry = ntTable.getEntry("Yaw");
ntDistanceEntry = ntTable.getEntry("Distance");
ntTimeStampEntry = ntTable.getEntry("TimeStamp");
ntDriverModeEntry.addListener(this::DriverModeListener, EntryListenerFlags.kUpdate);
ntPipelineEntry.addListener(this::PipelineListener, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
ntPipelineEntry.setString(SettingsManager.CamerasCurrentPipeline.get(CameraName));
imgWidth = SettingsManager.Cameras.get(CameraName).camVideoMode.width;
imgHeight = SettingsManager.Cameras.get(CameraName).camVideoMode.height;
}
@@ -97,6 +122,9 @@ public class CameraProcess implements Runnable {
GroupedContours = visionProcess.GroupTargets(FilteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
if (GroupedContours.size() > 0) {
var finalRect = visionProcess.SortTargetsToOne(GroupedContours, currentPipeline.sort_mode);
// TODO Add calibration calc
//TODO Calc Pitch Yaw And Distance Send it them using networktables
// TODO Send pitch yaw distance and Raw Point using websockets to client for calic calc
if (finalRect != null) {
List<MatOfPoint> a = new ArrayList<>();
Point[] vertices = new Point[4];
@@ -104,16 +132,16 @@ public class CameraProcess implements Runnable {
a.add(new MatOfPoint(vertices));
Imgproc.drawContours(outputMat, a, 0, contourColor, 3);
}
}
}
}
cv_publish.putFrame(outputMat);
// calculate FPS after publishing output frame
processTimeMs = (System.nanoTime() - startTime) * 1e-6;
fps = 1000 / processTimeMs;
System.out.printf("Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n", processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
System.out.printf("%s Process time: %fms, FPS: %.2f, FoundContours: %d, FilteredContours: %d, GroupedContours: %d\n",CameraName ,processTimeMs, fps, FoundContours.size(), FilteredContours.size(), GroupedContours.size());
inputMat.release();
hsvThreshMat.release();

3
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -105,7 +105,8 @@ public class VisionProcess {
case "Rightmost":
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Centermost":
return inputRects.stream().sorted(SortByCentermostComparator).collect(Collectors.toList()).get(0);
return Collections.min(inputRects, SortByCentermostComparator);
// return inputRects.stream().sorted(SortByCentermostComparator).collect(Collectors.toList()).get(0);
default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen
}