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Add USBCamera class.

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Change-Id: Ie7dfa679d9eeb7d55613ac1694a63ce70161d76c
This commit is contained in:
Peter Johnson
2015-01-05 01:13:15 -08:00
parent f19c290fde
commit 1a2344bddc
1 changed files with 294 additions and 0 deletions
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wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/vision/USBCamera.java Normal file
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package edu.wpi.first.wpilibj.vision;
import java.nio.ByteBuffer;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import com.ni.vision.NIVision;
import com.ni.vision.VisionException;
import static com.ni.vision.NIVision.Image;
import static edu.wpi.first.wpilibj.Timer.delay;
public class USBCamera {
public static String kDefaultCameraName = "cam0";
private static String ATTR_VIDEO_MODE = "AcquisitionAttributes::VideoMode";
private static String ATTR_WB_MODE = "CameraAttributes::WhiteBalance::Mode";
private static String ATTR_WB_VALUE = "CameraAttributes::WhiteBalance::Value";
private static String ATTR_EX_MODE = "CameraAttributes::Exposure::Mode";
private static String ATTR_EX_VALUE = "CameraAttributes::Exposure::Value";
private static String ATTR_BR_MODE = "CameraAttributes::Brightness::Mode";
private static String ATTR_BR_VALUE = "CameraAttributes::Brightness::Value";
public class WhiteBalance {
public static final int kFixedIndoor = 3000;
public static final int kFixedOutdoor1 = 4000;
public static final int kFixedOutdoor2 = 5000;
public static final int kFixedFluorescent1 = 5100;
public static final int kFixedFlourescent2 = 5200;
}
private Pattern m_reMode = Pattern.compile("(?<width>[0-9]+)\\s*x\\s*(?<height>[0-9]+)\\s+(?<format>.*?)\\s+(?<fps>[0-9.]+)\\s*fps");
private String m_name = kDefaultCameraName;
private int m_id = -1;
private boolean m_active = false;
private boolean m_useJpeg = true;
private int m_width = 320;
private int m_height = 240;
private int m_fps = 30;
private String m_whiteBalance = "auto";
private int m_whiteBalanceValue = -1;
private String m_exposure = "auto";
private int m_exposureValue = -1;
private int m_brightness = 50;
private boolean m_needSettingsUpdate = true;
public USBCamera() {
openCamera();
}
public USBCamera(String name) {
m_name = name;
openCamera();
}
public synchronized void openCamera() {
for (int i=0; i<3; i++) {
try {
m_id = NIVision.IMAQdxOpenCamera(m_name,
NIVision.IMAQdxCameraControlMode.CameraControlModeController);
} catch (VisionException e) {
if (i == 2)
throw e;
delay(2.0);
continue;
}
break;
}
}
public synchronized void closeCamera() {
if (m_id == -1)
return;
NIVision.IMAQdxCloseCamera(m_id);
m_id = -1;
}
public synchronized void startCapture() {
if (m_id == -1 || m_active)
return;
NIVision.IMAQdxConfigureGrab(m_id);
NIVision.IMAQdxStartAcquisition(m_id);
m_active = true;
}
public synchronized void stopCapture() {
if (m_id == -1 || !m_active)
return;
NIVision.IMAQdxStopAcquisition(m_id);
NIVision.IMAQdxUnconfigureAcquisition(m_id);
m_active = false;
}
public synchronized void updateSettings() {
boolean wasActive = m_active;
// Stop acquistion, close and reopen camera
if (wasActive)
stopCapture();
if (m_id != -1)
closeCamera();
openCamera();
// Video Mode
NIVision.dxEnumerateVideoModesResult enumerated = NIVision.IMAQdxEnumerateVideoModes(m_id);
NIVision.IMAQdxEnumItem foundMode = null;
int foundFps = 1000;
for (NIVision.IMAQdxEnumItem mode : enumerated.videoModeArray) {
Matcher m = m_reMode.matcher(mode.Name);
if (!m.matches())
continue;
if (Integer.parseInt(m.group("width")) != m_width)
continue;
if (Integer.parseInt(m.group("height")) != m_height)
continue;
double fps = Double.parseDouble(m.group("fps"));
if (fps < m_fps)
continue;
if (fps > foundFps)
continue;
String format = m.group("format");
boolean isJpeg = format == "jpeg" || format == "JPEG";
if ((m_useJpeg && !isJpeg) || (!m_useJpeg && isJpeg))
continue;
foundMode = mode;
foundFps = (int)fps;
}
if (foundMode != null) {
System.out.println("found mode " + foundMode.Value + ": " + foundMode.Name);
if (foundMode.Value != enumerated.currentMode)
NIVision.IMAQdxSetAttributeU32(m_id, ATTR_VIDEO_MODE, foundMode.Value);
}
// White Balance
if (m_whiteBalance == "auto")
NIVision.IMAQdxSetAttributeString(m_id, ATTR_WB_MODE, "Auto");
else {
NIVision.IMAQdxSetAttributeString(m_id, ATTR_WB_MODE, "Manual");
if (m_whiteBalanceValue != -1)
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_WB_VALUE, m_whiteBalanceValue);
}
// Exposure
if (m_exposure == "auto")
NIVision.IMAQdxSetAttributeString(m_id, ATTR_EX_MODE, "AutoAperaturePriority");
else {
NIVision.IMAQdxSetAttributeString(m_id, ATTR_EX_MODE, "Manual");
if (m_exposureValue != -1) {
long minv = NIVision.IMAQdxGetAttributeMinimumI64(m_id, ATTR_EX_VALUE);
long maxv = NIVision.IMAQdxGetAttributeMaximumI64(m_id, ATTR_EX_VALUE);
long val = minv + (long)(((double)(maxv - minv)) * (((double)m_exposureValue) / 100.0));
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_EX_VALUE, val);
}
}
// Brightness
NIVision.IMAQdxSetAttributeString(m_id, ATTR_BR_MODE, "Manual");
long minv = NIVision.IMAQdxGetAttributeMinimumI64(m_id, ATTR_BR_VALUE);
long maxv = NIVision.IMAQdxGetAttributeMaximumI64(m_id, ATTR_BR_VALUE);
long val = minv + (long)(((double)(maxv - minv)) * (((double)m_brightness) / 100.0));
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_BR_VALUE, val);
// Restart acquisition
if (wasActive)
startCapture();
}
public synchronized void setFPS(int fps) {
if (fps != m_fps) {
m_needSettingsUpdate = true;
m_fps = fps;
}
}
public synchronized void setSize(int width, int height) {
if (width != m_width || height != m_height) {
m_needSettingsUpdate = true;
m_width = width;
m_height = height;
}
}
/** Set the brightness, as a percentage (0-100). */
public synchronized void setBrightness(int brightness) {
if (brightness > 100)
m_brightness = 100;
else if (brightness < 0)
m_brightness = 0;
else
m_brightness = brightness;
m_needSettingsUpdate = true;
}
/** Get the brightness, as a percentage (0-100). */
public synchronized int getBrightness() {
return m_brightness;
}
/** Set the white balance to auto. */
public synchronized void setWhiteBalanceAuto() {
m_whiteBalance = "auto";
m_whiteBalanceValue = -1;
m_needSettingsUpdate = true;
}
/** Set the white balance to hold current. */
public synchronized void setWhiteBalanceHoldCurrent() {
m_whiteBalance = "manual";
m_whiteBalanceValue = -1;
m_needSettingsUpdate = true;
}
/** Set the white balance to manual, with specified color temperature. */
public synchronized void setWhiteBalanceManual(int value) {
m_whiteBalance = "manual";
m_whiteBalanceValue = value;
m_needSettingsUpdate = true;
}
/** Set the exposure to auto aperature. */
public synchronized void setExposureAuto() {
m_exposure = "auto";
m_exposureValue = -1;
m_needSettingsUpdate = true;
}
/** Set the exposure to hold current. */
public synchronized void setExposureHoldCurrent() {
m_exposure = "manual";
m_exposureValue = -1;
m_needSettingsUpdate = true;
}
/** Set the exposure to manual, as a percentage (0-100). */
public synchronized void setExposureManual(int value) {
m_exposure = "manual";
if (value > 100)
m_exposureValue = 100;
else if (value < 0)
m_exposureValue = 0;
else
m_exposureValue = value;
m_needSettingsUpdate = true;
}
public synchronized void getImage(Image image) {
if (m_needSettingsUpdate || m_useJpeg) {
m_needSettingsUpdate = false;
m_useJpeg = false;
updateSettings();
}
NIVision.IMAQdxGrab(m_id, image, 1);
}
public synchronized void getImageData(ByteBuffer data) {
if (m_needSettingsUpdate || !m_useJpeg) {
m_needSettingsUpdate = false;
m_useJpeg = true;
updateSettings();
}
NIVision.IMAQdxGetImageData(m_id, data, NIVision.IMAQdxBufferNumberMode.BufferNumberModeLast, 0);
data.limit(getJpegSize(data));
}
private static int getJpegSize(ByteBuffer data) {
if (data.get(0) != 0xff || data.get(1) != 0xd8)
throw new VisionException("invalid image");
int pos = 2;
while (true) {
byte b = data.get(pos);
if (b != 0xff)
throw new VisionException("invalid image at pos " + pos + " (" + data.get(pos) + ")");
b = data.get(pos+1);
if (b == 0x01 || (b >= 0xd0 && b <= 0xd7)) // various
pos += 2;
else if (b == 0xd9) // EOI
return pos + 2;
else if (b == 0xd8) // SOI
throw new VisionException("invalid image");
else if (b == 0xda) { // SOS
int len = ((data.get(pos+2) & 0xff) << 8) | (data.get(pos+3) & 0xff);
pos += len + 2;
// Find next marker. Skip over escaped and RST markers.
while (data.get(pos) != 0xff || data.get(pos+1) == 0x00 || (data.get(pos+1) >= 0xd0 && data.get(pos+1) <= 0xd7))
pos += 1;
} else { // various
int len = ((data.get(pos+2) & 0xff) << 8) | (data.get(pos+3) & 0xff);
pos += len + 2;
}
}
}
}