I really have just made a few changes to Main.java get the pipeline running and to check it.
import java.util.ArrayList;
import edu.wpi.first.wpilibj.networktables.*;
import edu.wpi.first.wpilibj.tables.*;
import edu.wpi.cscore.*;
import org.opencv.core.Mat;
import org.opencv.imgproc.Imgproc;
public class Main {
// -jch- Instantiate the Grip Pipeline as gpl
static GripPipeline gpl = new GripPipeline();
public static void main(String] args) {
// Loads our OpenCV library. This MUST be included
System.loadLibrary("opencv_java310");
// Connect NetworkTables, and get access to the publishing table
NetworkTable.setClientMode();
// Set your team number here
NetworkTable.setTeam(86);
NetworkTable.initialize();
// This is the network port you want to stream the raw received image to
// By rules, this has to be between 1180 and 1190, so 1185 is a good choice
int streamPort = 1185;
// This stores our reference to our mjpeg server for streaming the input image
MjpegServer inputStream = new MjpegServer("MJPEG Server", streamPort);
// Selecting a Camera
// Uncomment one of the 2 following camera options
// The top one receives a stream from another device, and performs operations based on that
// On windows, this one must be used since USB is not supported
// The bottom one opens a USB camera, and performs operations on that, along with streaming
// the input image so other devices can see it.
// HTTP Camera
/*
// This is our camera name from the robot. this can be set in your robot code with the following command
// CameraServer.getInstance().startAutomaticCapture("YourCameraNameHere");
// "USB Camera 0" is the default if no string is specified
String cameraName = "USB Camera 0";
HttpCamera camera = setHttpCamera(cameraName, inputStream);
// It is possible for the camera to be null. If it is, that means no camera could
// be found using NetworkTables to connect to. Create an HttpCamera by giving a specified stream
// Note if this happens, no restream will be created
if (camera == null) {
camera = new HttpCamera("CoprocessorCamera", "YourURLHere");
inputStream.setSource(camera);
}
*/
/***********************************************/
// USB Camera
// This gets the image from a USB camera
// Usually this will be on device 0, but there are other overloads
// that can be used
UsbCamera camera = setUsbCamera(0, inputStream);
// Set the resolution for our camera, since this is over USB
camera.setResolution(320,240); //was 640,480
// This creates a CvSink for us to use. This grabs images from our selected camera,
// and will allow us to use those images in opencv
CvSink imageSink = new CvSink("CV Image Grabber");
imageSink.setSource(camera);
// This creates a CvSource to use. This will take in a Mat image that has had OpenCV operations
// operations
CvSource imageSource = new CvSource("CV Image Source", VideoMode.PixelFormat.kMJPEG, 320, 240, 30);
MjpegServer cvStream = new MjpegServer("CV Image Stream", 1186);
cvStream.setSource(imageSource);
// All Mats and Lists should be stored outside the loop to avoid allocations
// as they are expensive to create
Mat inputImage = new Mat();
Mat hsv = new Mat();
// Infinitely process image
while (true) {
// Grab a frame. If it has a frame time of 0, there was an error.
// Just skip and continue
long frameTime = imageSink.grabFrame(inputImage);
if (frameTime == 0) continue;
// Below is where you would do your OpenCV operations on the provided image
// The sample below just changes color source to HSV
// -org- Imgproc.cvtColor(inputImage, hsv, Imgproc.COLOR_BGR2HSV);
// -jch- Call to the Grip Pipeline.
// Stores results in Global vars, hsvThresholdOutput, ...
gpl.process(inputImage);
// Here is where you would write a processed image that you want to restreams
// This will most likely be a marked up image of what the camera sees
// For now, we are just going to stream the HSV image
// -org- imageSource.putFrame(hsv);
// -jch- Call to the Grip output.
imageSource.putFrame(gpl.hsvThresholdOutput());
// imageSource.putFrame(gpl.hslThresholdOutput());
// imageSource.putFrame(gpl.rgbThresholdOutput());
// imageSource.putFrame(gpl.tstInputOutput());
}
} //End Main Method -----------
private static HttpCamera setHttpCamera(String cameraName, MjpegServer server) {
// Start by grabbing the camera from NetworkTables
NetworkTable publishingTable = NetworkTable.getTable("CameraPublisher");
// Wait for robot to connect. Allow this to be attempted indefinitely
while (true) {
try {
if (publishingTable.getSubTables().size() > 0) {
break;
}
Thread.sleep(500);
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
HttpCamera camera = null;
if (!publishingTable.containsSubTable(cameraName)) {
return null;
}
ITable cameraTable = publishingTable.getSubTable(cameraName);
String] urls = cameraTable.getStringArray("streams", null);
if (urls == null) {
return null;
}
ArrayList<String> fixedUrls = new ArrayList<String>();
for (String url : urls) {
if (url.startsWith("mjpg")) {
fixedUrls.add(url.split(":", 2)[1]);
}
}
camera = new HttpCamera("CoprocessorCamera", fixedUrls.toArray(new String[0]));
server.setSource(camera);
return camera;
}
private static UsbCamera setUsbCamera(int cameraId, MjpegServer server) {
// This gets the image from a USB camera
// Usually this will be on device 0, but there are other overloads
// that can be used
UsbCamera camera = new UsbCamera("CoprocessorCamera", cameraId);
server.setSource(camera);
return camera;
}
}
//-------------------------------------------- Main ---------------------------------------------------------
I don’t understand the network stuff near the beginning referencing “NetworkTable.xyz”. Isn’t that a class and should it be instantiated like in the example Creating a client-side program,
https://wpilib.screenstepslive.com/s/currentCS/m/75361/l/851714-creating-a-client-side-program
Then create the tables & entries. Finally towards the bottom read the filterContoursOutput and store to entries.
Oh and finally, finally, since I don’t have a roboRIO this needs to be checked out by viewing the networkTable on my laptop.
Sounds simple. But I’ve yet to get something that makes sense to me to compile.
. I also changed imports in Main, copied the networktablesdesktopclient example into a file named networktablesdesktopclient.java then added a line to Main static NetworkTablesDesktopClient ntdtClient = new NetworkTablesDesktopClient();
.
It is already a Happy New Year!