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Use CS Core on supported platforms for USB cameras (#956)
* Update jpackage to release 64 Existing version was deleted * Use CS Core on supported platforms for USB cameras Can be more reliable then OpenCV, and handles disconnects properly * Fix unused imports
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198 changes: 101 additions & 97 deletions
198
...ip/core/sources/CSCameraFrameGrabber.java → ...ore/sources/CSHttpCameraFrameGrabber.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,97 +1,101 @@ | ||
| package edu.wpi.grip.core.sources; | ||
|
|
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| import edu.wpi.cscore.CameraServerJNI; | ||
| import edu.wpi.cscore.HttpCamera; | ||
| import org.bytedeco.javacpp.Loader; | ||
| import org.bytedeco.javacpp.opencv_core.Mat; | ||
| import org.bytedeco.javacv.Frame; | ||
| import org.bytedeco.javacv.FrameConverter; | ||
| import org.bytedeco.javacv.FrameGrabber; | ||
| import org.bytedeco.javacv.OpenCVFrameConverter; | ||
|
|
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| import java.io.IOException; | ||
| import java.util.concurrent.TimeUnit; | ||
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| import static com.google.common.base.Preconditions.checkNotNull; | ||
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| // This is here because FrameGrabber has an exception called Exception which triggers PMD | ||
| @SuppressWarnings({"PMD.AvoidThrowingRawExceptionTypes", "all"}) | ||
| public class CSCameraFrameGrabber extends FrameGrabber { | ||
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| private static Exception loadingException = null; | ||
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| private final String url; | ||
| private final double readTimeout; | ||
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| private Mat decoded = null; | ||
| private FrameConverter<Mat> converter = new OpenCVFrameConverter.ToMat(); | ||
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| private JavaCvSink javaCvSink; | ||
| private HttpCamera httpCamera; | ||
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| public CSCameraFrameGrabber(String urlstr, int readTimeout, TimeUnit unit) { | ||
| super(); | ||
| this.url = checkNotNull(urlstr, "urlstr"); | ||
| this.readTimeout = TimeUnit.MILLISECONDS.convert(readTimeout, unit) / 1000.0; | ||
| } | ||
|
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| public static void tryLoad() throws Exception { | ||
| if (loadingException != null) { | ||
| throw loadingException; | ||
| } else { | ||
| try { | ||
| Loader.load(org.bytedeco.javacpp.opencv_highgui.class); | ||
| CameraServerJNI.Helper.setExtractOnStaticLoad(false); | ||
| CameraServerJNI.forceLoad(); | ||
| } catch (Throwable t) { | ||
| throw loadingException = new Exception("Failed to load " + CSCameraFrameGrabber.class, t); | ||
| } | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void start() throws Exception { | ||
| javaCvSink = new JavaCvSink("InputCamera"); | ||
| httpCamera = new HttpCamera("InputHttp", url); | ||
| javaCvSink.setSource(httpCamera); | ||
| } | ||
|
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| public void stop() throws Exception { | ||
| if (javaCvSink != null) { | ||
| javaCvSink.close(); | ||
| } | ||
|
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| if (httpCamera != null) { | ||
| httpCamera.close(); | ||
| } | ||
|
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| if (decoded != null) { | ||
| decoded.close(); | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void trigger() throws Exception { | ||
| } | ||
|
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| @Override | ||
| public Frame grab() throws Exception { | ||
| try { | ||
| if (decoded == null) { | ||
| decoded = new Mat(); | ||
| } | ||
| long frameTime = javaCvSink.grabFrame(decoded, readTimeout); | ||
| if (frameTime > 0) { | ||
| return converter.convert(decoded); | ||
| } else { | ||
| throw new IOException("Frame not read: " + frameTime); | ||
| } | ||
| } catch (IOException e) { | ||
| throw new Exception(e.getMessage(), e); | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void release() throws Exception { | ||
| } | ||
| } | ||
| package edu.wpi.grip.core.sources; | ||
|
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| import edu.wpi.cscore.CameraServerJNI; | ||
| import edu.wpi.cscore.HttpCamera; | ||
| import org.bytedeco.javacpp.Loader; | ||
| import org.bytedeco.javacpp.opencv_core.Mat; | ||
| import org.bytedeco.javacv.Frame; | ||
| import org.bytedeco.javacv.FrameConverter; | ||
| import org.bytedeco.javacv.FrameGrabber; | ||
| import org.bytedeco.javacv.OpenCVFrameConverter; | ||
|
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| import java.io.IOException; | ||
| import java.util.concurrent.TimeUnit; | ||
|
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| import static com.google.common.base.Preconditions.checkNotNull; | ||
|
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| // This is here because FrameGrabber has an exception called Exception which triggers PMD | ||
| @SuppressWarnings({"PMD.AvoidThrowingRawExceptionTypes", "all"}) | ||
| public class CSHttpCameraFrameGrabber extends FrameGrabber { | ||
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| private static Exception loadingException = null; | ||
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| private final String url; | ||
| private final double readTimeout; | ||
|
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| private Mat decoded = null; | ||
| private FrameConverter<Mat> converter = new OpenCVFrameConverter.ToMat(); | ||
|
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| private JavaCvSink javaCvSink; | ||
| private HttpCamera httpCamera; | ||
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| public CSHttpCameraFrameGrabber(String urlstr, int readTimeout, TimeUnit unit) { | ||
| super(); | ||
| this.url = checkNotNull(urlstr, "urlstr"); | ||
| this.readTimeout = TimeUnit.MILLISECONDS.convert(readTimeout, unit) / 1000.0; | ||
| } | ||
|
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| public static void tryLoad() throws Exception { | ||
| if (loadingException != null) { | ||
| throw loadingException; | ||
| } else { | ||
| try { | ||
| Loader.load(org.bytedeco.javacpp.opencv_highgui.class); | ||
| CameraServerJNI.Helper.setExtractOnStaticLoad(false); | ||
| CameraServerJNI.forceLoad(); | ||
| } catch (Throwable t) { | ||
| throw loadingException = new Exception("Failed to load " + CSHttpCameraFrameGrabber.class, t); | ||
| } | ||
| } | ||
| } | ||
|
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| public HttpCamera getCamera() { | ||
| return this.httpCamera; | ||
| } | ||
|
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| @Override | ||
| public void start() throws Exception { | ||
| javaCvSink = new JavaCvSink("InputCamera"); | ||
| httpCamera = new HttpCamera("InputHttp", url); | ||
| javaCvSink.setSource(httpCamera); | ||
| } | ||
|
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| public void stop() throws Exception { | ||
| if (javaCvSink != null) { | ||
| javaCvSink.close(); | ||
| } | ||
|
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| if (httpCamera != null) { | ||
| httpCamera.close(); | ||
| } | ||
|
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| if (decoded != null) { | ||
| decoded.close(); | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void trigger() throws Exception { | ||
| } | ||
|
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| @Override | ||
| public Frame grab() throws Exception { | ||
| try { | ||
| if (decoded == null) { | ||
| decoded = new Mat(); | ||
| } | ||
| long frameTime = javaCvSink.grabFrame(decoded, readTimeout); | ||
| if (frameTime > 0) { | ||
| return converter.convert(decoded); | ||
| } else { | ||
| throw new IOException("Frame not read: " + frameTime); | ||
| } | ||
| } catch (IOException e) { | ||
| throw new Exception(e.getMessage(), e); | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void release() throws Exception { | ||
| } | ||
| } |
99 changes: 99 additions & 0 deletions
99
core/src/main/java/edu/wpi/grip/core/sources/CSUsbCameraFrameGrabber.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| package edu.wpi.grip.core.sources; | ||
|
|
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| import edu.wpi.cscore.CameraServerJNI; | ||
| import edu.wpi.cscore.UsbCamera; | ||
| import org.bytedeco.javacpp.Loader; | ||
| import org.bytedeco.javacpp.opencv_core.Mat; | ||
| import org.bytedeco.javacv.Frame; | ||
| import org.bytedeco.javacv.FrameConverter; | ||
| import org.bytedeco.javacv.FrameGrabber; | ||
| import org.bytedeco.javacv.OpenCVFrameConverter; | ||
|
|
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| import java.io.IOException; | ||
| import java.util.concurrent.TimeUnit; | ||
|
|
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| // This is here because FrameGrabber has an exception called Exception which triggers PMD | ||
| @SuppressWarnings({"PMD.AvoidThrowingRawExceptionTypes", "all"}) | ||
| public class CSUsbCameraFrameGrabber extends FrameGrabber { | ||
|
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| private static Exception loadingException = null; | ||
|
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| private final int deviceId; | ||
| private final double readTimeout; | ||
|
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| private Mat decoded = null; | ||
| private FrameConverter<Mat> converter = new OpenCVFrameConverter.ToMat(); | ||
|
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| private JavaCvSink javaCvSink; | ||
| private UsbCamera usbCamera; | ||
|
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| public CSUsbCameraFrameGrabber(int deviceId, int readTimeout, TimeUnit unit) { | ||
| super(); | ||
| this.deviceId = deviceId; | ||
| this.readTimeout = TimeUnit.MILLISECONDS.convert(readTimeout, unit) / 1000.0; | ||
| } | ||
|
|
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| public static void tryLoad() throws Exception { | ||
| if (loadingException != null) { | ||
| throw loadingException; | ||
| } else { | ||
| try { | ||
| Loader.load(org.bytedeco.javacpp.opencv_highgui.class); | ||
| CameraServerJNI.Helper.setExtractOnStaticLoad(false); | ||
| CameraServerJNI.forceLoad(); | ||
| } catch (Throwable t) { | ||
| throw loadingException = new Exception("Failed to load " + CSUsbCameraFrameGrabber.class, t); | ||
| } | ||
| } | ||
| } | ||
|
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| public UsbCamera getCamera() { | ||
| return this.usbCamera; | ||
| } | ||
|
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| @Override | ||
| public void start() throws Exception { | ||
| javaCvSink = new JavaCvSink("InputCamera"); | ||
| usbCamera = new UsbCamera("InputUsb", deviceId); | ||
| javaCvSink.setSource(usbCamera); | ||
| } | ||
|
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| public void stop() throws Exception { | ||
| if (javaCvSink != null) { | ||
| javaCvSink.close(); | ||
| } | ||
|
|
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| if (usbCamera != null) { | ||
| usbCamera.close(); | ||
| } | ||
|
|
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| if (decoded != null) { | ||
| decoded.close(); | ||
| } | ||
| } | ||
|
|
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| @Override | ||
| public void trigger() throws Exception { | ||
| } | ||
|
|
||
| @Override | ||
| public Frame grab() throws Exception { | ||
| try { | ||
| if (decoded == null) { | ||
| decoded = new Mat(); | ||
| } | ||
| long frameTime = javaCvSink.grabFrame(decoded, readTimeout); | ||
| if (frameTime > 0) { | ||
| return converter.convert(decoded); | ||
| } else { | ||
| throw new IOException("Frame not read: " + frameTime); | ||
| } | ||
| } catch (IOException e) { | ||
| throw new Exception(e.getMessage(), e); | ||
| } | ||
| } | ||
|
|
||
| @Override | ||
| public void release() throws Exception { | ||
| } | ||
| } |
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