项目:STEAMworks
文件:VisionTest.java
public Visiontest() {
UsbCamera camera = CameraServer.getInstance().startAutomaticCapture(); // cam0 by default
camera.setResolution(IMG_WIDTH,IMG_HEIGHT);
camera.setBrightness(0);
// camera.setExposureManual(100);
camera.setExposureAuto();
CvSource cs= CameraServer.getInstance().putVideo("name",IMG_WIDTH,IMG_HEIGHT);
visionThread = new VisionThread(camera,new gripPipeline(),pipeline -> {
Mat IMG_MOD = pipeline.hslThresholdOutput();
if (!pipeline.filterContoursOutput().isEmpty()) {
//Rect recCombine = Imgproc.boundingRect(pipeline.filterContoursOutput().get(0));
Rect recCombine = computeBoundingRectangle(pipeline.filterContoursOutput());
if (recCombine == null) {
targetDetected = false;
return;
}
targetDetected = true;
computeCoords(recCombine);
synchronized (imgLock) {
centerX = recCombine.x + (recCombine.width / 2);
}
Imgproc.rectangle(IMG_MOD,new Point(recCombine.x,recCombine.y),new Point(recCombine.x + recCombine.width,recCombine.y + recCombine.height),new Scalar(255,20,0),5);
} else {
targetDetected = false;
}
cs.putFrame(IMG_MOD);
});
visionThread.start();
Relay relay = new Relay(RobotMap.RELAY_CHANNEL,Direction.kForward);
relay.set(Relay.Value.kOn);
//this.processImage();
}
项目:2013_drivebase_proto
文件:WsRelay.java
public WsRelay(int moduleNumber,int channel,Direction direction)
{
relay = new Relay(moduleNumber,channel,direction);
}
项目:2014_software
文件:WsRelay.java
public WsRelay(int moduleNumber,direction);
}
项目:2013_robot_software
文件:WsRelay.java
public WsRelay(int moduleNumber,direction);
}