diff options
| -rw-r--r-- | smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/WebcamViewerExtension.java | 106 |
1 files changed, 96 insertions, 10 deletions
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/WebcamViewerExtension.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/WebcamViewerExtension.java index 4230055..a2258cf 100644 --- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/WebcamViewerExtension.java +++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/WebcamViewerExtension.java @@ -6,8 +6,6 @@ import edu.wpi.first.smartdashboard.robot.Robot; import javax.imageio.ImageIO; import java.awt.*; -import java.awt.Graphics2D; -import java.awt.geom.AffineTransform; import java.awt.image.BufferedImage; import java.io.ByteArrayInputStream; import java.io.DataInputStream; @@ -25,12 +23,14 @@ import java.util.Arrays; * "HW Compression" mode. * * @author Tom Clark + * @author Ryan Cahoon */ public class WebcamViewerExtension extends StaticWidget implements Runnable { public static final String NAME = "USB Webcam Viewer"; public final IntegerProperty fpsProperty = new IntegerProperty(this, "FPS", 30); + public final MultiProperty sizeProperty = new MultiProperty(this, "Size"); private final static int PORT = 1180; private final static byte[] MAGIC_NUMBERS = { 0x01, 0x00, 0x00, 0x00 }; @@ -52,6 +52,11 @@ public class WebcamViewerExtension extends StaticWidget implements Runnable { public void init() { setPreferredSize(new Dimension(320, 240)); + sizeProperty.add("640x480", SIZE_640x480); + sizeProperty.add("320x240", SIZE_320x240); + sizeProperty.add("160x120", SIZE_160x120); + sizeProperty.setDefault("640x480"); + this.thread = new Thread(this); this.thread.start(); @@ -81,6 +86,64 @@ public class WebcamViewerExtension extends StaticWidget implements Runnable { } + static final int[] huffman_table_int = new int[] { + 0xFF, 0xC4, 0x01, 0xA2, 0x00, 0x00, 0x01, 0x05, 0x01, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, + 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x01, 0x00, 0x03, 0x01, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, + 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x10, 0x00, + 0x02, 0x01, 0x03, 0x03, 0x02, 0x04, 0x03, 0x05, 0x05, + 0x04, 0x04, 0x00, 0x00, 0x01, 0x7D, 0x01, 0x02, 0x03, + 0x00, 0x04, 0x11, 0x05, 0x12, 0x21, 0x31, 0x41, 0x06, + 0x13, 0x51, 0x61, 0x07, 0x22, 0x71, 0x14, 0x32, 0x81, + 0x91, 0xA1, 0x08, 0x23, 0x42, 0xB1, 0xC1, 0x15, 0x52, + 0xD1, 0xF0, 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0A, + 0x16, 0x17, 0x18, 0x19, 0x1A, 0x25, 0x26, 0x27, 0x28, + 0x29, 0x2A, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, + 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x53, + 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x63, 0x64, + 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x73, 0x74, 0x75, + 0x76, 0x77, 0x78, 0x79, 0x7A, 0x83, 0x84, 0x85, 0x86, + 0x87, 0x88, 0x89, 0x8A, 0x92, 0x93, 0x94, 0x95, 0x96, + 0x97, 0x98, 0x99, 0x9A, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, + 0xA7, 0xA8, 0xA9, 0xAA, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, + 0xB7, 0xB8, 0xB9, 0xBA, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, + 0xC7, 0xC8, 0xC9, 0xCA, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, + 0xD7, 0xD8, 0xD9, 0xDA, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, + 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xF1, 0xF2, 0xF3, 0xF4, + 0xF5, 0xF6, 0xF7, 0xF8, 0xF9, 0xFA, 0x11, 0x00, 0x02, + 0x01, 0x02, 0x04, 0x04, 0x03, 0x04, 0x07, 0x05, 0x04, + 0x04, 0x00, 0x01, 0x02, 0x77, 0x00, 0x01, 0x02, 0x03, + 0x11, 0x04, 0x05, 0x21, 0x31, 0x06, 0x12, 0x41, 0x51, + 0x07, 0x61, 0x71, 0x13, 0x22, 0x32, 0x81, 0x08, 0x14, + 0x42, 0x91, 0xA1, 0xB1, 0xC1, 0x09, 0x23, 0x33, 0x52, + 0xF0, 0x15, 0x62, 0x72, 0xD1, 0x0A, 0x16, 0x24, 0x34, + 0xE1, 0x25, 0xF1, 0x17, 0x18, 0x19, 0x1A, 0x26, 0x27, + 0x28, 0x29, 0x2A, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, + 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x53, + 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x63, 0x64, + 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x73, 0x74, 0x75, + 0x76, 0x77, 0x78, 0x79, 0x7A, 0x82, 0x83, 0x84, 0x85, + 0x86, 0x87, 0x88, 0x89, 0x8A, 0x92, 0x93, 0x94, 0x95, + 0x96, 0x97, 0x98, 0x99, 0x9A, 0xA2, 0xA3, 0xA4, 0xA5, + 0xA6, 0xA7, 0xA8, 0xA9, 0xAA, 0xB2, 0xB3, 0xB4, 0xB5, + 0xB6, 0xB7, 0xB8, 0xB9, 0xBA, 0xC2, 0xC3, 0xC4, 0xC5, + 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xD2, 0xD3, 0xD4, 0xD5, + 0xD6, 0xD7, 0xD8, 0xD9, 0xDA, 0xE2, 0xE3, 0xE4, 0xE5, + 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xF2, 0xF3, 0xF4, 0xF5, + 0xF6, 0xF7, 0xF8, 0xF9, 0xFA + }; + + static final byte[] huffman_table; + static { + huffman_table = new byte[huffman_table_int.length]; + for (int i = 0; i < huffman_table.length; ++i) { + huffman_table[i] = (byte) huffman_table_int[i]; + } + } + /** * Continuously request and receive frames from the roboRIO */ @@ -92,14 +155,17 @@ public class WebcamViewerExtension extends StaticWidget implements Runnable { DataInputStream inputStream = new DataInputStream(this.socket.getInputStream()); DataOutputStream outputStream = new DataOutputStream(this.socket.getOutputStream()); + final int framesize = (Integer) sizeProperty.getValue(); + /* Send the request */ outputStream.writeInt(this.fpsProperty.getValue()); outputStream.writeInt(HW_COMPRESSION); - outputStream.writeInt(SIZE_640x480); + outputStream.writeInt(framesize); outputStream.flush(); /* Get the response from the robot */ - while (!Thread.interrupted()) { + while (!Thread.interrupted() && + framesize == (Integer) sizeProperty.getValue()) { /* Each frame has a header with 4 magic bytes and the number of bytes in the image */ byte[] magic = new byte[4]; inputStream.readFully(magic); @@ -110,12 +176,32 @@ public class WebcamViewerExtension extends StaticWidget implements Runnable { /* Get the image data itself, and make sure that it's a valid JPEG image (it starts with * [0xff,0xd8] and ends with [0xff,0xd9] */ - byte[] data = new byte[size]; - inputStream.readFully(data); - - assert data.length >= 4 && data[0] == 0xff && data[1] == 0xd8 - && data[data.length - 2] == 0xff && data[data.length - 1] == 0xd9; - + byte[] data = new byte[size+huffman_table.length]; + inputStream.readFully(data, 0, size); + + assert size >= 4 && (data[0] & 0xff) == 0xff && (data[1] & 0xff) == 0xd8 && + (data[size - 2] & 0xff) == 0xff && (data[size - 1] & 0xff) == 0xd9;; + + int pos = 2; + boolean has_dht = false; + while (!has_dht) { + assert pos+4 <= size; + assert (data[pos] & 0xff) == 0xff; + + if ((data[pos+1] & 0xff) == 0xc4) + has_dht = true; + else if ((data[pos+1] & 0xff) == 0xda) + break; + + // Skip to the next marker. + int marker_size = ((data[pos+2] & 0xff) << 8) + (data[pos+3] & 0xff); + pos += marker_size+2; + } + if (!has_dht) { + System.arraycopy(data, pos, data, pos+huffman_table.length, size-pos); + System.arraycopy(huffman_table, 0, data, pos, huffman_table.length); + size += huffman_table.length; + } /* Decode the data and re-paint the component with the new frame */ synchronized (this.frameMutex) { |