Move quirkycamera to config. (#23)

* Move quirkycamera to config. * FORMAT * Update QuirkyCamera.java * Add ToString * Add OV9281 def * Add Display Name * add Arducam Generic
PhotonVision · Jan 6, 2024 · ca4ed67 · ca4ed67
1 parent 2f592c4
commit ca4ed67
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Showing 5 changed files with 115 additions and 29 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -27,6 +27,7 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
@@ -46,6 +47,8 @@ public class CameraConfiguration {
     /** Can be either path (ex /dev/videoX) or index (ex 1). */
     public String path = "";
 
+    public QuirkyCamera cameraQuirks;
+
     @JsonIgnore public String[] otherPaths = {};
 
     public CameraType cameraType = CameraType.UsbCamera;
@@ -93,6 +96,7 @@ public CameraConfiguration(
             @JsonProperty("FOV") double FOV,
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
+            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
             @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
@@ -101,6 +105,7 @@ public CameraConfiguration(
         this.FOV = FOV;
         this.path = path;
         this.cameraType = cameraType;
+        this.cameraQuirks = cameraQuirks;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
 
@@ -165,6 +170,8 @@ public String toString() {
                 + Arrays.toString(otherPaths)
                 + ", cameraType="
                 + cameraType
+                + ", cameraQuirks="
+                + cameraQuirks
                 + ", FOV="
                 + FOV
                 + ", calibrations="

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -32,4 +32,9 @@ public enum CameraQuirk {
     AdjustableFocus,
     /** Changing FPS repeatedly with small delay does not work correctly */
     StickyFPS,
+    /**
+     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * 1-5000 instead of 1-75
+     */
+    ArduOV9281,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -47,7 +49,12 @@ public class QuirkyCamera {
                             -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
-                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
+                    new QuirkyCamera(
+                            0x6366, 0x0c45, "", "Arducam Generic"),
+                    new QuirkyCamera(
+                            0x6366, 0x0c45, "OV2311", "OV2311", CameraQuirk.StickyFPS), // Arducam OV2311
+                    new QuirkyCamera(
+                            0x6366, 0x0c45, "OV9281", "OV9281", CameraQuirk.ArduOV9281) // Arducam OV9281
                     );
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
@@ -63,6 +70,7 @@ public class QuirkyCamera {
     public final String baseName;
     public final int usbVid;
     public final int usbPid;
+    public final String displayName;
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
@@ -85,9 +93,23 @@ private QuirkyCamera(int usbVid, int usbPid, CameraQuirk... quirks) {
      * @param quirks Camera quirks
      */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
+        this(usbVid, usbPid, baseName, "", quirks);
+    }
+
+    /**
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param quirks Camera quirks
+     */
+    private QuirkyCamera(
+            int usbVid, int usbPid, String baseName, String displayName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;
         this.baseName = baseName;
+        this.displayName = displayName;
 
         this.quirks = new HashMap<>();
         for (var q : quirks) {
@@ -98,6 +120,20 @@ private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... qui
         }
     }
 
+    @JsonCreator
+    public QuirkyCamera(
+            @JsonProperty("baseName") String baseName,
+            @JsonProperty("usbVid") int usbVid,
+            @JsonProperty("usbPid") int usbPid,
+            @JsonProperty("usbPid") String displayName,
+            @JsonProperty("quirks") HashMap<CameraQuirk, Boolean> quirks) {
+        this.baseName = baseName;
+        this.usbPid = usbPid;
+        this.usbVid = usbVid;
+        this.quirks = quirks;
+        this.displayName = displayName;
+    }
+
     public boolean hasQuirk(CameraQuirk quirk) {
         return quirks.get(quirk);
     }
@@ -144,6 +180,23 @@ public boolean equals(Object o) {
                 && Objects.equals(quirks, that.quirks);
     }
 
+    @Override
+    public String toString() {
+        String ret =
+                "QuirkyCamera [baseName="
+                        + baseName
+                        + ", displayName="
+                        + displayName
+                        + ", usbVid="
+                        + usbVid
+                        + ", usbPid="
+                        + usbPid
+                        + ", quirks="
+                        + quirks.toString()
+                        + "]";
+        return ret;
+    }
+
     @Override
     public int hashCode() {
         return Objects.hash(usbVid, usbPid, baseName, quirks);

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -44,26 +44,28 @@ public class USBCameraSource extends VisionSource {
     private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    private QuirkyCamera cameraQuirks;
-
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
         camera = new UsbCamera(config.nickname, config.path);
         cvSink = CameraServer.getVideo(this.camera);
 
-        cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(
-                        camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
 
-        if (cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + cameraQuirks.baseName);
+        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
         }
 
-        if (cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
             // set some defaults, as these should never be used.
-            logger.info("Camera " + cameraQuirks.baseName + " is not supported for PhotonVision");
+            logger.info(
+                    "Camera "
+                            + getCameraConfiguration().cameraQuirks.baseName
+                            + " is not supported for PhotonVision");
             usbCameraSettables = null;
             usbFrameProvider = null;
         } else {
@@ -87,7 +89,9 @@ public USBCameraSource(CameraConfiguration config) {
     public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
         this(config);
 
-        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
         if (unitTest)
             usbFrameProvider =
@@ -98,7 +102,7 @@ public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean uni
     }
 
     void disableAutoFocus() {
-        if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
                 camera.getProperty("focus_auto").set(0);
                 camera.getProperty("focus_absolute").set(0); // Focus into infinity
@@ -109,7 +113,7 @@ void disableAutoFocus() {
     }
 
     public QuirkyCamera getCameraQuirks() {
-        return this.cameraQuirks;
+        return getCameraConfiguration().cameraQuirks;
     }
 
     @Override
@@ -130,14 +134,14 @@ public class USBCameraSettables extends VisionSourceSettables {
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+            if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
-            if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                 // Case, we know this is a picam. Go through v4l2-ctl interface directly
 
                 // Common settings
@@ -169,7 +173,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             } else {
                 // Case - this is some other USB cam. Default to wpilib's implementation
 
-                var canSetWhiteBalance = !cameraQuirks.hasQuirk(CameraQuirk.Gain);
+                var canSetWhiteBalance = !getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain);
 
                 if (!cameraAutoExposure) {
                     // Pick a bunch of reasonable setting defaults for vision processing retroreflective
@@ -236,7 +240,7 @@ public void setExposure(double exposure) {
             if (exposure >= 0.0) {
                 try {
                     int scaledExposure = 1;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         scaledExposure = Math.round(timeToPiCamRawExposure(pctToExposureTimeUs(exposure)));
                         logger.debug("Setting camera raw exposure to " + scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
@@ -249,9 +253,17 @@ public void setExposure(double exposure) {
                         camera.getProperty("auto_exposure").set(1);
 
                         // Seems like the name changed at some point in v4l? set it ouyrselves too
-                        var prop = camera.getProperty("exposure_time_absolute");
-                        var exposure_manual_val =
-                                MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
+                        var prop = camera.getProperty("raw_exposure_time_absolute");
+
+                        var propMin = prop.getMin();
+                        var propMax = prop.getMax();
+
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
+                            propMin = 1;
+                            propMax = 75;
+                        }
+
+                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
@@ -279,7 +291,7 @@ public void setBrightness(int brightness) {
         @Override
         public void setGain(int gain) {
             try {
-                if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
                     camera.getProperty("gain_automatic").set(0);
                     camera.getProperty("gain").set(gain);
                 }
@@ -313,7 +325,7 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     VideoMode[] modes;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
                                     new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
@@ -341,13 +353,13 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                         }
 
                         // On picam, filter non-bgr modes for performance
-                        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                             if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
                                 continue;
                             }
                         }
 
-                        if (cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
                             if (videoMode.fps > 100) {
                                 continue;
                             }
@@ -405,7 +417,7 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
     @Override
     public boolean isVendorCamera() {
         return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+                && getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam);
     }
 
     @Override
@@ -426,15 +438,22 @@ public boolean equals(Object obj) {
         if (cvSink == null) {
             if (other.cvSink != null) return false;
         } else if (!cvSink.equals(other.cvSink)) return false;
-        if (cameraQuirks == null) {
-            if (other.cameraQuirks != null) return false;
-        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        if (getCameraConfiguration().cameraQuirks == null) {
+            if (other.getCameraConfiguration().cameraQuirks != null) return false;
+        } else if (!getCameraConfiguration()
+                .cameraQuirks
+                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
         return true;
     }
 
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
+                camera,
+                usbCameraSettables,
+                usbFrameProvider,
+                cameraConfiguration,
+                cvSink,
+                getCameraConfiguration().cameraQuirks);
     }
 }
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -25,6 +25,7 @@
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
@@ -49,6 +50,7 @@ public void testLoad() {
                         69,
                         "a/path/idk",
                         CameraType.UsbCamera,
+                        QuirkyCamera.getQuirkyCamera(-1, -1),
                         List.of(),
                         0);
         testcamcfg.pipelineSettings =