Fix grayscale passthrough

photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java

@@ -18,6 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -133,23 +134,29 @@ public void setExposure(double exposure) {
             return;
         }
 
+        // Map exposure from 0 to 100 (UI Values) to 0.1 to 100 since 0 in libcamera is auto exposure.
+        // 0.1 since it is the next lowest value available through the UI.
+        MathUtils.map(exposure, 0.0, 100.0, 0.1, 100);
+
         // HACKS!
         // If we set exposure too low, libcamera crashes or slows down
         // Very weird and smelly
         // For now, band-aid this by just not setting it lower than the "it breaks" limit
-        //  is different depending on camera.
+        // is different depending on camera.
         if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            if (exposure < 6.0) {
-                exposure = 6.0;
-            }
+            // Map and clamp exposure to 6 to 100 since setting exposure on ov9281 lower
+            // than 6 will crash libcamera at resolutions lower than max.
+            exposure = MathUtils.map(exposure, 0.1, 100.0, 6.0, 100);
+            exposure = MathUtil.clamp(exposure, 0.1, 100.0);
         } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
-            if (exposure < 0.7) {
-                exposure = 0.7;
-            }
+            // Map and clamp exposure to 0.7 to 100 since setting exposure on ov5647 lower
+            // than 0.7 will crash libcamera at resolutions lower than max.
+            exposure = MathUtils.map(exposure, 0.1, 100.0, 0.7, 100);
+            exposure = MathUtil.clamp(exposure, 0.1, 100.0);
         }
 
         lastManualExposure = exposure;
-        var success = LibCameraJNI.setExposure(r_ptr, (int) Math.round(exposure) * 800);
+        var success = LibCameraJNI.setExposure(r_ptr, (int) (exposure * 800));
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
     }
 
@@ -164,8 +171,12 @@ public void setBrightness(int brightness) {
     @Override
     public void setGain(int gain) {
         lastGain = gain;
-        // TODO units here seem odd -- 5ish seems legit? So divide by 10
-        var success = LibCameraJNI.setAnalogGain(r_ptr, gain / 10.0);
+
+        // Map and clamp gain to values between 1 and 10 (libcamera min and gain that just seems higher
+        // than ever needed) from 0 to 100 (UI values).
+        var success =
+                LibCameraJNI.setAnalogGain(
+                        r_ptr, MathUtil.clamp(MathUtils.map(gain, 0.0, 100.0, 1.0, 10.0), 1.0, 10.0));
         if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera gain");
     }
 

photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java

@@ -20,7 +20,6 @@
 import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.LibCameraJNI;
-import org.photonvision.raspi.LibCameraJNI.SensorModel;
 import org.photonvision.vision.camera.LibcameraGpuSettables;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
@@ -91,9 +90,7 @@ public Frame get() {
 
     @Override
     public void requestFrameThresholdType(FrameThresholdType type) {
-        if (settables.getModel() == SensorModel.OV9281 && type.equals(FrameThresholdType.GREYSCALE))
-            LibCameraJNI.setGpuProcessType(settables.r_ptr, 4); // 4 = Grayscale pass through.
-        else LibCameraJNI.setGpuProcessType(settables.r_ptr, type.ordinal());
+        LibCameraJNI.setGpuProcessType(settables.r_ptr, type.ordinal());
     }
 
     @Override