Move to using Absolute Exposure Range (PhotonVision#1352)

Uses logic in PhotonVision/photon-libcamera-gl-driver#16 to push the ov9281 down to its true minimum exposure. Updates UI to list the exposure settings in ~~microseconds.~~ Native units - not everyone works in microseconds. Does its darndest to actually try to set the exposure in ~~microseconds.~~ Native Units. To do this... Lifecam is funky when doing this - [cscore limits the exposure settings to certain quantized values](https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129). Add a new camera quirk to allow that. ~~Updated camera quirks to re-evaluate every camera load (rather than recalling from settings - this shouldn't be necessary)~~ This should be rolled back, needed for arducam type selection. Updated camera quirk matching logic to make PID/VID optional, and basename optional (and only match trailing characters). This enables mirroring CSCore's logic for identifying lifecams by name. Updated the USBCamera to primarily use cscore's exposed property names. Since camera manufacturers use a potpourri of names for the same thing.... For nice-to-have settings: new soft-set logic to try all possible names, but gracefully pass if the property isn't there. For required settings: Search a list for the first setting that's supported, fail if none are supported. More logging of camera properties to help debug. Note: most of this work is because cscore doesn't directly expose a massaged exposure-setting-absolute API (and, given what we've seen, probably _shouldn't_, this struggle is not for the faint of heart). --------- Co-authored-by: Matt <[email protected]>
mdurrani808 · Aug 17, 2024 · f1d1d32 · f1d1d32
1 parent dbe566c
commit f1d1d32
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diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -389,15 +389,17 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
         <v-row v-if="isCalibrating">
           <v-col cols="12" class="pt-0">
             <pv-slider
-              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureRaw"
               :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
               label="Exposure"
-              tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
-              :min="0"
-              :max="100"
+              tooltip="Directly controls how long the camera shutter remains open. Units are dependant on the underlying driver."
+              :min="useCameraSettingsStore().minExposureRaw"
+              :max="useCameraSettingsStore().maxExposureRaw"
               :slider-cols="8"
-              :step="0.1"
-              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+              :step="1"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)
+              "
             />
             <pv-slider
               v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"

diff --git a/photon-client/src/components/cameras/CameraSettingsCard.vue b/photon-client/src/components/cameras/CameraSettingsCard.vue
@@ -13,32 +13,32 @@ const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
 
 const arducamSelectWrapper = computed<number>({
   get: () => {
-    if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1;
-    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2;
-    else if (tempSettingsStruct.value.quirksToChange.ArduOV9782) return 3;
+    if (tempSettingsStruct.value.quirksToChange.ArduOV9281Controls) return 1;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311Controls) return 2;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV9782Controls) return 3;
     else return 0;
   },
   set: (v) => {
     switch (v) {
       case 1:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = true;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
       case 2:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = true;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
       case 3:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = true;
         break;
       default:
-        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
-        tempSettingsStruct.value.quirksToChange.ArduOV9782 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false;
         break;
     }
   }

diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -74,15 +74,15 @@ const interactiveCols = computed(() =>
 <template>
   <div>
     <pv-slider
-      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureRaw"
       :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
       label="Exposure"
-      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
-      :min="0"
-      :max="100"
+      tooltip="Directly controls how long the camera shutter remains open. Units are dependant on the underlying driver."
+      :min="useCameraSettingsStore().minExposureRaw"
+      :max="useCameraSettingsStore().maxExposureRaw"
       :slider-cols="interactiveCols"
-      :step="0.1"
-      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+      :step="1"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)"
     />
     <pv-slider
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"

diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -68,6 +68,12 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     },
     isCSICamera(): boolean {
       return this.currentCameraSettings.isCSICamera;
+    },
+    minExposureRaw(): number {
+      return this.currentCameraSettings.minExposureRaw;
+    },
+    maxExposureRaw(): number {
+      return this.currentCameraSettings.maxExposureRaw;
     }
   },
   actions: {
@@ -102,6 +108,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           })),
         completeCalibrations: d.calibrations,
         isCSICamera: d.isCSICamera,
+        minExposureRaw: d.minExposureRaw,
+        maxExposureRaw: d.maxExposureRaw,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
         pipelineSettings: d.currentPipelineSettings,

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
@@ -64,7 +64,9 @@ export interface PipelineSettings {
   hueInverted: boolean;
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
-  cameraExposure: number;
+  cameraExposureRaw: number;
+  cameraMinExposureRaw: number;
+  cameraMaxExposureRaw: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;
@@ -97,7 +99,7 @@ export type ConfigurablePipelineSettings = Partial<
 // Omitted settings are changed for all pipeline types
 export const DefaultPipelineSettings: Omit<
   PipelineSettings,
-  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposure" | "pipelineType"
+  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureRaw" | "pipelineType"
 > = {
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
@@ -151,7 +153,7 @@ export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 6,
+  cameraExposureRaw: 6,
   pipelineType: PipelineType.Reflective,
 
   contourFilterRangeY: 2,
@@ -182,7 +184,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 20,
+  cameraExposureRaw: 20,
   pipelineType: PipelineType.ColoredShape,
 
   erode: false,
@@ -222,7 +224,7 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   targetModel: TargetModel.AprilTag6p5in_36h11,
   ledMode: false,
   outputShowMultipleTargets: true,
-  cameraExposure: 20,
+  cameraExposureRaw: 20,
   pipelineType: PipelineType.AprilTag,
 
   hammingDist: 0,
@@ -264,7 +266,7 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   cameraGain: 75,
   outputShowMultipleTargets: true,
   targetModel: TargetModel.AprilTag6p5in_36h11,
-  cameraExposure: -1,
+  cameraExposureRaw: -1,
   cameraAutoExposure: true,
   ledMode: false,
   pipelineType: PipelineType.Aruco,
@@ -299,7 +301,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
   outputShowMultipleTargets: false,
-  cameraExposure: 6,
+  cameraExposureRaw: 6,
   confidence: 0.9,
   nms: 0.45,
   box_thresh: 0.25

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
@@ -148,15 +148,18 @@ export interface CameraCalibrationResult {
 export enum ValidQuirks {
   AWBGain = "AWBGain",
   AdjustableFocus = "AdjustableFocus",
-  ArduOV9281 = "ArduOV9281",
-  ArduOV2311 = "ArduOV2311",
-  ArduOV9782 = "ArduOV9782",
+  InnoOV9281Controls = "InnoOV9281Controls",
+  ArduOV9281Controls = "ArduOV9281Controls",
+  ArduOV2311Controls = "ArduOV2311Controls",
+  ArduOV9782Controls = "ArduOV9782Controls",
   ArduCamCamera = "ArduCamCamera",
   CompletelyBroken = "CompletelyBroken",
   FPSCap100 = "FPSCap100",
   Gain = "Gain",
   PiCam = "PiCam",
-  StickyFPS = "StickyFPS"
+  StickyFPS = "StickyFPS",
+  LifeCamControls = "LifeCamControls",
+  PsEyeControls = "PsEyeControls"
 }
 
 export interface QuirkyCamera {
@@ -190,6 +193,9 @@ export interface CameraSettings {
 
   cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
+
+  minExposureRaw: number;
+  maxExposureRaw: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -289,7 +295,9 @@ export const PlaceholderCameraSettings: CameraSettings = {
       StickyFPS: false
     }
   },
-  isCSICamera: false
+  isCSICamera: false,
+  minExposureRaw: 1,
+  maxExposureRaw: 100
 };
 
 export enum CalibrationBoardTypes {

diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
@@ -58,6 +58,8 @@ export interface WebsocketCameraSettingsUpdate {
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
   cameraQuirks: QuirkyCamera;
+  minExposureRaw: number;
+  maxExposureRaw: number;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;

diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -178,5 +178,7 @@ public static class UICameraConfiguration {
         public boolean isFovConfigurable = true;
         public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
+        public double minExposureRaw;
+        public double maxExposureRaw;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -71,6 +71,23 @@ public static long nanosToMicros(long nanos) {
         return nanos / 1000;
     }
 
+    /**
+     * Constrain a value to only take on certain values. Pick the next-highest allowed value in the
+     * array if in-between.
+     *
+     * @param value value to quantize
+     * @param allowableSteps sorted array of the allowed values
+     * @return quantized value
+     */
+    public static int quantize(int value, int[] allowableSteps) {
+        for (int step : allowableSteps) {
+            if (value <= step) {
+                return step;
+            }
+        }
+        return allowableSteps[allowableSteps.length - 1];
+    }
+
     public static double map(
             double value, double in_min, double in_max, double out_min, double out_max) {
         return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;

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
@@ -20,8 +20,10 @@
 public enum CameraQuirk {
     /** Camera settable for controllable image gain */
     Gain,
-    /** For the Raspberry Pi Camera */
-    PiCam,
+    /** Only certain discrete exposure settings work */
+    LifeCamControls,
+    /** Auto-Exposure property uses 1/0, rather than 3/1 */
+    PsEyeControls,
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
@@ -35,14 +37,16 @@ public enum CameraQuirk {
     /** Camera is an arducam. This means it shares VID/PID with other arducams (ew) */
     ArduCamCamera,
     /**
-     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * Camera is an arducam USB ov9281 which has a funky exposure issue where it is defined in v4l as
      * 1-5000 instead of 1-75
      */
-    ArduOV9281,
+    ArduOV9281Controls,
     /** Dummy quirk to tell OV2311 from OV9281 */
-    ArduOV2311,
-    /*
-     * Camera is an arducam ov9782 which has specific exposure ranges and needs a specific white balance issue
+    ArduOV2311Controls,
+    ArduOV9782Controls,
+    /**
+     * Camera is innomaker USB OV9281 which also has incorrect v4l exposure times Real range is more
+     * like 0-500
      */
-    ArduOV9782
+    InnoOV9281Controls,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -74,6 +74,17 @@ public boolean isVendorCamera() {
         return false;
     }
 
+    @Override
+    public void remakeSettables() {
+        // Nothing to do, settables for this type of VisionSource should never be remade.
+        return;
+    }
+
+    @Override
+    public boolean hasLEDs() {
+        return false; // Assume USB cameras do not have photonvision-controlled LEDs
+    }
+
     private static class FileSourceSettables extends VisionSourceSettables {
         private final VideoMode videoMode;
 
@@ -93,7 +104,7 @@ private static class FileSourceSettables extends VisionSourceSettables {
         }
 
         @Override
-        public void setExposure(double exposure) {}
+        public void setExposureRaw(double exposureRaw) {}
 
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
@@ -117,5 +128,15 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         public HashMap<Integer, VideoMode> getAllVideoModes() {
             return videoModes;
         }
+
+        @Override
+        public double getMinExposureRaw() {
+            return 1f;
+        }
+
+        @Override
+        public double getMaxExposureRaw() {
+            return 100f;
+        }
     }
 }