Bugfixes. I think we're finally working acceptably with lifecams on w…

…indows and linux
PhotonVision · Jul 19, 2024 · 4a15f27 · 4a15f27
1 parent 909cef7
commit 4a15f27
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Showing 3 changed files with 29 additions and 45 deletions.
diff --git a/...re/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java b/...re/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -39,23 +39,6 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
 
-    protected void setUpExposureProperties() {
-        // Photonvision needs to be able to control absolute exposure. Make sure we can
-        // first.
-        var expProp =
-                findProperty(
-                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
-
-        // Photonvision needs to be able to control auto exposure. Make sure we can
-        // first.
-        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
-
-        exposureAbsProp = expProp.get();
-        autoExposureProp = autoExpProp.get();
-        this.minExposure = exposureAbsProp.getMin();
-        this.maxExposure = exposureAbsProp.getMax();
-    }
-
     public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration);
 
@@ -82,6 +65,23 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
         }
     }
 
+    protected void setUpExposureProperties() {
+        // Photonvision needs to be able to control absolute exposure. Make sure we can
+        // first.
+        var expProp =
+                findProperty(
+                        "raw_exposure_absolute", "raw_exposure_time_absolute", "exposure", "raw_Exposure");
+
+        // Photonvision needs to be able to control auto exposure. Make sure we can
+        // first.
+        var autoExpProp = findProperty("exposure_auto", "auto_exposure");
+
+        exposureAbsProp = expProp.get();
+        autoExposureProp = autoExpProp.get();
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
+    }
+
     public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
@@ -105,7 +105,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
             softSet("white_balance_automatic", 0);
             softSet("white_balance_temperature", 4000);
-            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
             // Most cameras leave exposure time absolute at the last value from their AE
             // algorithm.
@@ -119,7 +119,7 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
             softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
             softSet("white_balance_automatic", 1);
-            autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
+            autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
         }
     }
 

diff --git a/...ore/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java b/...ore/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java
@@ -23,8 +23,8 @@ protected void setUpExposureProperties() {
         autoExposureProp = findProperty("exposure_auto", "auto_exposure").get();
         exposureAbsProp = findProperty("raw_exposure_time_absolute", "raw_exposure_absolute").get();
 
-        this.minExposure = 1;
-        this.maxExposure = 700;
+        this.minExposure = exposureAbsProp.getMin();
+        this.maxExposure = exposureAbsProp.getMax();
     }
 
     @Override

diff --git a/.../main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java b/.../main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java
@@ -7,10 +7,6 @@
 
 public class LifeCam3kWindowsCameraSettables extends GenericUSBCameraSettables {
 
-    private static int[] allowableExposures = {
-        5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000
-    };
-
     public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
     }
@@ -19,10 +15,11 @@ public LifeCam3kWindowsCameraSettables(CameraConfiguration configuration, UsbCam
     protected void setUpExposureProperties() {
 
         autoExposureProp = null; // Not Used
+        exposureAbsProp = null; //Not Used
 
-        exposureAbsProp = camera.getProperty("raw_Exposure");
-        this.minExposure = exposureAbsProp.getMin();
-        this.maxExposure = exposureAbsProp.getMax();
+        // We'll fallback on cscore's implementation for windows lifecam
+        this.minExposure = 0;
+        this.maxExposure = 100;
     }
 
     @Override
@@ -32,18 +29,8 @@ public void setExposureRaw(double exposureRaw) {
 
                 int propVal = (int) MathUtils.limit(exposureRaw, minExposure, maxExposure);
 
-                propVal = MathUtils.quantize(propVal, allowableExposures);
-
-                logger.debug(
-                        "Setting property "
-                                + autoExposureProp.getName()
-                                + " to "
-                                + propVal
-                                + " (user requested "
-                                + exposureRaw
-                                + " μs)");
-
-                exposureAbsProp.set(propVal);
+                //exposureAbsProp.set(propVal);
+                camera.setExposureManual(propVal);
 
                 this.lastExposureRaw = exposureRaw;
 
@@ -64,15 +51,12 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
         if (!cameraAutoExposure) {
-
             // Most cameras leave exposure time absolute at the last value from their AE
             // algorithm.
             // Set it back to the exposure slider value
-            setExposureRaw(this.lastExposureRaw);
-
+            camera.setExposureManual( (int) this.lastExposureRaw);
         } else {
-            softSet("WhiteBalance", 4000);
-            exposureAbsProp.set(0);
+            camera.setExposureAuto();
         }
     }