Move to using Absolute Exposure Range

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"

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"

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,

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

photon-client/src/types/SettingTypes.ts

@@ -190,6 +190,9 @@ export interface CameraSettings {
 
   cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
+
+  minExposureRaw: number;
+  maxExposureRaw: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -289,7 +292,9 @@ export const PlaceholderCameraSettings: CameraSettings = {
       StickyFPS: false
     }
   },
-  isCSICamera: false
+  isCSICamera: false,
+  minExposureRaw: 1,
+  maxExposureRaw: 100
 };
 
 export enum CalibrationBoardTypes {

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;

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;
     }
 }

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;

photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java

@@ -31,35 +31,47 @@ public class LibCameraJNILoader {
     private static boolean libraryLoaded = false;
     private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
 
+    private static File extractLibrary(String libraryName) throws IOException {
+        // We always extract the shared object (we could hash each so, but that's a lot of work)
+        var arch_name = "linuxarm64";
+        var nativeLibName = System.mapLibraryName(libraryName);
+        var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+        var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
+
+        if (in == null) {
+            logger.error("Failed to find internal native library at path " + resourcePath);
+            libraryLoaded = false;
+            throw new IOException();
+        }
+
+        // It's important that we don't mangle the names of these files on Windows at least
+        File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+        FileOutputStream fos = new FileOutputStream(temp);
+
+        int read = -1;
+        byte[] buffer = new byte[1024];
+        while ((read = in.read(buffer)) != -1) {
+            fos.write(buffer, 0, read);
+        }
+        fos.close();
+        in.close();
+
+        return temp;
+    }
+
     public static synchronized void forceLoad() throws IOException {
         if (libraryLoaded) return;
 
         var libraryName = "photonlibcamera";
 
         try {
-            // We always extract the shared object (we could hash each so, but that's a lot of work)
-            var arch_name = "linuxarm64";
-            var nativeLibName = System.mapLibraryName(libraryName);
-            var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
-            var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
-
-            if (in == null) {
-                logger.error("Failed to find internal native library at path " + resourcePath);
-                libraryLoaded = false;
-                return;
-            }
-
-            // It's important that we don't mangle the names of these files on Windows at least
-            File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
-            FileOutputStream fos = new FileOutputStream(temp);
+            // Development aid. First, try to load the library from disc if it was built locally.
+            File temp = new File("/home/pi/photon-libcamera-gl-driver/cmake_build/libphotonlibcamera.so");
 
-            int read = -1;
-            byte[] buffer = new byte[1024];
-            while ((read = in.read(buffer)) != -1) {
-                fos.write(buffer, 0, read);
+            if (!temp.exists()) {
+                // File was not already on disc. Extract it from the jar.
+                temp = extractLibrary(libraryName);
             }
-            fos.close();
-            in.close();
 
             System.load(temp.getAbsolutePath());
 
@@ -68,7 +80,6 @@ public static synchronized void forceLoad() throws IOException {
         } catch (UnsatisfiedLinkError e) {
             logger.error("Couldn't load shared object " + libraryName, e);
             e.printStackTrace();
-            // logger.error(System.getProperty("java.library.path"));
         }
         libraryLoaded = true;
     }

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 */
@@ -38,11 +40,8 @@ public enum CameraQuirk {
      * 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,
+    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
-     */
-    ArduOV9782
+    ArduOV2311Controls,
+    ArduOV9782Controls,
 }

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

@@ -74,6 +74,11 @@ public boolean isVendorCamera() {
         return false;
     }
 
+    @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 +98,7 @@ private static class FileSourceSettables extends VisionSourceSettables {
         }
 
         @Override
-        public void setExposure(double exposure) {}
+        public void setExposureRaw(double exposureRaw) {}
 
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
@@ -117,5 +122,15 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         public HashMap<Integer, VideoMode> getAllVideoModes() {
             return videoModes;
         }
+
+        @Override
+        public double getMinExposureRaw() {
+            return 1f;
+        }
+
+        @Override
+        public double getMaxExposureRaw() {
+            return 100f;
+        }
     }
 }