Further wip dynamic min/max

gerth2 · Jun 27, 2024 · d46efd1 · d46efd1
1 parent b1d4d5f
commit d46efd1
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Showing 14 changed files with 117 additions and 42 deletions.
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -393,8 +393,8 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
               label="Exposure (μS)"
               tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-              :min="1"
-              :max="80000"
+              :min="useCameraSettingsStore().minExposureUs"
+              :max="useCameraSettingsStore().maxExposureUs"
               :slider-cols="8"
               :step="1"
               @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"

diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -78,8 +78,8 @@ const interactiveCols = computed(() =>
       :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
       label="Exposure (μS)"
       tooltip="Directly controls how long the camera shutter remains open (in microseconds)"
-      :min="1"
-      :max="80000"
+      :min="useCameraSettingsStore().minExposureUs"
+      :max="useCameraSettingsStore().maxExposureUs"
       :slider-cols="interactiveCols"
       :step="1"
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureUs: args }, false)"

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;
+    },
+    minExposureUs(): number {
+      return this.currentCameraSettings.minExposureUs;
+    },
+    maxExposureUs(): number {
+      return this.currentCameraSettings.maxExposureUs;
     }
   },
   actions: {
@@ -102,6 +108,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           })),
         completeCalibrations: d.calibrations,
         isCSICamera: d.isCSICamera,
+        minExposureUs: d.minExposureUs,
+        maxExposureUs: d.maxExposureUs,
         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
@@ -65,6 +65,8 @@ export interface PipelineSettings {
   outputShowMultipleTargets: boolean;
   contourSortMode: number;
   cameraExposureUs: number;
+  cameraMinExposureUs: number;
+  cameraMaxExposureUs: number;
   offsetSinglePoint: { x: number; y: number };
   cameraBrightness: number;
   offsetDualPointAArea: number;

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
@@ -189,6 +189,9 @@ export interface CameraSettings {
 
   cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
+
+  minExposureUs: number;
+  maxExposureUs: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -287,7 +290,9 @@ export const PlaceholderCameraSettings: CameraSettings = {
       StickyFPS: false
     }
   },
-  isCSICamera: false
+  isCSICamera: false,
+  minExposureUs: 1,
+  maxExposureUs: 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;
+  minExposureUs: number;
+  maxExposureUs: 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 minExposureUs;
+        public double maxExposureUs;
     }
 }
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
@@ -122,5 +122,15 @@ protected void setVideoModeInternal(VideoMode videoMode) {
         public HashMap<Integer, VideoMode> getAllVideoModes() {
             return videoModes;
         }
+
+        @Override
+        public double getMinExposureUs() {
+            return 1f;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return 100f;
+        }
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -40,6 +40,9 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
 
     private final LibCameraJNI.SensorModel sensorModel;
 
+    private double minExposure = 1;
+    private double maxExposure = 80000;
+
     private ImageRotationMode m_rotationMode = ImageRotationMode.DEG_0;
 
     public final Object CAMERA_LOCK = new Object();
@@ -100,6 +103,12 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
         // TODO need to add more video modes for new sensors here
 
         currentVideoMode = (FPSRatedVideoMode) videoModes.get(0);
+
+        if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
+            minExposure = 7;
+        } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
+            minExposure = 560;
+        }
     }
 
     @Override
@@ -123,15 +132,6 @@ public void setExposureUs(double exposureUs) {
         // Store the exposure for use when we need to recreate the camera.
         lastManualExposure = exposureUs;
 
-        // Minimum exposure can't be below 1uS cause otherwise it would be 0 and 0 is auto exposure.
-        double minExposure = 1;
-        double maxExposure = 80000;
-
-        if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            minExposure = 7;
-        } else if (sensorModel == LibCameraJNI.SensorModel.OV5647) {
-            minExposure = 560;
-        }
         // 80,000 uS seems like an exposure value that will be greater than ever needed while giving
         // enough control over exposure.
         exposureUs = MathUtils.limit(exposureUs, minExposure, maxExposure);
@@ -246,4 +246,14 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
     public LibCameraJNI.SensorModel getModel() {
         return sensorModel;
     }
+
+    @Override
+    public double getMinExposureUs() {
+        return this.minExposure;
+    }
+
+    @Override
+    public double getMaxExposureUs() {
+        return this.maxExposure;
+    }
 }
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
@@ -212,13 +212,13 @@ private void printCameraProperaties() {
     private void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
-        // softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
-        // softSet("power_line_frequency", 2); // Assume 60Hz USA
-        // softSet("scene_mode", 0); // no presets
-        // softSet("exposure_metering_mode", 0);
-        // softSet("exposure_dynamic_framerate", 0);
-        // softSet("focus_auto", 0);
-        // softSet("focus_absolute", 0); // Focus into infinity
+        softSet("image_stabilization", 0); // No image stabilization, as this will throw off odometry
+        softSet("power_line_frequency", 2); // Assume 60Hz USA
+        softSet("scene_mode", 0); // no presets
+        softSet("exposure_metering_mode", 0);
+        softSet("exposure_dynamic_framerate", 0);
+        softSet("focus_auto", 0);
+        softSet("focus_absolute", 0); // Focus into infinity
     }
 
     public QuirkyCamera getCameraQuirks() {
@@ -244,24 +244,36 @@ public class USBCameraSettables extends VisionSourceSettables {
         // changing exposure
         private int lastBrightness = -1;
 
+        double minExposure = 1;
+        double maxExposure = 80000;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
             if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
+
+            this.minExposure = exposureAbsProp.getMin();
+            this.maxExposure = exposureAbsProp.getMax();
+
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                // Property limits are incorrect
+                this.minExposure = 1;
+                this.maxExposure = 75;
+            }
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
             if (!cameraAutoExposure) {
                 // Pick a bunch of reasonable setting defaults for vision processing
-                // softSet("auto_exposure_bias", 0);
-                // softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
-                // softSet("iso_sensitivity", 0); // Manual ISO adjustment
-                // softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
-                // softSet("white_balance_automatic", 0);
-                // softSet("white_balance_temperature", 4000);
+                softSet("auto_exposure_bias", 0);
+                softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
+                softSet("iso_sensitivity", 0); // Manual ISO adjustment
+                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);
 
                 // Most cameras leave exposure time absolute at the last value from their AE algorithm.
@@ -270,32 +282,34 @@ public void setAutoExposure(boolean cameraAutoExposure) {
 
             } else {
                 // Pick a bunch of reasonable setting to make the picture nice-for-humans
-                // softSet("auto_exposure_bias", 12);
-                // softSet("iso_sensitivity_auto", 1);
-                // softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-                // softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
-                // softSet("white_balance_automatic", 1);
+                softSet("auto_exposure_bias", 12);
+                softSet("iso_sensitivity_auto", 1);
+                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);
                 camera.setExposureAuto(); // belt-and-suspenders with cscore's call too.
             }
         }
 
+        @Override
+        public double getMinExposureUs() {
+            return this.minExposure;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return this.maxExposure;
+        }
+
         @Override
         public void setExposureUs(double exposureUs) {
             if (exposureUs >= 0.0) {
                 try {
-                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                    var propMin = exposureAbsProp.getMin();
-                    var propMax = exposureAbsProp.getMax();
-
-                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
-                        // Property limits are incorrect
-                        propMin = 1;
-                        propMax = 75;
-                    }
+                    autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
-                    int propVal = (int) MathUtils.limit(exposureUs, propMin, propMax);
+                    int propVal = (int) MathUtils.limit(exposureUs, this.minExposure, this.maxExposure);
 
                     if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.LifeCamExposure)) {
                         // Lifecam only allows certain settings for exposure

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -43,6 +43,8 @@ public class CVPipelineSettings implements Cloneable {
     public boolean cameraAutoExposure = false;
     // manual exposure only used if cameraAutoExposure is false
     public double cameraExposureUs = 20;
+    public double cameraMinExposureUs = 1;
+    public double cameraMaxExposureUs = 100;
     public int cameraBrightness = 50;
     // Currently only used by a few cameras (notably the zero-copy Pi Camera driver) with the Gain
     // quirk
@@ -63,6 +65,8 @@ public boolean equals(Object o) {
         CVPipelineSettings that = (CVPipelineSettings) o;
         return pipelineIndex == that.pipelineIndex
                 && Double.compare(that.cameraExposureUs, cameraExposureUs) == 0
+                && Double.compare(that.cameraMinExposureUs, cameraMinExposureUs) == 0
+                && Double.compare(that.cameraMaxExposureUs, cameraMaxExposureUs) == 0
                 && Double.compare(that.cameraBrightness, cameraBrightness) == 0
                 && Double.compare(that.cameraGain, cameraGain) == 0
                 && Double.compare(that.cameraRedGain, cameraRedGain) == 0
@@ -85,6 +89,8 @@ public int hashCode() {
                 inputImageRotationMode,
                 pipelineNickname,
                 cameraExposureUs,
+                cameraMinExposureUs,
+                cameraMaxExposureUs,
                 cameraBrightness,
                 cameraGain,
                 cameraRedGain,

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -511,6 +511,8 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
         ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
+        ret.maxExposureUs = visionSource.getSettables().getMaxExposureUs();
+        ret.minExposureUs = visionSource.getSettables().getMinExposureUs();
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java
@@ -44,6 +44,10 @@ public CameraConfiguration getConfiguration() {
 
     public abstract void setExposureUs(double exposureUs);
 
+    public abstract double getMinExposureUs();
+
+    public abstract double getMaxExposureUs();
+
     public abstract void setAutoExposure(boolean cameraAutoExposure);
 
     public abstract void setBrightness(int brightness);

diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -108,6 +108,16 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
 
         @Override
         public void setAutoExposure(boolean cameraAutoExposure) {}
+
+        @Override
+        public double getMinExposureUs() {
+            return 1;
+        }
+
+        @Override
+        public double getMaxExposureUs() {
+            return 1234;
+        }
     }
 
     private static class TestDataConsumer implements CVPipelineResultConsumer {