Add ignored cameras regex to command-line arguemnts (#849)

This adds a regex that ignores cameras if they match it, for if you have another piece of software running that needs a second camera, or if you have a webcam in your laptop that cscore hates.

build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id "com.diffplug.spotless" version "6.1.2"
+    id "com.diffplug.spotless" version "6.19.0"
     id "com.github.johnrengelman.shadow" version "7.1.2"
     id "com.github.node-gradle.node" version "3.1.1" apply false
     id "edu.wpi.first.GradleJni" version "1.0.0"

photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java

@@ -128,12 +128,16 @@ public class HardwareConfig {
         this.blacklistedResIndices = blacklistedResIndices;
     }
 
-    /** @return True if the FOV has been preset to a sane value, false otherwise */
+    /**
+     * @return True if the FOV has been preset to a sane value, false otherwise
+     */
     public final boolean hasPresetFOV() {
         return vendorFOV > 0;
     }
 
-    /** @return True if any command has been configured to a non-default empty, false otherwise */
+    /**
+     * @return True if any command has been configured to a non-default empty, false otherwise
+     */
     public final boolean hasCommandsConfigured() {
         return cpuTempCommand != ""
                 || cpuMemoryCommand != ""

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java

@@ -33,6 +33,7 @@ public class FindCirclesPipe
     // Output vector of found circles. Each vector is encoded as 3 or 4 element floating-point vector
     // (x,y,radius) or (x,y,radius,votes) .
     private final Mat circles = new Mat();
+
     /**
      * Runs the process for the pipe. The reason we need a separate pipe for circles is because if we
      * were to use the FindShapes pipe, we would have to assume that any shape more than 10-20+ sides

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java

@@ -82,6 +82,7 @@ public class FindPolygonPipe
 
     public static class FindPolygonPipeParams {
         private final double accuracyPercentage;
+
         // Should be a value between 0-100
         public FindPolygonPipeParams(double accuracyPercentage) {
             this.accuracyPercentage = accuracyPercentage;

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -44,6 +44,7 @@ public class VisionSourceManager {
     final List<UsbCameraInfo> knownUsbCameras = new CopyOnWriteArrayList<>();
     final List<CameraConfiguration> unmatchedLoadedConfigs = new CopyOnWriteArrayList<>();
     private boolean hasWarned;
+    private String ignoredCamerasRegex = "";
 
     private static class SingletonHolder {
         private static final VisionSourceManager INSTANCE = new VisionSourceManager();
@@ -282,12 +283,18 @@ public class VisionSourceManager {
         return cfg;
     }
 
+    public void setIgnoredCamerasRegex(String ignoredCamerasRegex) {
+        this.ignoredCamerasRegex = ignoredCamerasRegex;
+    }
+
     private List<UsbCameraInfo> filterAllowedDevices(List<UsbCameraInfo> allDevices) {
         List<UsbCameraInfo> filteredDevices = new ArrayList<>();
         for (var device : allDevices) {
             if (deviceBlacklist.contains(device.name)) {
                 logger.trace(
                         "Skipping blacklisted device: \"" + device.name + "\" at \"" + device.path + "\"");
+            } else if (device.name.matches(ignoredCamerasRegex)) {
+                logger.trace("Skipping ignored device: \"" + device.name + "\" at \"" + device.path);
             } else {
                 filteredDevices.add(device);
                 logger.trace(

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -49,6 +49,7 @@ public abstract class VisionSourceSettables {
     public abstract void setBrightness(int brightness);
 
     public abstract void setGain(int gain);
+
     // Pretty uncommon so instead of abstract this is just a no-op by default
     // Overriden by cameras with AWB gain support
     public void setRedGain(int red) {}

photon-core/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java

@@ -16,6 +16,7 @@
  */
 
 package org.photonvision.common;
+
 /*
  * Copyright (C) 2020 Photon Vision.
  *

photon-core/src/test/java/org/photonvision/vision/frame/provider/LibcameraTest.java

@@ -18,6 +18,7 @@
 package org.photonvision.vision.frame.provider;
 
 import org.junit.jupiter.api.Test;
+
 // import org.photonvision.raspi.LibCameraJNI;
 
 public class LibcameraTest {

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -233,7 +233,9 @@ public class PhotonPoseEstimator {
         setLastPose(new Pose3d(lastPose));
     }
 
-    /** @return The current transform from the center of the robot to the camera mount position */
+    /**
+     * @return The current transform from the center of the robot to the camera mount position
+     */
     public Transform3d getRobotToCameraTransform() {
         return robotToCamera;
     }

photon-lib/src/main/java/org/photonvision/RobotPoseEstimator.java

@@ -40,7 +40,9 @@ import java.util.Set;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
-/** @deprecated Use {@link PhotonPoseEstimator} */
+/**
+ * @deprecated Use {@link PhotonPoseEstimator}
+ */
 @Deprecated
 public class RobotPoseEstimator {
     /**
@@ -345,27 +347,37 @@ public class RobotPoseEstimator {
         return x.getTranslation().getDistance(y.getTranslation());
     }
 
-    /** @param aprilTags the aprilTags to set */
+    /**
+     * @param aprilTags the aprilTags to set
+     */
     public void setAprilTags(AprilTagFieldLayout aprilTags) {
         this.aprilTags = aprilTags;
     }
 
-    /** @return the aprilTags */
+    /**
+     * @return the aprilTags
+     */
     public AprilTagFieldLayout getAprilTags() {
         return aprilTags;
     }
 
-    /** @return the strategy */
+    /**
+     * @return the strategy
+     */
     public PoseStrategy getStrategy() {
         return strategy;
     }
 
-    /** @param strategy the strategy to set */
+    /**
+     * @param strategy the strategy to set
+     */
     public void setStrategy(PoseStrategy strategy) {
         this.strategy = strategy;
     }
 
-    /** @return the referencePose */
+    /**
+     * @return the referencePose
+     */
     public Pose3d getReferencePose() {
         return referencePose;
     }

photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java

@@ -36,12 +36,14 @@ public class CameraTargetRelation {
     public final double camToTargDistXY;
     public final Rotation2d camToTargYaw;
     public final Rotation2d camToTargPitch;
+
     /** Angle from the camera's relative x-axis */
     public final Rotation2d camToTargAngle;
 
     public final Transform3d targToCam;
     public final Rotation2d targToCamYaw;
     public final Rotation2d targToCamPitch;
+
     /** Angle from the target's relative x-axis */
     public final Rotation2d targToCamAngle;
 

photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java

@@ -99,6 +99,7 @@ public final class OpenCVHelp {
         }
         return new MatOfPoint3f(points);
     }
+
     /**
      * Returns a new 3d translation from this {@link Mat}. The opencv tvec is a vector with three
      * elements representing {x, y, z} in the EDN coordinate system.
@@ -128,6 +129,7 @@ public final class OpenCVHelp {
         rotation = rotationNWUtoEDN(rotation);
         return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData()));
     }
+
     /**
      * Returns a 3d rotation from this {@link Mat}. The opencv rvec Mat is a vector with three
      * elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm,
@@ -228,6 +230,7 @@ public final class OpenCVHelp {
                         new Rotation3d(), CoordinateSystem.NWU(), CoordinateSystem.EDN())
                 .plus(CoordinateSystem.convert(rot, CoordinateSystem.EDN(), CoordinateSystem.NWU()));
     }
+
     /**
      * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} in EDN,
      * this would be XYZ {0, -1, 0} in NWU.
@@ -324,6 +327,7 @@ public final class OpenCVHelp {
         corn.release();
         return rect;
     }
+
     /**
      * Gets the rotated rectangle with minimum area which bounds this contour.
      *
@@ -338,6 +342,7 @@ public final class OpenCVHelp {
         corn.release();
         return rect;
     }
+
     /**
      * Get the area in pixels of this target's contour. It's important to note that this may be
      * different from the area of the bounding rectangle around the contour.
@@ -451,6 +456,7 @@ public final class OpenCVHelp {
         if (alt != null) return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]);
         else return new PNPResults(best, errors[0]);
     }
+
     /**
      * Finds the transformation that maps the camera's pose to the target pose. The camera's pose
      * relative to the target is determined by the supplied 3d points of the target's model and their

photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java

@@ -44,8 +44,10 @@ public class PNPResults {
      * to the best solution.
      */
     public final Transform3d alt;
+
     /** If no alternate solution is found, this is bestReprojErr */
     public final double altReprojErr;
+
     /** If no alternate solution is found, this is 0 */
     public final double ambiguity;
 

photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java

@@ -41,6 +41,7 @@ public class RotTrlTransform3d {
     public RotTrlTransform3d() {
         this(new Rotation3d(), new Translation3d());
     }
+
     /**
      * Creates a rotation-translation transformation from a Transform3d.
      *
@@ -52,6 +53,7 @@ public class RotTrlTransform3d {
     public RotTrlTransform3d(Transform3d trf) {
         this(trf.getRotation(), trf.getTranslation());
     }
+
     /**
      * A rotation-translation transformation.
      *
@@ -65,6 +67,7 @@ public class RotTrlTransform3d {
         this.rot = rot;
         this.trl = trl;
     }
+
     /**
      * The rotation-translation transformation that makes poses in the world consider this pose as the
      * new origin, or change the basis to this pose.
@@ -86,10 +89,12 @@ public class RotTrlTransform3d {
     public Transform3d getTransform() {
         return new Transform3d(trl, rot);
     }
+
     /** The translation component of this transformation */
     public Translation3d getTranslation() {
         return trl;
     }
+
     /** The rotation component of this transformation */
     public Rotation3d getRotation() {
         return rot;

photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java

@@ -153,6 +153,7 @@ public class VisionEstimation {
      */
     public static class SVDResults {
         public final RotTrlTransform3d trf;
+
         /** If the result is invalid, this value is -1 */
         public final double rmse;
 

photon-server/src/main/java/org/photonvision/Main.java

@@ -75,6 +75,11 @@ public class Main {
                 "Run in test mode with 2019 and 2020 WPI field images in place of cameras");
 
         options.addOption("p", "path", true, "Point test mode to a specific folder");
+        options.addOption(
+                "i",
+                "ignore-cameras",
+                true,
+                "Ignore cameras that match a regex. Uses camera name as provided by cscore.");
 
         CommandLineParser parser = new DefaultParser();
         CommandLine cmd = parser.parse(options, args);
@@ -99,6 +104,11 @@ public class Main {
                     testModeFolder = p;
                 }
             }
+
+            if (cmd.hasOption("ignore-cameras")) {
+                VisionSourceManager.getInstance()
+                        .setIgnoredCamerasRegex(cmd.getOptionValue("ignore-cameras"));
+            }
         }
         return true;
     }

photonlib-java-examples/simposeest/src/main/java/frc/robot/AutoController.java

@@ -61,7 +61,9 @@ public class AutoController {
                         new TrajectoryConfig(2, 2));
     }
 
-    /** @return The starting (initial) pose of the currently-active trajectory */
+    /**
+     * @return The starting (initial) pose of the currently-active trajectory
+     */
     public Pose2d getInitialPose() {
         return trajectory.getInitialPose();
     }

photonlib-java-examples/simposeest/src/main/java/frc/robot/Drivetrain.java

@@ -130,7 +130,9 @@ public class Drivetrain {
         poseEst.resetToPose(pose, leftEncoder.getDistance(), rightEncoder.getDistance());
     }
 
-    /** @return The current best-guess at drivetrain Pose on the field. */
+    /**
+     * @return The current best-guess at drivetrain Pose on the field.
+     */
     public Pose2d getCtrlsPoseEstimate() {
         return poseEst.getPoseEst();
     }

photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainPoseEstimator.java

@@ -100,7 +100,9 @@ public class DrivetrainPoseEstimator {
         m_poseEstimator.resetPosition(gyro.getRotation2d(), leftDist, rightDist, pose);
     }
 
-    /** @return The current best-guess at drivetrain position on the field. */
+    /**
+     * @return The current best-guess at drivetrain position on the field.
+     */
     public Pose2d getPoseEst() {
         return m_poseEstimator.getEstimatedPosition();
     }

photonlib-java-examples/simposeest/src/main/java/frc/robot/DrivetrainSim.java

@@ -149,7 +149,9 @@ public class DrivetrainSim {
         drivetrainSimulator.setPose(pose);
     }
 
-    /** @return The simulated robot's position, in meters. */
+    /**
+     * @return The simulated robot's position, in meters.
+     */
     public Pose2d getCurPose() {
         return drivetrainSimulator.getPose();
     }