From 73fc8e04cac05bcc7eb7a64af1b1886223fa6af2 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 5 Sep 2020 09:33:48 -0700
Subject: [PATCH] Filter non-bgr modes on Pi (#112)

This can almost double performance in some cases.
---
 .../org/photonvision/vision/camera/USBCameraSource.java  | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index aba98ab38..33ece846a 100644
--- a/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -128,10 +128,19 @@ public class USBCameraSource implements VisionSource {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     for (var videoMode : camera.enumerateVideoModes()) {
+                        // Filter grey modes
                         if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
                                 || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
                             continue;
                         }
+
+                        // On picam, filter non-bgr modes for performance
+                        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                            if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
+                                continue;
+                            }
+                        }
+
                         videoModesList.add(videoMode);
                     }
                 } catch (Exception e) {