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Use exposure_time_absolute if present (#1079)

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Matt
2023-12-28 10:42:52 -05:00
committed by GitHub
parent ebac32cba6
commit 7b8326beb1
1 changed files with 8 additions and 0 deletions
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8
photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
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@@ -22,6 +22,7 @@ import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.cscore.UsbCamera;
import edu.wpi.first.cscore.VideoException;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.cscore.VideoProperty.Kind;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -29,6 +30,7 @@ import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.vision.frame.FrameProvider;
import org.photonvision.vision.frame.provider.FileFrameProvider;
import org.photonvision.vision.frame.provider.USBFrameProvider;
@@ -210,6 +212,12 @@ public class USBCameraSource extends VisionSource {
camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
} else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone) {
// Seems like the name changed at some point in v4l? set it instead
var prop = camera.getProperty("exposure_time_absolute");
var exposure_manual_val =
MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
prop.set((int) exposure_manual_val);
} else {
scaledExposure = (int) Math.round(exposure);
logger.debug("Setting camera exposure to " + scaledExposure);