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Changes sim to use 36h11 tags (#1056)

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Fixes #1041

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Drew Williams
2024-01-02 10:09:32 -05:00
committed by GitHub
parent b9c2d839f4
commit 96de176ba2
43 changed files with 116 additions and 152 deletions
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2
photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
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@@ -18,7 +18,7 @@
package org.photonvision.vision.camera;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.cscore.VideoMode.PixelFormat;
import edu.wpi.first.util.PixelFormat;
import java.nio.file.Path;
import java.util.HashMap;
import org.photonvision.common.configuration.CameraConfiguration;

50
photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
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@@ -19,6 +19,7 @@ package org.photonvision.vision.camera;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.math.Pair;
import edu.wpi.first.util.PixelFormat;
import java.util.HashMap;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.util.math.MathUtils;
@@ -59,30 +60,19 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
// Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
videoModes.put(
0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
videoModes.put(
1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
// TODO: fix 1280x720 in the native code and re-add it
videoModes.put(
4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
videoModes.put(
5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
videoModes.put(
6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
videoModes.put(6, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
} else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
videoModes.put(
0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(
1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
} else {
if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
@@ -97,17 +87,13 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
}
// Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
videoModes.put(0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
videoModes.put(1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
// Half the size of the active areas on the OV5647
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
videoModes.put(
4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
videoModes.put(
5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
}
// TODO need to add more video modes for new sensors here

1
photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
View File

@@ -18,6 +18,7 @@
package org.photonvision.vision.camera;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.util.PixelFormat;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.LogGroup;

33
photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
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@@ -23,6 +23,7 @@ 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 edu.wpi.first.util.PixelFormat;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -280,33 +281,33 @@ public class USBCameraSource extends VisionSource {
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
modes =
new VideoMode[] {
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 30),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 15),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 45),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 30),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 15),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
new VideoMode(PixelFormat.kBGR, 320, 240, 90),
new VideoMode(PixelFormat.kBGR, 320, 240, 30),
new VideoMode(PixelFormat.kBGR, 320, 240, 15),
new VideoMode(PixelFormat.kBGR, 320, 240, 10),
new VideoMode(PixelFormat.kBGR, 640, 480, 90),
new VideoMode(PixelFormat.kBGR, 640, 480, 45),
new VideoMode(PixelFormat.kBGR, 640, 480, 30),
new VideoMode(PixelFormat.kBGR, 640, 480, 15),
new VideoMode(PixelFormat.kBGR, 640, 480, 10),
new VideoMode(PixelFormat.kBGR, 960, 720, 60),
new VideoMode(PixelFormat.kBGR, 960, 720, 10),
new VideoMode(PixelFormat.kBGR, 1280, 720, 45),
new VideoMode(PixelFormat.kBGR, 1920, 1080, 20),
};
} else {
modes = camera.enumerateVideoModes();
}
for (VideoMode videoMode : modes) {
// Filter grey modes
if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
|| videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
if (videoMode.pixelFormat == PixelFormat.kGray
|| videoMode.pixelFormat == PixelFormat.kUnknown) {
continue;
}
// On picam, filter non-bgr modes for performance
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
if (videoMode.pixelFormat != PixelFormat.kBGR) {
continue;
}
}

7
photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
View File

@@ -20,6 +20,7 @@ package org.photonvision.vision.frame.consumer;
import edu.wpi.first.cscore.*;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.PixelFormat;
import java.awt.*;
import java.util.ArrayList;
import org.opencv.core.CvType;
@@ -118,7 +119,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
boolean isDisabled = false;
public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
this.cvSource = new CvSource(sourceName, VideoMode.PixelFormat.kMJPEG, width, height, 30);
this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
this.table =
NetworkTableInstance.getDefault().getTable("/CameraPublisher").getSubTable(sourceName);
@@ -188,7 +189,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
public void disabledTick() {
if (!isDisabled) {
cvSource.setVideoMode(VideoMode.PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
cvSource.setVideoMode(PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
isDisabled = true;
}
@@ -227,7 +228,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
+ " fps";
}
private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
private static String pixelFormatToString(PixelFormat pixelFormat) {
switch (pixelFormat) {
case kMJPEG:
return "MJPEG";