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Disable auto focus on USB cameras by default (#487)

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* Disable auto focus on USB cameras by default

* Remove extra log

* Implement camera quirk for auto focus

* Spotless apply
This commit is contained in:
Avery Black
2022-10-09 14:49:58 -07:00
committed by GitHub
parent 1e4a92c71f
commit 9bf589ebc6
3 changed files with 18 additions and 6 deletions
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4
photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
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@@ -27,5 +27,7 @@ public enum CameraQuirk {
/** Separate red/blue gain controls available */
AWBGain,
/** Will not work with photonvision - Logitec C270 at least */
CompletelyBroken
CompletelyBroken,
/** Has adjustable focus and autofocus switch */
AdjustableFocus,
}

3
photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
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@@ -31,7 +31,8 @@ public class QuirkyCamera {
new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken), // Logitec C270
new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
new QuirkyCamera(
-1, -1, "mmal service 16.1", CameraQuirk.PiCam) // PiCam (via V4L2, not zerocopy)
-1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus) // Logitech C925-e
);
public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");

17
photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
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@@ -18,10 +18,7 @@
package org.photonvision.vision.camera;
import edu.wpi.first.cameraserver.CameraServer;
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.*;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -65,11 +62,23 @@ public class USBCameraSource extends VisionSource {
} else {
// Normal init
setLowExposureOptimizationImpl(false);
disableAutoFocus();
usbCameraSettables = new USBCameraSettables(config);
usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
}
}
void disableAutoFocus() {
if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
try {
camera.getProperty("focus_auto").set(0);
camera.getProperty("focus_absolute").set(0); // Focus into infinity
} catch (VideoException e) {
logger.error("Unable to disable autofocus!", e);
}
}
}
void setLowExposureOptimizationImpl(boolean lowExposureMode) {
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
// Case, we know this is a picam. Go through v4l2-ctl interface directly