mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-21 01:01:41 +00:00
Camera configuration rewrite, begin on CameraStreamer threading fix
This commit is contained in:
Banks Troutman
@@ -1,37 +1,167 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.camera.USBCameraCapture;
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import com.chameleonvision.vision.camera.USBCameraProperties;
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import com.fasterxml.jackson.annotation.JsonCreator;
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import com.fasterxml.jackson.annotation.JsonProperty;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.List;
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public class CameraConfig {
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public final double fov;
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public final String path;
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public final String name;
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public final String nickname;
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@JsonCreator
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public CameraConfig(
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@JsonProperty("fov") double fov,
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@JsonProperty("path") String path,
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@JsonProperty("name") String name,
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@JsonProperty("nickname") String nickname) {
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this.fov = fov;
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this.path = path;
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this.name = name;
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this.nickname = nickname;
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private static final Path camerasConfigFolderPath = Paths.get(ConfigManager.SettingsPath.toString(), "cameras");
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private final String cameraConfigName;
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private final CameraJsonConfig preliminaryConfig;
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CameraConfig(CameraJsonConfig config) {
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preliminaryConfig = config;
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cameraConfigName = preliminaryConfig.name.replace(' ', '_');
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}
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public CameraConfig(String path, String name) {
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this.fov = USBCameraProperties.DEFAULT_FOV;
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this.path = path;
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this.name = name;
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this.nickname = name;
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public CameraJsonConfig load() {
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checkFolder();
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checkConfig();
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checkPipelines();
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checkDriverMode();
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// todo: add pipelines and drivermode loads
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return loadConfig();
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}
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public static CameraConfig fromUSBCameraProcess(USBCameraCapture process) {
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USBCameraProperties camProps = process.getProperties();
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return new CameraConfig(camProps.FOV, camProps.name, camProps.path, camProps.getNickname());
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private CameraJsonConfig loadConfig() {
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CameraJsonConfig config = preliminaryConfig;
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try {
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config = JacksonHelper.deserializer(getConfigPath(), CameraJsonConfig.class);
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} catch (IOException e) {
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System.err.printf("Failed to load camera config: %s - using default.\n", getConfigPath().toString());
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}
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return config;
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}
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List<CVPipelineSettings> loadPipelines() {
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List<CVPipelineSettings> pipelines = new ArrayList<>();
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try {
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var pipelineArray = JacksonHelper.deserializer(getPipelinesPath(), CVPipelineSettings[].class);
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if (pipelineArray != null) {
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pipelines = Arrays.asList(pipelineArray);
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}
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} catch (IOException e) {
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System.err.println("Failed to load camera pipelines: " + getPipelinesPath().toString());
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}
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return pipelines;
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}
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CVPipelineSettings loadDriverMode() {
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CVPipelineSettings driverMode = new CVPipelineSettings();
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driverMode.nickname = "DRIVERMODE";
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try {
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driverMode = JacksonHelper.deserializer(getDriverModePath(), CVPipelineSettings.class);
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} catch (IOException e) {
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System.err.println("Failed to load camera drivermode: " + getDriverModePath().toString());
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}
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return driverMode;
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}
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void saveConfig(CameraJsonConfig config) {
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try {
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JacksonHelper.serializer(getConfigPath(), config);
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} catch (IOException e) {
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System.err.println("Failed to save camera config file: " + getConfigPath().toString());
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}
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}
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void savePipelines(List<CVPipelineSettings> pipelines) {
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try {
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JacksonHelper.serializer(getPipelinesPath(), pipelines);
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} catch (IOException e) {
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System.err.println("Failed to save camera pipelines file: " + getConfigPath().toString());
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}
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}
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void saveDriverMode(CVPipelineSettings driverMode) {
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try {
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JacksonHelper.serializer(getDriverModePath(), driverMode);
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} catch (IOException e) {
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System.err.println("Failed to save camera drivermode file: " + getDriverModePath().toString());
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}
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}
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private void checkFolder() {
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if (!folderExists()) {
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try {
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Files.createDirectory(getFolderPath());
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} catch (IOException e) {
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System.err.println("Failed to create camera config folder: " + getFolderPath().toString());
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}
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}
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}
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private void checkConfig() {
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if (!configExists()) {
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try {
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JacksonHelper.serializer(getConfigPath(), preliminaryConfig);
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} catch (IOException e) {
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System.err.println("Failed to create camera config file: " + getConfigPath().toString());
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}
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}
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}
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private void checkPipelines() {
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if (!pipelinesExists()) {
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try {
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Files.createFile(getPipelinesPath());
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} catch (IOException e) {
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System.err.println("Failed to create camera pipelines file: " + getPipelinesPath().toString());
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}
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}
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}
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private void checkDriverMode() {
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if (!driverModeExists()) {
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try {
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CVPipelineSettings newDriverModeSettings = new CVPipelineSettings();
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newDriverModeSettings.nickname = "DRIVERMODE";
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JacksonHelper.serializer(getDriverModePath(), newDriverModeSettings);
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} catch (IOException e) {
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System.err.println("Failed to create camera drivermode file: " + getDriverModePath().toString());
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}
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}
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}
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private Path getFolderPath() {
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return Paths.get(camerasConfigFolderPath.toString(), cameraConfigName);
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}
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private Path getConfigPath() {
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return Paths.get(getFolderPath().toString(), "camera.json");
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}
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private Path getPipelinesPath() {
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return Paths.get(getFolderPath().toString(), "pipelines.json");
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}
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private Path getDriverModePath() {
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return Paths.get(getFolderPath().toString(), "drivermode.json");
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}
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private boolean folderExists() {
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return Files.exists(getFolderPath());
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}
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private boolean configExists() {
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return folderExists() && Files.exists(getConfigPath());
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}
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private boolean pipelinesExists() {
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return folderExists() && Files.exists(getPipelinesPath());
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}
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private boolean driverModeExists() {
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return folderExists() && Files.exists(getDriverModePath());
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}
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}
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@@ -0,0 +1,37 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.camera.USBCameraCapture;
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import com.chameleonvision.vision.camera.USBCameraProperties;
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import com.fasterxml.jackson.annotation.JsonCreator;
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import com.fasterxml.jackson.annotation.JsonProperty;
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public class CameraJsonConfig {
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public final double fov;
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public final String path;
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public final String name;
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public final String nickname;
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@JsonCreator
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public CameraJsonConfig(
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@JsonProperty("fov") double fov,
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@JsonProperty("path") String path,
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@JsonProperty("name") String name,
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@JsonProperty("nickname") String nickname) {
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this.fov = fov;
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this.path = path;
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this.name = name;
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this.nickname = nickname;
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}
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public CameraJsonConfig(String path, String name) {
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this.fov = USBCameraProperties.DEFAULT_FOV;
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this.path = path;
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this.name = name;
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this.nickname = name;
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}
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public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) {
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USBCameraProperties camProps = process.getProperties();
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return new CameraJsonConfig(camProps.FOV, camProps.name, camProps.path, camProps.getNickname());
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}
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}
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@@ -1,7 +1,7 @@
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package com.chameleonvision.config;
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import com.chameleonvision.util.ProgramDirectoryUtilities;
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import com.chameleonvision.util.FileHelper;
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import com.chameleonvision.util.JacksonHelper;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.io.File;
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@@ -10,15 +10,17 @@ import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.LinkedHashMap;
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import java.util.List;
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public class ConfigManager {
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private ConfigManager() {}
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private static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
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private static final Path cameraConfigPath = Paths.get(SettingsPath.toString(), "cameras");
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static final Path SettingsPath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), "settings");
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private static final Path settingsFilePath = Paths.get(SettingsPath.toString(), "settings.json");
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private static final LinkedHashMap<String, CameraConfig> cameraConfigs = new LinkedHashMap<>();
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public static GeneralSettings settings = new GeneralSettings();
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private static boolean settingsFolderExists() { return Files.exists(SettingsPath); }
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@@ -38,13 +40,13 @@ public class ConfigManager {
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boolean settingsFileEmpty = settingsFileExists() && new File(settingsFilePath.toString()).length() == 0;
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if (settingsFileEmpty || !settingsFileExists()) {
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try {
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FileHelper.Serializer(settingsFilePath, settings);
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JacksonHelper.serializer(settingsFilePath, settings);
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else {
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try {
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settings = FileHelper.DeSerializer(settingsFilePath, GeneralSettings.class);
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settings = JacksonHelper.deserializer(settingsFilePath, GeneralSettings.class);
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} catch (IOException e) {
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System.err.println("Failed to load settings.json, using defaults.");
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}
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@@ -52,13 +54,14 @@ public class ConfigManager {
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}
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public static void initializeSettings() {
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System.out.println("Settings folder: " + SettingsPath.toString());
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checkSettingsFolder();
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checkSettingsFile();
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}
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private static void saveSettingsFile() {
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try {
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FileHelper.Serializer(settingsFilePath, settings);
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JacksonHelper.serializer(settingsFilePath, settings);
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} catch (IOException e) {
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System.err.println("Failed to save settings.json!");
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}
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@@ -69,97 +72,36 @@ public class ConfigManager {
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saveSettingsFile();
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}
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private static Path getCameraSpecificFolderPath(String cameraName) {
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return Paths.get(cameraConfigPath.toString(), cameraName);
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}
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private static Path getCameraSpecificConfigPath(String cameraName) {
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return Paths.get(getCameraSpecificFolderPath(cameraName).toString(), "camera.json");
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}
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private static Path getCameraSpecificPipelinesPath(String cameraName) {
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return Paths.get(getCameraSpecificFolderPath(cameraName).toString(), "pipelines.json");
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}
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private static Path getCameraSpecificDriverModePath(String cameraName) {
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return Paths.get(getCameraSpecificFolderPath(cameraName).toString(), "drivermode.json");
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}
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private static boolean cameraFolderExists(String cameraName) {
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return Files.exists(getCameraSpecificFolderPath(cameraName));
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}
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private static boolean cameraConfigExists(String cameraName) {
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return cameraFolderExists(cameraName) && Files.exists(getCameraSpecificConfigPath(cameraName));
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}
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private static boolean cameraPipelinesExists(String cameraName) {
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return cameraFolderExists(cameraName) && Files.exists(getCameraSpecificPipelinesPath(cameraName));
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}
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private static boolean cameraDriverModeExists(String cameraName) {
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return cameraFolderExists(cameraName) && Files.exists(getCameraSpecificDriverModePath(cameraName));
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}
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// TODO: (HIGH) cleanup!
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public static List<CameraConfig> initializeCameraConfig(List<CameraConfig> preliminaryConfigs) {
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var configList = new ArrayList<CameraConfig>();
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public static List<FullCameraConfiguration> initializeCameras(List<CameraJsonConfig> preliminaryConfigs) {
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List<FullCameraConfiguration> configList = new ArrayList<>();
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checkSettingsFolder();
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// loop over all the camera names and try to create settings folders for it
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preliminaryConfigs.forEach((preliminaryConfig) -> {
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String cameraName = preliminaryConfig.name;
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for (CameraJsonConfig preliminaryConfig : preliminaryConfigs) {
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CameraConfig cameraConfiguration = new CameraConfig(preliminaryConfig);
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cameraConfigs.put(preliminaryConfig.name, cameraConfiguration);
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final Path cameraConfigFolderPath = getCameraSpecificFolderPath(cameraName);
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final Path cameraConfigPath = getCameraSpecificConfigPath(cameraName);
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CameraJsonConfig camJsonConfig = cameraConfiguration.load();
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List<CVPipelineSettings> pipelines = cameraConfiguration.loadPipelines();
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CVPipelineSettings driverMode = cameraConfiguration.loadDriverMode();
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// check if the config folder exists, and if not, create it
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if (!cameraFolderExists(cameraName)) {
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try {
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Files.createDirectory(cameraConfigFolderPath);
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} catch (IOException e) {
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System.err.println("Failed to create camera config folder!");
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}
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} else {
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CameraConfig config = preliminaryConfig;
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// check if the config exists, and if not, create it
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if(!cameraConfigExists(cameraName)) {
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try {
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FileHelper.Serializer(cameraConfigPath, preliminaryConfig);
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else {
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try {
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config = FileHelper.DeSerializer(cameraConfigPath, CameraConfig.class);
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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configList.add(config);
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}
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});
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configList.add(new FullCameraConfiguration(camJsonConfig, pipelines, driverMode));
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}
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return configList;
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}
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public static void saveCameraPipelines(String cameraName, List<CVPipelineSettings> pipelines) throws IOException {
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Path cameraFolder = Paths.get(cameraConfigPath.toString(), cameraName);
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Path filePath = Paths.get(cameraFolder.toString(), cameraName,"pipelines.json");
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FileHelper.CheckPath(cameraFolder);
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FileHelper.Serializer(filePath, pipelines);
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public static void saveCameraConfig(String cameraName, CameraJsonConfig config) {
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cameraConfigs.get(cameraName).saveConfig(config);
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}
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public static void saveCameraDriverMode(String cameraName, CVPipelineSettings driverMode) throws IOException {
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Path cameraFolder = Paths.get(cameraConfigPath.toString(), cameraName);
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Path filePath = Paths.get(cameraFolder.toString(), cameraName,"driverMode.json");
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FileHelper.CheckPath(cameraFolder);
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FileHelper.Serializer(filePath, driverMode);
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public static void saveCameraPipelines(String cameraName, List<CVPipelineSettings> pipelines) {
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cameraConfigs.get(cameraName).savePipelines(pipelines);
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}
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public static void saveCameraConfig(String cameraName, CameraConfig config) throws IOException {
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Path cameraFolder = Paths.get(cameraConfigPath.toString(), cameraName);
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Path filePath = Paths.get(cameraFolder.toString(), cameraName,"driverMode.json");
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FileHelper.CheckPath(cameraFolder);
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FileHelper.Serializer(filePath, config);
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public static void saveCameraDriverMode(String cameraName, CVPipelineSettings driverMode) {
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cameraConfigs.get(cameraName).saveDriverMode(driverMode);
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}
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}
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@@ -0,0 +1,18 @@
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package com.chameleonvision.config;
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import com.chameleonvision.vision.pipeline.CVPipelineSettings;
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import java.util.List;
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public class FullCameraConfiguration {
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public final CameraJsonConfig cameraConfig;
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public final List<CVPipelineSettings> pipelines;
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public final CVPipelineSettings drivermode;
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public FullCameraConfiguration(CameraJsonConfig cameraConfig, List<CVPipelineSettings> pipelines, CVPipelineSettings drivermode) {
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this.cameraConfig = cameraConfig;
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this.pipelines = pipelines;
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this.drivermode = drivermode;
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}
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}
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