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Compensate for binning in picam FOV (#186)

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Compensates for picam binning in the OV sensor.
This commit is contained in:
Matt
2020-12-23 00:42:39 -08:00
committed by GitHub
parent 5768648cde
commit f2f32da2f9
2 changed files with 48 additions and 29 deletions
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73
photon-server/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
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@@ -61,18 +61,25 @@ public class ZeroCopyPicamSource implements VisionSource {
*/
private static class FPSRatedVideoMode extends VideoMode {
public final int fpsActual;
public final double fovMultiplier;
public FPSRatedVideoMode(
PixelFormat pixelFormat, int width, int height, int ratedFPS, int actualFPS) {
PixelFormat pixelFormat,
int width,
int height,
int ratedFPS,
int actualFPS,
double fovMultiplier) {
super(pixelFormat, width, height, ratedFPS);
this.fpsActual = actualFPS;
this.fovMultiplier = fovMultiplier;
}
}
public static class PicamSettables extends VisionSourceSettables {
private VideoMode currentVideoMode;
private FPSRatedVideoMode currentVideoMode;
private double lastExposure;
private int lastBrightness;
private int lastGain;
@@ -81,28 +88,40 @@ public class ZeroCopyPicamSource implements VisionSource {
super(configuration);
videoModes = new HashMap<>();
videoModes.put(
0,
new FPSRatedVideoMode(
VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90)); // Was 120 on IMX219
videoModes.put(
1,
new FPSRatedVideoMode(
VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90)); // Was 65-70 on IMX219
videoModes.put(
2,
new FPSRatedVideoMode(
VideoMode.PixelFormat.kUnknown, 960, 720, 45, 60)); // Was 45 on IMX219
videoModes.put(
3,
new FPSRatedVideoMode(
VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45)); // Was 40 on IMX219
videoModes.put(
4,
new FPSRatedVideoMode(
VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20)); // Was 15 on IMX219
currentVideoMode = videoModes.get(0);
// TODO add IMX219 detection to the picam driver
// if(PicamJNI.isIMX219()) {
if (false) {
// Settings for the Picam V2
// TODO determine multipliers
videoModes.put(
0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
videoModes.put(
1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 40, 90, .72));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
} else {
// "High Quality" picam falls back on settings for OV sensor
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, 60, 1));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.92));
videoModes.put(
4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
}
currentVideoMode = (FPSRatedVideoMode) videoModes.get(0);
}
@Override
public double getFOV() {
return getCurrentVideoMode().fovMultiplier * getConfiguration().FOV;
}
@Override
@@ -124,15 +143,15 @@ public class ZeroCopyPicamSource implements VisionSource {
}
@Override
public VideoMode getCurrentVideoMode() {
public FPSRatedVideoMode getCurrentVideoMode() {
return currentVideoMode;
}
@Override
protected void setVideoModeInternal(VideoMode videoMode) {
var mode = (FPSRatedVideoMode) videoMode;
PicamJNI.destroyCamera();
PicamJNI.createCamera(
videoMode.width, videoMode.height, ((FPSRatedVideoMode) videoMode).fpsActual);
PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
// We don't store last settings on the native side, and when you change video mode these get
// reset on MMAL's end
@@ -140,7 +159,7 @@ public class ZeroCopyPicamSource implements VisionSource {
setBrightness(lastBrightness);
setGain(lastGain);
currentVideoMode = videoMode;
currentVideoMode = mode;
}
@Override