Fix multicam and picam acceleration (#205)

Allows pipelines to access quirks
2026-06-22 01:11:40 +00:00 · 2020-12-31 22:41:57 -08:00
parent d92595f622
commit f676023a5d
15 changed files with 88 additions and 105 deletions
--- a/photon-server/src/main/java/org/photonvision/vision/camera/CameraQuirks.java
+++ b/photon-server/src/main/java/org/photonvision/vision/camera/CameraQuirks.java
@@ -1,22 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.camera;
-
-public enum CameraQuirks {
-    Gain
-}
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
@@ -19,6 +19,7 @@ package org.photonvision.vision.pipeline;

 import java.util.List;
 import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
@@ -26,10 +27,13 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
    protected S settings;
    protected FrameStaticProperties frameStaticProperties;
+    protected QuirkyCamera cameraQuirks;

-    protected void setPipeParams(FrameStaticProperties frameStaticProperties, S settings) {
+    protected void setPipeParams(
+            FrameStaticProperties frameStaticProperties, S settings, QuirkyCamera cameraQuirks) {
        this.settings = settings;
        this.frameStaticProperties = frameStaticProperties;
+        this.cameraQuirks = cameraQuirks;

        setPipeParamsImpl();
    }
@@ -46,11 +50,11 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
        this.settings = s;
    }

-    public R run(Frame frame) {
+    public R run(Frame frame, QuirkyCamera cameraQuirks) {
        if (settings == null) {
            throw new RuntimeException("No settings provided for pipeline!");
        }
-        setPipeParams(frame.frameStaticProperties, settings);
+        setPipeParams(frame.frameStaticProperties, settings, cameraQuirks);

        if (frame.image.getMat().empty()) {
            return (R) new CVPipelineResult(0, 0, List.of(), frame);
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -37,6 +37,7 @@ import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.PicamJNI;
 import org.photonvision.server.SocketHandler;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -80,11 +81,6 @@ public class Calibrate3dPipeline
        this.settings = new Calibration3dPipelineSettings();
        this.foundCornersList = new ArrayList<>();
        this.minSnapshots = minSnapshots;
-
-        if (PicamJNI.isSupported()) {
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(true);
-        }
    }

    @Override
@@ -98,20 +94,24 @@ public class Calibrate3dPipeline
                new Calibrate3dPipe.CalibratePipeParams(
                        new Size(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight));
        calibrate3dPipe.setParams(calibratePipeParams);
+
+        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
+            PicamJNI.setRotation(settings.inputImageRotationMode.value);
+            PicamJNI.setShouldCopyColor(true);
+        }
    }

    @Override
    protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings settings) {
        Mat inputColorMat = frame.image.getMat();
-        if (inputColorMat.channels() == 1 && PicamJNI.isSupported()) {
+        if (inputColorMat.channels() == 1
+                && cameraQuirks.hasQuirk(CameraQuirk.PiCam)
+                && PicamJNI.isSupported()) {
            long colorMatPtr = PicamJNI.grabFrame(true);
            if (colorMatPtr == 0) throw new RuntimeException("Got null Mat from GPU Picam driver");
            inputColorMat = new Mat(colorMatPtr);
        }

-        // Set the pipe parameters
-        setPipeParams(frame.frameStaticProperties, settings);
-
        if (this.calibrating) {
            return new CVPipelineResult(
                    0, 0, null, new Frame(new CVMat(inputColorMat), frame.frameStaticProperties));
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -192,8 +192,6 @@ public class ColoredShapePipeline

    @Override
    protected CVPipelineResult process(Frame frame, ColoredShapePipelineSettings settings) {
-        setPipeParams(frame.frameStaticProperties, settings);
-
        long sumPipeNanosElapsed = 0L;

        var rotateImageResult = rotateImagePipe.run(frame.image.getMat());
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -22,6 +22,7 @@ import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.PicamJNI;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
@@ -56,7 +57,7 @@ public class DriverModePipeline
        resizeImagePipe.setParams(
                new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));

-        if (PicamJNI.isSupported()) {
+        if (PicamJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
            PicamJNI.setRotation(settings.inputImageRotationMode.value);
            PicamJNI.setShouldCopyColor(true);
        }
@@ -65,7 +66,7 @@ public class DriverModePipeline
    @Override
    public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
        long totalNanos = 0;
-        boolean accelerated = PicamJNI.isSupported();
+        boolean accelerated = PicamJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);

        // apply pipes
        var inputMat = frame.image.getMat();
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -21,6 +21,7 @@ import java.util.List;
 import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.raspi.PicamJNI;
+import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Contour;
@@ -70,11 +71,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
        var rotateImageParams = new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
        rotateImagePipe.setParams(rotateImageParams);

-        if (!PicamJNI.isSupported()) {
-            var hsvParams =
-                    new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
-            hsvPipe.setParams(hsvParams);
-        } else {
+        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
            PicamJNI.setThresholds(
                    settings.hsvHue.getFirst() / 180d,
                    settings.hsvSaturation.getFirst() / 255d,
@@ -85,6 +82,10 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP

            PicamJNI.setRotation(settings.inputImageRotationMode.value);
            PicamJNI.setShouldCopyColor(settings.inputShouldShow);
+        } else {
+            var hsvParams =
+                    new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+            hsvPipe.setParams(hsvParams);
        }

        var findContoursParams = new FindContoursPipe.FindContoursParams();
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -86,15 +86,6 @@ public class VisionModule {
                        VisionModule.class,
                        visionSource.getSettables().getConfiguration().nickname,
                        LogGroup.VisionModule);
-        this.pipelineManager = pipelineManager;
-        this.visionSource = visionSource;
-        this.visionRunner =
-                new VisionRunner(
-                        this.visionSource.getFrameProvider(),
-                        this.pipelineManager::getCurrentUserPipeline,
-                        this::consumeResult);
-        this.streamRunnable = new StreamRunnable(new OutputStreamPipeline());
-        this.moduleIndex = index;

        // do this
        if (visionSource instanceof USBCameraSource) {
@@ -105,6 +96,17 @@ public class VisionModule {
            cameraQuirks = QuirkyCamera.DefaultCamera;
        }

+        this.pipelineManager = pipelineManager;
+        this.visionSource = visionSource;
+        this.visionRunner =
+                new VisionRunner(
+                        this.visionSource.getFrameProvider(),
+                        this.pipelineManager::getCurrentUserPipeline,
+                        this::consumeResult,
+                        this.cameraQuirks);
+        this.streamRunnable = new StreamRunnable(new OutputStreamPipeline());
+        this.moduleIndex = index;
+
        DataChangeService.getInstance().addSubscriber(new VisionModuleChangeSubscriber(this));

        createStreams();
@@ -488,7 +490,8 @@ public class VisionModule {
        consumePipelineResult(result);

        // Pipelines like DriverMode and Calibrate3dPipeline have null output frames
-        if (result.inputFrame != null) {
+        if (result.inputFrame != null
+                && (pipelineManager.getCurrentPipelineSettings() instanceof AdvancedPipelineSettings)) {
            streamRunnable.updateData(
                    result.inputFrame,
                    result.outputFrame,
--- a/photon-server/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-server/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -21,6 +21,7 @@ import java.util.function.Consumer;
 import java.util.function.Supplier;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.pipeline.CVPipeline;
@@ -35,6 +36,7 @@ public class VisionRunner {
    private final Supplier<Frame> frameSupplier;
    private final Supplier<CVPipeline> pipelineSupplier;
    private final Consumer<CVPipelineResult> pipelineResultConsumer;
+    private final QuirkyCamera cameraQuirks;

    private long loopCount;

@@ -49,10 +51,12 @@ public class VisionRunner {
    public VisionRunner(
            FrameProvider frameSupplier,
            Supplier<CVPipeline> pipelineSupplier,
-            Consumer<CVPipelineResult> pipelineResultConsumer) {
+            Consumer<CVPipelineResult> pipelineResultConsumer,
+            QuirkyCamera cameraQuirks) {
        this.frameSupplier = frameSupplier;
        this.pipelineSupplier = pipelineSupplier;
        this.pipelineResultConsumer = pipelineResultConsumer;
+        this.cameraQuirks = cameraQuirks;

        visionProcessThread = new Thread(this::update);
        visionProcessThread.setName("VisionRunner - " + frameSupplier.getName());
@@ -69,7 +73,7 @@ public class VisionRunner {
            var frame = frameSupplier.get();

            try {
-                var pipelineResult = pipeline.run(frame);
+                var pipelineResult = pipeline.run(frame, cameraQuirks);
                pipelineResultConsumer.accept(pipelineResult);
            } catch (Exception ex) {
                logger.error("Exception on loop " + loopCount);
--- a/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/BenchmarkTest.java
@@ -26,6 +26,7 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.NumberListUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -122,7 +123,7 @@ public class BenchmarkTest {
        // warmup for 5 loops.
        System.out.println("Warming up for 5 loops...");
        for (int i = 0; i < 5; i++) {
-            pipeline.run(frameProvider.get());
+            pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        }

        final List<Double> processingTimes = new ArrayList<>();
@@ -140,7 +141,8 @@ public class BenchmarkTest {
                        + frameProps.imageHeight);
        var benchmarkStartMillis = System.currentTimeMillis();
        do {
-            CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+            CVPipelineResult pipelineResult =
+                    pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
            pipelineResult.release();
            processingTimes.add(pipelineResult.processingMillis);
            latencyTimes.add(pipelineResult.getLatencyMillis());
--- a/photon-server/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
+++ b/photon-server/src/test/java/org/photonvision/common/ShapeBenchmarkTest.java
@@ -40,6 +40,7 @@ import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.NumberListUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -150,7 +151,7 @@ public class ShapeBenchmarkTest {
        // warmup for 5 loops.
        System.out.println("Warming up for 5 loops...");
        for (int i = 0; i < 5; i++) {
-            pipeline.run(frameProvider.get());
+            pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        }

        final List<Double> processingTimes = new ArrayList<>();
@@ -168,7 +169,8 @@ public class ShapeBenchmarkTest {
                        + frameProps.imageHeight);
        var benchmarkStartMillis = System.currentTimeMillis();
        do {
-            CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+            CVPipelineResult pipelineResult =
+                    pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
            pipelineResult.release();
            processingTimes.add(pipelineResult.processingMillis);
            latencyTimes.add(pipelineResult.getLatencyMillis());
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -37,6 +37,7 @@ import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
@@ -102,7 +103,8 @@ public class Calibrate3dPipeTest {
                    calibration3dPipeline.run(
                            new Frame(
                                    new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
-                                    new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
+                                    new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
+                            QuirkyCamera.DefaultCamera);
            // TestUtils.showImage(output.outputFrame.image.getMat());
            output.release();
        }
@@ -117,7 +119,8 @@ public class Calibrate3dPipeTest {
                .run(
                        new Frame(
                                new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
-                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)))
+                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
+                        QuirkyCamera.DefaultCamera)
                .release();

        assertTrue(
@@ -264,7 +267,8 @@ public class Calibrate3dPipeTest {
                                new Frame(
                                        new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
                                        new FrameStaticProperties(
-                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)));
+                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)),
+                                QuirkyCamera.DefaultCamera);

                // TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
                output.outputFrame.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -25,6 +25,7 @@ import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -114,7 +115,7 @@ public class CirclePNPTest {
                        new Rotation2d(),
                        TestUtils.get2020LifeCamCoeffs(true));

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
@@ -125,7 +126,7 @@ public class CirclePNPTest {
        pipeline.settings = settings;

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -19,8 +19,8 @@ package org.photonvision.vision.pipeline;

 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.ContourGroupingMode;
 import org.photonvision.vision.opencv.ContourIntersectionDirection;
@@ -30,38 +30,29 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class ColoredShapePipelineTest {

    public static void testTriangleDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Triangle.");
        printTestResults(colouredShapePipelineResult);
    }

    public static void testQuadrilateralDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Quadrilateral;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Quadrilateral.");
        printTestResults(colouredShapePipelineResult);
    }

    public static void testCustomShapeDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Custom;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Custom.");
        printTestResults(colouredShapePipelineResult);
@@ -69,13 +60,10 @@ public class ColoredShapePipelineTest {

    @Test
    public static void testCircleShapeDetection(
-            ColoredShapePipeline pipeline,
-            ColoredShapePipelineSettings settings,
-            FrameStaticProperties frameStaticProperties,
-            Frame frame) {
+            ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
        settings.desiredShape = ContourShape.Circle;
-        pipeline.setPipeParams(frameStaticProperties, settings);
-        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame);
+        pipeline.settings = settings;
+        CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
        TestUtils.showImage(
                colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Circle.");
        printTestResults(colouredShapePipelineResult);
@@ -95,8 +83,7 @@ public class ColoredShapePipelineTest {
                new FileFrameProvider(
                        TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
                        TestUtils.WPI2019Image.FOV);
-        testCircleShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
+        testCircleShapeDetection(pipeline, settings, frameProvider.get());
    }

    public static void main(String[] args) {
@@ -120,14 +107,10 @@ public class ColoredShapePipelineTest {
        settings.accuracyPercentage = 30.0;

        ColoredShapePipeline pipeline = new ColoredShapePipeline();
-        testTriangleDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testQuadrilateralDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testCustomShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
-        testCircleShapeDetection(
-                pipeline, settings, frameProvider.get().frameStaticProperties, frameProvider.get());
+        testTriangleDetection(pipeline, settings, frameProvider.get());
+        testQuadrilateralDetection(pipeline, settings, frameProvider.get());
+        testCustomShapeDetection(pipeline, settings, frameProvider.get());
+        testCircleShapeDetection(pipeline, settings, frameProvider.get());
        testPowercellDetection(settings, pipeline);
    }

--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -20,6 +20,7 @@ package org.photonvision.vision.pipeline;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -50,7 +51,7 @@ public class ReflectivePipelineTest {

        CVPipelineResult pipelineResult;

-        pipelineResult = pipeline.run(frameProvider.get());
+        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        Assertions.assertTrue(pipelineResult.hasTargets());
@@ -74,7 +75,7 @@ public class ReflectivePipelineTest {
                        TestUtils.getWPIImagePath(TestUtils.WPI2020Image.kBlueGoal_108in_Center, false),
                        TestUtils.WPI2020Image.FOV);

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output");
@@ -84,7 +85,7 @@ public class ReflectivePipelineTest {
        var pipeline = new ReflectivePipeline();

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -29,6 +29,7 @@ import org.junit.jupiter.api.Test;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.opencv.CVMat;
@@ -109,7 +110,7 @@ public class SolvePNPTest {

        CVPipelineResult pipelineResult;

-        pipelineResult = pipeline.run(frameProvider.get());
+        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        // these numbers are not *accurate*, but they are known and expected
@@ -142,7 +143,7 @@ public class SolvePNPTest {
                        new Rotation2d(),
                        TestUtils.get2020LifeCamCoeffs(true));

-        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
+        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
        printTestResults(pipelineResult);

        // these numbers are not *accurate*, but they are known and expected
@@ -159,7 +160,7 @@ public class SolvePNPTest {
        pipeline.settings = settings;

        while (true) {
-            CVPipelineResult pipelineResult = pipeline.run(frame);
+            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
            printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();