This PR is for part 1 of #1354. It focuses on adding a model selection
interface for models that exist in `photonvision_config/models/`. Upon
completion we can ship more than 1 model and users could upload their
own through `ssh` without deleting the shipped model. This PR also adds
the abstractions need to support more DNN backends (say OpenCV, or RPI
AI Kit)
Up next is adding a CRUD interface for managing models through the UI.
Uses logic in
https://github.com/PhotonVision/photon-libcamera-gl-driver/pull/16 to
push the ov9281 down to its true minimum exposure.
Updates UI to list the exposure settings in ~~microseconds.~~ Native
units - not everyone works in microseconds.
Does its darndest to actually try to set the exposure in
~~microseconds.~~ Native Units. To do this...
Lifecam is funky when doing this - [cscore limits the exposure settings
to certain quantized
values](https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129).
Add a new camera quirk to allow that.
~~Updated camera quirks to re-evaluate every camera load (rather than
recalling from settings - this shouldn't be necessary)~~ This should be
rolled back, needed for arducam type selection.
Updated camera quirk matching logic to make PID/VID optional, and
basename optional (and only match trailing characters). This enables
mirroring CSCore's logic for identifying lifecams by name.
Updated the USBCamera to primarily use cscore's exposed property names.
Since camera manufacturers use a potpourri of names for the same
thing....
For nice-to-have settings: new soft-set logic to try all possible names,
but gracefully pass if the property isn't there.
For required settings: Search a list for the first setting that's
supported, fail if none are supported.
More logging of camera properties to help debug.
Note: most of this work is because cscore doesn't directly expose a
massaged exposure-setting-absolute API (and, given what we've seen,
probably _shouldn't_, this struggle is not for the faint of heart).
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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
The OV9782 camera has a specific exposure range, so a camera quirk for
it needs to exist. The default white balance is also pretty bad, so it
must be adjusted.
Closes#1204
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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Cameron (3539) <theforgelover@gmail.com>
Windows users will have to add
`"-Dorg.gradle.java.home=C:\Users\Public\wpilib\2024\jdk"` to gradle
invocations, ie `./gradlew run
"-Dorg.gradle.java.home=C:\Users\Public\wpilib\2024\jdk"`, due to MSVC
ABI breakages and other stupidity
Add support for the old opencv charuco board like calibio.
Add support for other tag families while calibrating.
Fix calibration issue index out of range with charuco missing points.
Add charuco calibration to photonvision. Currently does not support generating custom charuco boards. This does not support https://calib.io/pages/camera-calibration-pattern-generator. Currently only supports the 4X4_50 family. Also removes all dotboard calibration. Fixes using the lowest possible fps while doing calibration (now uses the highest fps available for each resolution).
With the latest dev opi image, i saw this stack trace when object detection stopped working (threads hanging forever on detect(). The stack pointed me to somewhere inside the RGA. Based on this i moved resize into CPU (as our [native code already is lazy](6934abb26c/src/main/native/cpp/yolo_common.cpp (L227))), and was not able to see more crashes
[message.txt](https://github.com/PhotonVision/photonvision/files/14630158/message.txt)
Includes also a quick hack to add a shutdown hook that releases pipelines at exit.
- Fix CameraInfo equality check (which prevents the same camera on a new usb port from being enumerated by us)
- Fix warning prints
- Make matchCamerasOnlyByPath apply to Windows
- Add unit tests
Our current code matches cameras in this order (which I think is objectively wrong and stupid)
- by-id (/dev/v4l/by-id/product-string)
- by path (/dev/videoN)
- product string/name, but ascii only
- asks cscore to reconnect to cameras using `path`, which on linux is actually /dev/videoN. This isn't guaranteed to stick to a camera if you replug them weirdly at runtime.
This is silly and does not consider the actual physical usb port. I propose instead, in this order:
- By physical usb port path and base name
- by physical usb port path and USB VID/PID
- By base name only (with a toggle switch to disable this, and create a new VisionModule instead)
- Give cscore /dev/video/by-path on Linux systems, pinning Photon USBCameras to a particular usb port once created.
This changes lots of things so stay paranoid!
* Sort object detection results and reduce code dup.
* Filter objdet results by ratio and area
* Address code review
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Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
