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Add quirks support for Pi camera (#2241)

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- Valid video modes (native modes plus some low-res modes)
- Exposure setting
This commit is contained in:
Peter Johnson
2020-01-07 20:21:28 -08:00
committed by GitHub
parent 0ec8ed6c05
commit 790dc552ca
2 changed files with 39 additions and 4 deletions
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40
cscore/src/main/native/linux/UsbCameraImpl.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -102,7 +102,7 @@ static bool IsPercentageProperty(wpi::StringRef name) {
if (name.startswith("raw_")) name = name.substr(4);
return name == "brightness" || name == "contrast" || name == "saturation" ||
name == "hue" || name == "sharpness" || name == "gain" ||
name == "exposure_absolute";
name == "exposure_absolute" || name == "exposure_time_absolute";
}
static constexpr const int quirkLifeCamHd3000[] = {
@@ -112,6 +112,10 @@ static constexpr char const* quirkPS3EyePropExAuto = "auto_exposure";
static constexpr char const* quirkPS3EyePropExValue = "exposure";
static constexpr const int quirkPS3EyePropExAutoOn = 0;
static constexpr const int quirkPS3EyePropExAutoOff = 1;
static constexpr char const* quirkPiCameraPropExValue =
"exposure_time_absolute";
static constexpr const int quirkPiCameraPropExAutoOn = 0;
static constexpr const int quirkPiCameraPropExAutoOff = 1;
int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
int rawValue) {
@@ -1112,6 +1116,25 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
}
}
// The Pi camera reports mode ranges, which we don't currently handle, so only
// provide a set of discrete modes; list based on
// https://picamera.readthedocs.io/en/release-1.10/fov.html
if (modes.empty() && m_picamera) {
for (VideoMode::PixelFormat pixelFormat :
{VideoMode::kYUYV, VideoMode::kMJPEG, VideoMode::kBGR}) {
modes.emplace_back(pixelFormat, 1920, 1080, 30);
modes.emplace_back(pixelFormat, 2592, 1944, 15);
modes.emplace_back(pixelFormat, 1296, 972, 42);
modes.emplace_back(pixelFormat, 1296, 730, 49);
modes.emplace_back(pixelFormat, 640, 480, 90);
modes.emplace_back(pixelFormat, 320, 240, 90);
modes.emplace_back(pixelFormat, 160, 120, 90);
modes.emplace_back(pixelFormat, 640, 480, 60);
modes.emplace_back(pixelFormat, 320, 240, 60);
modes.emplace_back(pixelFormat, 160, 120, 60);
}
}
{
std::scoped_lock lock(m_mutex);
m_videoModes.swap(modes);
@@ -1192,6 +1215,7 @@ void UsbCameraImpl::SetQuirks() {
wpi::StringRef desc = GetDescription(descbuf);
m_lifecam_exposure =
desc.endswith("LifeCam HD-3000") || desc.endswith("LifeCam Cinema (TM)");
m_picamera = desc.startswith("mmal service");
int deviceNum = GetDeviceNum(m_path.c_str());
if (deviceNum >= 0) {
@@ -1248,7 +1272,9 @@ void UsbCameraImpl::SetExposureAuto(CS_Status* status) {
if (m_ps3eyecam_exposure) {
SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
quirkPS3EyePropExAutoOn, status);
} else if (m_picamera) {
SetProperty(GetPropertyIndex(kPropExAuto), quirkPiCameraPropExAutoOn,
status);
} else {
SetProperty(GetPropertyIndex(kPropExAuto), 3, status);
}
@@ -1258,6 +1284,9 @@ void UsbCameraImpl::SetExposureHoldCurrent(CS_Status* status) {
if (m_ps3eyecam_exposure) {
SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
quirkPS3EyePropExAutoOff, status); // manual
} else if (m_picamera) {
SetProperty(GetPropertyIndex(kPropExAuto), quirkPiCameraPropExAutoOff,
status); // manual
} else {
SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
}
@@ -1267,6 +1296,9 @@ void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
if (m_ps3eyecam_exposure) {
SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
quirkPS3EyePropExAutoOff, status); // manual
} else if (m_picamera) {
SetProperty(GetPropertyIndex(kPropExAuto), quirkPiCameraPropExAutoOff,
status); // manual
} else {
SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
}
@@ -1277,6 +1309,8 @@ void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
}
if (m_ps3eyecam_exposure) {
SetProperty(GetPropertyIndex(quirkPS3EyePropExValue), value, status);
} else if (m_picamera) {
SetProperty(GetPropertyIndex(quirkPiCameraPropExValue), value, status);
} else {
SetProperty(GetPropertyIndex(kPropExValue), value, status);
}