diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java index 191c2ca91e..775bcbadd1 100644 --- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java +++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java @@ -52,4 +52,6 @@ public enum CameraQuirk { ArduOV9782, /** Camera has odd exposure range, and supports gain control */ See3Cam_24CUG, + /** Thrifty OV9281 */ + ThriftyOV9281Controls, } diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java index c6556e5892..47b1dbf6f9 100644 --- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java +++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java @@ -87,7 +87,9 @@ public class QuirkyCamera { CameraQuirk.ArduOV9782Controls), // Innomaker OV9281 new QuirkyCamera( - 0x0c45, 0x636d, "USB Camera", "Innomaker OV9281", CameraQuirk.InnoOV9281Controls)); + 0x0c45, 0x636d, "USB Camera", "Innomaker OV9281", CameraQuirk.InnoOV9281Controls), + // Thrifty OV9281 + new QuirkyCamera(0x1BCF, 0x28C5, CameraQuirk.ThriftyOV9281Controls, CameraQuirk.Gain)); public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, ""); public static final QuirkyCamera ZeroCopyPiCamera = diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ThriftyOV9281CameraSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ThriftyOV9281CameraSettables.java new file mode 100644 index 0000000000..236681c174 --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ThriftyOV9281CameraSettables.java @@ -0,0 +1,76 @@ +/* + * 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 . + */ + +package org.photonvision.vision.camera.USBCameras; + +import org.photonvision.common.configuration.CameraConfiguration; +import org.wpilib.util.PixelFormat; +import org.wpilib.vision.camera.UsbCamera; + +public class ThriftyOV9281CameraSettables extends GenericUSBCameraSettables { + + public ThriftyOV9281CameraSettables(CameraConfiguration configuration, UsbCamera camera) { + super(configuration, camera); + } + + @Override + protected void setUpExposureProperties() { + super.setUpExposureProperties(); + + // Fix the exposure lower and upper limits. + // The minimum usable exposure is above the UI default of 20, so + // the user is expected to increase exposure until the camera can + // pick up an image correctly. + this.minExposure = 1; + this.maxExposure = 2400; + } + + @Override + public void onCameraConnected() { + super.onCameraConnected(); + + // Filter out YUYV modes. The Sunplus SPCA2688 ISP's MJPEG encoder + // breaks permanently if a YUYV↔MJPEG format switch occurs. + // Only MJPEG modes (120fps) are usable; YUYV modes are 5-30fps anyway. + int originalSize = videoModes.size(); + videoModes.removeIf(m -> m.pixelFormat != PixelFormat.MJPEG); + if (videoModes.size() < originalSize) { + logger.info("Filtered to " + videoModes.size() + " MJPEG-only modes (YUYV removed)"); + } + } + + @Override + public void setAllCamDefaults() { + // Disable continuous autofocus BEFORE super tries to set focus_absolute + softSet("focus_automatic_continuous", 0); + super.setAllCamDefaults(); + logger.info("Setting All Cam Defaults :: ThriftyOV9281"); + softSet("focus_absolute", 0); + } + + @Override + public void setAutoExposureImpl(boolean cameraAutoExposure) { + logger.debug("Setting auto exposure :: ThriftyOV9281 :: " + cameraAutoExposure); + if (autoExposureProp != null) { + autoExposureProp.set( + cameraAutoExposure ? PROP_AUTO_EXPOSURE_ENABLED : PROP_AUTO_EXPOSURE_DISABLED); + } + if (!cameraAutoExposure) { + setExposureRaw(this.lastExposureRaw); + } + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java index c25b8a3781..c17cba6be2 100644 --- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java +++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java @@ -150,6 +150,9 @@ protected GenericUSBCameraSettables createSettables( settables = new InnoOV9281CameraSettables(config, camera); } else if (quirks.hasQuirk(CameraQuirk.See3Cam_24CUG)) { settables = new See3Cam24CUGSettables(config, camera); + } else if (quirks.hasQuirk(CameraQuirk.ThriftyOV9281Controls)) { + logger.debug("Using Thrifty OV9281 Settables"); + settables = new ThriftyOV9281CameraSettables(config, camera); } else { logger.debug("Using Generic USB Cam Settables"); settables = new GenericUSBCameraSettables(config, camera);