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Turret bot vision fallback (close when cameras work again) #83

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4 changes: 2 additions & 2 deletions src/camera/camera_constants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ inline const camera_constant_t camera_constants[CAMERA_LENGTH] = {
.extrinsics_path = "/bos/constants/turret_bot/front_right_extrinsics.json",
.name = "turret_bot_front_right",
.backlight = 0.0,
.exposure = 4000.0},
.exposure = 1000.0},
[Camera::TURRET_BOT_FRONT_LEFT] =
camera_constant_t{
.pipeline = "/dev/v4l/by-path/"
Expand All @@ -125,7 +125,7 @@ inline const camera_constant_t camera_constants[CAMERA_LENGTH] = {
.extrinsics_path = "/bos/constants/turret_bot/front_left_extrinsics.json",
.name = "turret_bot_front_left",
.backlight = 0.0,
.exposure = 1000.0},
.exposure = 500.0},
[Camera::TURRET_BOT_BACK_RIGHT] =
camera_constant_t{
.pipeline =
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26 changes: 15 additions & 11 deletions src/camera/cv_camera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -11,17 +11,21 @@ CVCamera::CVCamera(const CameraConstant& c)
}
};

set_if(cv::CAP_PROP_BACKLIGHT, c.backlight);
set_if(cv::CAP_PROP_FRAME_WIDTH, c.frame_width);
set_if(cv::CAP_PROP_FRAME_HEIGHT, c.frame_height);
set_if(cv::CAP_PROP_FPS, c.fps);
set_if(cv::CAP_PROP_BRIGHTNESS, c.brightness);
set_if(cv::CAP_PROP_SHARPNESS, c.sharpness);

if (c.exposure) {
cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1); // V4L2: 1 = manual
cap_.set(cv::CAP_PROP_EXPOSURE, static_cast<double>(*c.exposure));
}
cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1); // V4L2: 1 = manual
cap_.set(cv::CAP_PROP_EXPOSURE, 25);
cap_.set(cv::CAP_PROP_BRIGHTNESS, 0);

// set_if(cv::CAP_PROP_BACKLIGHT, c.backlight);
// set_if(cv::CAP_PROP_FRAME_WIDTH, c.frame_width);
// set_if(cv::CAP_PROP_FRAME_HEIGHT, c.frame_height);
// set_if(cv::CAP_PROP_FPS, c.fps);
// set_if(cv::CAP_PROP_BRIGHTNESS, c.brightness);
// set_if(cv::CAP_PROP_SHARPNESS, c.sharpness);
//
// if (c.exposure) {
// cap_.set(cv::CAP_PROP_AUTO_EXPOSURE, 1); // V4L2: 1 = manual
// cap_.set(cv::CAP_PROP_EXPOSURE, static_cast<double>(*c.exposure));
// }
}

CVCamera::CVCamera(const std::string& pipeline)
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26 changes: 13 additions & 13 deletions src/turret_bot_main.cc
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Expand Up @@ -30,19 +30,19 @@ auto main() -> int {
// std::make_unique<camera::CVCamera>(
// camera::camera_constants[camera::Camera::IMX296_1])));

std::thread front_right_thread(
localization::run_localization, std::ref(front_right_camera),
std::make_unique<localization::GPUAprilTagDetector>(
front_right_camera.GetFrame().cols,
front_right_camera.GetFrame().rows,
utils::read_intrinsics(
camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
.intrinsics_path)),
std::make_unique<localization::SquareSolver>(
camera::Camera::TURRET_BOT_FRONT_RIGHT),
camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
.extrinsics_path,
4971, false);
// std::thread front_right_thread(
// localization::run_localization, std::ref(front_right_camera),
// std::make_unique<localization::GPUAprilTagDetector>(
// front_right_camera.GetFrame().cols,
// front_right_camera.GetFrame().rows,
// utils::read_intrinsics(
// camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
// .intrinsics_path)),
// std::make_unique<localization::SquareSolver>(
// camera::Camera::TURRET_BOT_FRONT_RIGHT),
// camera::camera_constants[camera::Camera::TURRET_BOT_FRONT_RIGHT]
// .extrinsics_path,
// 4971, false);

std::thread front_left_thread(
localization::run_localization, std::ref(front_left_camera),
Expand Down
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