Add awb switch

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -130,6 +130,25 @@ const interactiveCols = computed(() =>
       tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
     />
+
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoWhiteBalance"
+      class="pt-2"
+      label="Auto White Balance"
+      :switch-cols="interactiveCols"
+      tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoWhiteBalance: args }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.whiteBalanceTemp"
+      v-if="!useCameraSettingsStore().currentPipelineSettings.cameraAutoWhiteBalance"
+      label="White Balance Temperature"
+      :min="useCameraSettingsStore().minWhiteBalanceTemp"
+      :max="useCameraSettingsStore().maxWhiteBalanceTemp"
+      :slider-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ whiteBalanceTemp: args }, false)"
+    />
+
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
       label="Orientation"

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -74,7 +74,13 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     },
     maxExposureRaw(): number {
       return this.currentCameraSettings.maxExposureRaw;
-    }
+    },
+    minWhiteBalanceTemp(): number {
+      return this.currentCameraSettings.minWhiteBalanceTemp;
+    },
+    maxWhiteBalanceTemp(): number {
+      return this.currentCameraSettings.maxWhiteBalanceTemp;
+    },
   },
   actions: {
     updateCameraSettingsFromWebsocket(data: WebsocketCameraSettingsUpdate[]) {

photon-client/src/types/PipelineTypes.ts

@@ -77,6 +77,9 @@ export interface PipelineSettings {
   hsvSaturation: WebsocketNumberPair | [number, number];
   pipelineType: PipelineType;
   contourIntersection: number;
+
+  cameraAutoWhiteBalance: boolean;
+  whiteBalanceTemp: number;
 }
 export type ConfigurablePipelineSettings = Partial<
   Omit<
@@ -137,7 +140,9 @@ export const DefaultPipelineSettings: Omit<
   cornerDetectionStrategy: 0,
   cornerDetectionAccuracyPercentage: 10,
   hsvSaturation: { first: 50, second: 255 },
-  contourIntersection: 1
+  contourIntersection: 1,
+  cameraAutoWhiteBalance: false,
+  whiteBalanceTemp: 4000,
 };
 
 export interface ReflectivePipelineSettings extends PipelineSettings {

photon-client/src/types/SettingTypes.ts

@@ -198,6 +198,9 @@ export interface CameraSettings {
 
   minExposureRaw: number;
   maxExposureRaw: number;
+
+  minWhiteBalanceTemp: number;
+  maxWhiteBalanceTemp: number;
 }
 
 export interface CameraSettingsChangeRequest {
@@ -299,7 +302,9 @@ export const PlaceholderCameraSettings: CameraSettings = {
   },
   isCSICamera: false,
   minExposureRaw: 1,
-  maxExposureRaw: 100
+  maxExposureRaw: 100,
+  minWhiteBalanceTemp: 2000,
+  maxWhiteBalanceTemp: 10000,
 };
 
 export enum CalibrationBoardTypes {

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -181,5 +181,7 @@ public static class UICameraConfiguration {
         public boolean isCSICamera;
         public double minExposureRaw;
         public double maxExposureRaw;
+        public double minWhiteBalanceTemp;
+        public double maxWhiteBalanceTemp;
     }
 }

photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java

@@ -45,8 +45,34 @@ public Thread newThread(@NotNull Runnable r) {
         }
     }
 
-    private final ScheduledExecutorService timedTaskExecutorPool =
-            new ScheduledThreadPoolExecutor(2, new CaughtThreadFactory());
+    private final ScheduledThreadPoolExecutor timedTaskExecutorPool =
+            new ScheduledThreadPoolExecutor(2, new CaughtThreadFactory()) {
+                @SuppressWarnings("rawtypes")
+                protected void afterExecute(Runnable r, Throwable t) {
+                    super.afterExecute(r, t);
+                    // from
+                    // https://docs.oracle.com/javase/7/docs/api/java/util/concurrent/ThreadPoolExecutor.html#afterExecute(java.lang.Runnable,%20java.lang.Throwable)
+                    if (t == null && r instanceof Future<?>) {
+                        if (!((Future<?>) r).isDone()) {
+                            return;
+                        }
+                        try {
+                            Object result = ((Future<?>) r).get();
+                            if (result == null) return;
+                            logger.error("Result from ScheduledThreadPoolExecutor! " + result);
+                        } catch (CancellationException ce) {
+                            t = ce;
+                        } catch (ExecutionException ee) {
+                            t = ee.getCause();
+                        } catch (InterruptedException ie) {
+                            Thread.currentThread().interrupt(); // ignore/reset
+                        }
+                    }
+                    if (t != null) {
+                        logger.error("Error from ScheduledThreadPoolExecutor!", t);
+                    } 
+                }
+            };
     private final ConcurrentHashMap<String, Future<?>> activeTasks = new ConcurrentHashMap<>();
 
     public void addTask(String identifier, Runnable runnable, long millisInterval) {

photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java

@@ -27,7 +27,7 @@ public enum CameraQuirk {
     /** Cap at 100FPS for high-bandwidth cameras */
     FPSCap100,
     /** Separate red/blue gain controls available */
-    AWBGain,
+    AwbRedBlueGain,
     /** Will not work with photonvision - Logitec C270 at least */
     CompletelyBroken,
     /** Has adjustable focus and autofocus switch */

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -138,5 +138,22 @@ public double getMinExposureRaw() {
         public double getMaxExposureRaw() {
             return 100f;
         }
+
+        @Override
+        public void setAutoWhiteBalance(boolean autowb) {}
+
+        @Override
+        public void setWhiteBalanceTemp(double temp) {}
+
+
+        @Override
+        public double getMaxWhiteBalanceTemp() {
+            return 1;
+        }
+
+        @Override
+        public double getMinWhiteBalanceTemp() {
+            return 2;
+        }
     }
 }

photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java

@@ -260,4 +260,24 @@ public double getMinExposureRaw() {
     public double getMaxExposureRaw() {
         return this.maxExposure;
     }
+
+    @Override
+    public void setAutoWhiteBalance(boolean autowb) {
+        throw new RuntimeException("Libcamera doesn't support AWB temp (yet)");
+    }
+
+    @Override
+    public void setWhiteBalanceTemp(double temp) {
+        throw new RuntimeException("Libcamera doesn't support AWB temp -- use red/blue gain instead");
+    }
+
+        @Override
+        public double getMaxWhiteBalanceTemp() {
+            return 1;
+        }
+
+        @Override
+        public double getMinWhiteBalanceTemp() {
+            return 2;
+        }
 }

photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java

@@ -48,6 +48,8 @@ public class QuirkyCamera {
                     // PS3Eye
                     new QuirkyCamera(
                             0x1415, 0x2000, CameraQuirk.Gain, CameraQuirk.FPSCap100, CameraQuirk.PsEyeControls),
+                    // OBS hack
+                    new QuirkyCamera(-1, -1, CameraQuirk.CompletelyBroken),
                     // Logitech C925-e
                     new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus),
                     // Generic arducam. Since OV2311 can't be differentiated
@@ -97,7 +99,7 @@ public class QuirkyCamera {
                     -1,
                     "unicam",
                     CameraQuirk.Gain,
-                    CameraQuirk.AWBGain); // PiCam (using libpicam GPU Driver on raspberry pi)
+                    CameraQuirk.AwbRedBlueGain); // PiCam (using libcamera GPU Driver on raspberry pi)
 
     @JsonProperty("baseName")
     public final String baseName;

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java

@@ -24,7 +24,7 @@ public class ArduOV9782CameraSettables extends GenericUSBCameraSettables {
     public ArduOV9782CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
         super(configuration, camera);
         // Arbitrary, worked well in Chris's basement
-        whiteBalanceTemperature = 5300;
+        lastWhiteBalanceTemp = 5300;
 
         // According to Chris' pi, running an older kernel at least
         this.minExposure = 1;
@@ -37,7 +37,7 @@ public void setAllCamDefaults() {
         softSet("exposure_metering_mode", 0);
         softSet("exposure_dynamic_framerate", 0);
         softSet("white_balance_automatic", 0);
-        softSet("white_balance_temperature", whiteBalanceTemperature);
+        softSet("white_balance_temperature", lastWhiteBalanceTemp);
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java

@@ -46,15 +46,18 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
 
     protected VideoProperty exposureAbsProp = null;
     protected VideoProperty autoExposureProp = null;
+    protected VideoProperty wbTempProp = null;
 
     protected double minExposure = 1;
     protected double maxExposure = 80000;
 
+    protected double minWhiteBalanceTemp = 1;
+    protected double maxWhiteBalanceTemp = 4000;
+    protected int lastWhiteBalanceTemp = 4000;
+
     protected static final int PROP_AUTO_EXPOSURE_ENABLED = 3;
     protected static final int PROP_AUTO_EXPOSURE_DISABLED = 1;
 
-    protected int whiteBalanceTemperature = 4000;
-
     protected UsbCamera camera;
     protected CameraConfiguration configuration;
 
@@ -71,6 +74,10 @@ public GenericUSBCameraSettables(CameraConfiguration configuration, UsbCamera ca
                 setVideoMode(videoModes.get(0)); // fixes double FPS set
             }
         }
+
+        wbTempProp = findProperty("white_balance_temperature", "WhiteBalance").get();
+        this.minWhiteBalanceTemp = wbTempProp.getMin();
+        this.maxWhiteBalanceTemp = wbTempProp.getMax();
     }
 
     protected void setUpExposureProperties() {
@@ -102,6 +109,50 @@ public void setAllCamDefaults() {
         softSet("focus_absolute", 0); // Focus into infinity
     }
 
+    @Override
+    public void setWhiteBalanceTemp(double tempNumber) {
+        try {
+            int temp = (int) Math.round(tempNumber);
+
+            softSet("white_balance_auto_preset", 2);
+            softSet("white_balance_automatic", 0);
+
+            int propVal = (int) MathUtil.clamp(temp, minWhiteBalanceTemp, maxWhiteBalanceTemp);
+
+            logger.debug(
+                    "Setting property "
+                            + wbTempProp.getName()
+                            + " to "
+                            + propVal
+                            + " (user requested "
+                            + temp
+                            + " degrees)");
+
+            wbTempProp.set(propVal);
+
+            this.lastWhiteBalanceTemp = temp;
+
+        } catch (VideoException e) {
+            logger.error("Failed to set camera exposure!", e);
+        }
+    }
+
+    @Override
+    public void setAutoWhiteBalance(boolean autoWB) {
+        logger.debug("Setting auto white balance to " + autoWB);
+
+        if (autoWB) {
+            // Seems to be a rpi-specific property?
+            softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
+            softSet("white_balance_automatic", 1);
+        } else {
+            softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
+            softSet("white_balance_automatic", 0);
+
+            wbTempProp.set(this.lastWhiteBalanceTemp);
+        }
+    }
+
     public void setAutoExposure(boolean cameraAutoExposure) {
         logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
@@ -110,9 +161,6 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("auto_exposure_bias", 0);
             softSet("iso_sensitivity_auto", 0); // Disable auto ISO adjustment
             softSet("iso_sensitivity", 0); // Manual ISO adjustment
-            softSet("white_balance_auto_preset", 2); // Auto white-balance disabled
-            softSet("white_balance_automatic", 0);
-            softSet("white_balance_temperature", whiteBalanceTemperature);
             autoExposureProp.set(PROP_AUTO_EXPOSURE_DISABLED);
 
             // Most cameras leave exposure time absolute at the last value from their AE
@@ -125,8 +173,6 @@ public void setAutoExposure(boolean cameraAutoExposure) {
             softSet("auto_exposure_bias", 12);
             softSet("iso_sensitivity_auto", 1);
             softSet("iso_sensitivity", 1); // Manual ISO adjustment by default
-            softSet("white_balance_auto_preset", 1); // Auto white-balance enabled
-            softSet("white_balance_automatic", 1);
             autoExposureProp.set(PROP_AUTO_EXPOSURE_ENABLED);
         }
     }
@@ -302,4 +348,15 @@ protected Optional<VideoProperty> findProperty(String... options) {
 
         return Optional.ofNullable(retProp);
     }
+
+
+        @Override
+        public double getMaxWhiteBalanceTemp() {
+            return wbTempProp.getMax();
+        }
+
+        @Override
+        public double getMinWhiteBalanceTemp() {
+            return wbTempProp.getMin();
+        }
 }

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -24,7 +24,7 @@
 import org.photonvision.vision.processes.VisionSourceSettables;
 
 public class USBFrameProvider extends CpuImageProcessor {
-    private static final Logger logger = new Logger(USBFrameProvider.class, LogGroup.Camera);
+    private final Logger logger;
 
     private final CvSink cvSink;
 
@@ -33,6 +33,8 @@ public class USBFrameProvider extends CpuImageProcessor {
 
     @SuppressWarnings("SpellCheckingInspection")
     public USBFrameProvider(CvSink sink, VisionSourceSettables visionSettables) {
+        logger = new Logger(USBFrameProvider.class, sink.getName(), LogGroup.Camera);
+
         cvSink = sink;
         cvSink.setEnabled(true);
         this.settables = visionSettables;

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java

@@ -58,6 +58,9 @@ public class CVPipelineSettings implements Cloneable {
     public boolean inputShouldShow = false;
     public boolean outputShouldShow = true;
 
+    public boolean cameraAutoWhiteBalance = false;
+    public double whiteBalanceTemp = 4000;
+
     @Override
     public boolean equals(Object o) {
         if (this == o) return true;