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ElectricTurtle32ElectricTurtle32
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Add Camera Focus Mode (#2180)
## Description Camera focus tool pipeline using a Laplacian and finding the variance. Similar to Limelight. closes #1597 ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [x] This PR has been [linted](https://docs.photonvision.org/en/latest/docs/contributing/linting.html). - [x] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [x] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added
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‎docs/source/docs/quick-start/camera-focusing.md‎

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# Camera Focusing
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## Prepare Camera
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:::{warning}
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Refocusing your camera **will** make your calibration inaccurate, make sure to recalibrate after focusing.
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:::
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To ensure that your camera is focused properly, mount it to a secure surface and ensure it does not move drastically. Point your camera at a detailed surface like a calibration board, and make sure that it not too close to the camera.
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## Using Focus Mode
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:::{important}
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When you enable Focus Mode, it will assign a *Score* to the current focus, this score depends on your environment and the lighting. This score cannot be compared to a focus score collected from other environments.
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:::
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- In the Cameras tab, turn on Focus Mode.
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- Rotate the lens on your camera to try and get the focus score as high as possible.
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- Once you cannot get a higher score, this indicates that your camera is fully focused and can be set in place using glue if desired.
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```{image} images/focusModeExample.png
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:scale: 50%
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```

‎docs/source/docs/quick-start/images/focusModeExample.png‎

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‎docs/source/docs/quick-start/index.md‎

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@@ -9,5 +9,6 @@ wiring
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networking
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camera-matching
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camera-calibration
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camera-focusing
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quick-configure
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```

‎photon-client/src/components/cameras/CameraSettingsCard.vue‎

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@@ -2,6 +2,7 @@
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import PvSelect, { type SelectItem } from "@/components/common/pv-select.vue";
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import PvInput from "@/components/common/pv-input.vue";
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import PvNumberInput from "@/components/common/pv-number-input.vue";
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import PvSwitch from "@/components/common/pv-switch.vue";
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import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
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import { useStateStore } from "@/stores/StateStore";
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import { computed, ref, watchEffect } from "vue";
@@ -15,7 +16,14 @@ const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
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fov: useCameraSettingsStore().currentCameraSettings.fov.value,
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quirksToChange: Object.assign({}, useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks)
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});
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const focusMode = computed<boolean>({
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get: () => useCameraSettingsStore().isFocusMode,
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set: (v) =>
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useCameraSettingsStore().changeCurrentPipelineIndex(
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v ? -3 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
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true
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)
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});
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const arducamSelectWrapper = computed<number>({
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get: () => {
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if (tempSettingsStruct.value.quirksToChange.ArduOV9281Controls) return 1;
@@ -166,6 +174,11 @@ const wrappedCameras = computed<SelectItem[]>(() =>
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]"
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:select-cols="8"
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/>
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<pv-switch
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v-model="focusMode"
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tooltip="Enable Focus Mode to start focusing the lens on your camera"
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label="Focus Mode"
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></pv-switch>
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</v-card-text>
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<v-card-text class="d-flex pt-0">
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<v-col cols="6" class="pa-0 pr-2">

‎photon-client/src/components/cameras/CamerasView.vue‎

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@@ -58,6 +58,15 @@ const fpsTooLow = computed<boolean>(() => {
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<v-chip v-else label color="red" variant="text" style="font-size: 1rem; padding: 0; margin: 0">
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<span class="pr-1">Camera not connected</span>
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</v-chip>
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<v-chip
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v-if="useCameraSettingsStore().isFocusMode"
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label
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color="primary"
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variant="text"
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style="font-size: 1rem; padding: 0; margin: auto"
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>
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<span class="pr-1"> Focus: {{ Math.round(useStateStore().currentPipelineResults?.focus || 0) }} </span>
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</v-chip>
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<v-switch
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v-model="driverMode"
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:disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
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color="buttonPassive"
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class="fill"
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:variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
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:disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
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:disabled="
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useCameraSettingsStore().isDriverMode ||
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useCameraSettingsStore().isCalibrationMode ||
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useCameraSettingsStore().isFocusMode
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"
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>
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<v-icon start class="mode-btn-icon" size="large">mdi-import</v-icon>
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<span class="mode-btn-label">Raw</span>
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color="buttonPassive"
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class="fill"
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:variant="theme.global.name.value === 'LightTheme' ? 'elevated' : 'outlined'"
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:disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
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:disabled="
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useCameraSettingsStore().isDriverMode ||
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useCameraSettingsStore().isCalibrationMode ||
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useCameraSettingsStore().isFocusMode
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"
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>
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<v-icon start class="mode-btn-icon" size="large">mdi-export</v-icon>
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<span class="mode-btn-label">Processed</span>

‎photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue‎

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if (useCameraSettingsStore().isDriverMode) {
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pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
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}
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if (useCameraSettingsStore().isFocusMode) {
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pipelineNames.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera });
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}
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if (useCameraSettingsStore().isCalibrationMode) {
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pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
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}
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if (useCameraSettingsStore().isDriverMode) {
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pipelineTypes.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
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}
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if (useCameraSettingsStore().isFocusMode) {
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pipelineTypes.push({ name: "Focus Mode", value: WebsocketPipelineType.FocusCamera });
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}
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if (useCameraSettingsStore().isCalibrationMode) {
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pipelineTypes.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
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}
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const currentPipelineType = computed<WebsocketPipelineType>({
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get: () => {
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if (useCameraSettingsStore().isDriverMode) return WebsocketPipelineType.DriverMode;
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if (useCameraSettingsStore().isFocusMode) return WebsocketPipelineType.FocusCamera;
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if (useCameraSettingsStore().isCalibrationMode) return WebsocketPipelineType.Calib3d;
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return pipelineType.value;
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},
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tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
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:disabled="
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useCameraSettingsStore().isDriverMode ||
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useCameraSettingsStore().isFocusMode ||
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useCameraSettingsStore().isCalibrationMode ||
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!useCameraSettingsStore().hasConnected
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"
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tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
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:disabled="
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useCameraSettingsStore().isDriverMode ||
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useCameraSettingsStore().isFocusMode ||
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useCameraSettingsStore().isCalibrationMode ||
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!useCameraSettingsStore().hasConnected
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"

‎photon-client/src/components/dashboard/StreamConfigCard.vue‎

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<template>
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<v-card
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:disabled="useCameraSettingsStore().isDriverMode || useStateStore().colorPickingMode"
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:disabled="
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useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isFocusMode || useStateStore().colorPickingMode
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"
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class="mt-3 rounded-12"
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color="surface"
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style="flex-grow: 1; display: flex; flex-direction: column"

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

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isCalibrationMode(): boolean {
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return this.currentCameraSettings.currentPipelineIndex == WebsocketPipelineType.Calib3d;
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},
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isFocusMode(): boolean {
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return this.currentCameraSettings.currentPipelineIndex == WebsocketPipelineType.FocusCamera;
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},
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isCSICamera(): boolean {
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return this.currentCameraSettings.isCSICamera;
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},

‎photon-client/src/types/PhotonTrackingTypes.ts‎

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sequenceID: number;
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fps: number;
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latency: number;
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// Focus pipeline
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focus?: number;
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targets: PhotonTarget[];
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// undefined if multitag failed or non-tag pipeline
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multitagResult?: MultitagResult;

‎photon-client/src/types/WebsocketDataTypes.ts‎

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}
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export enum WebsocketPipelineType {
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FocusCamera = -3,
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Calib3d = -2,
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DriverMode = -1,
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Reflective = 0,

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