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Merged
DanPeled merged 1 commit into from
Mar 19, 2026
Merged

Loading all camera settings, better enumerated constraint #205

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19 changes: 13 additions & 6 deletions synapse_core/src/synapse/core/camera_factory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
import cv2
import numpy as np
from cscore import (CameraServer, CvSink, UsbCamera, VideoCamera, VideoMode,
VideoSource)
VideoProperty, VideoSource)
from ntcore import NetworkTable, NetworkTableEntry, NetworkTableInstance
from synapse_net.nt_client import NtClient
from synapse_net.proto.v1 import CalibrationDataProto
Expand Down Expand Up @@ -168,8 +168,7 @@ def generateNoSignalFrame(self, size: Resolution = (640, 480)) -> Frame:
colors = [
(255, 255, 255), # white
(0, 255, 255), # yellow
(255, 255, 0), # cyan
(0, 255, 0), # green
(255, 255, 0), # cyan (0, 255, 0), # green
(255, 0, 255), # magenta
(0, 0, 255), # red
(255, 0, 0), # blue
Expand Down Expand Up @@ -258,6 +257,9 @@ def setProperty(self, prop: str, value: Union[int, float]) -> None: ...
@abstractmethod
def getProperty(self, prop: str) -> Union[int, float, None]: ...

def getProperties(self) -> List[VideoProperty]:
return []

@abstractmethod
def setVideoMode(self, fps: int, width: int, height: int) -> None: ...

Expand Down Expand Up @@ -376,8 +378,8 @@ def __init__(self, name: str) -> None:
self.camera: VideoCamera
self.sink: CvSink
self.propertyMeta: PropertyMetaDict = {}
self._properties: Dict[str, Any] = {}
self._videoModes: List[Any] = []
self._properties: Dict[str, VideoProperty] = {}
self._videoModes: List[VideoMode] = []
self._validVideoModes: List[VideoMode] = []

# --- FIX: Memory Recycling Implementation ---
Expand All @@ -396,6 +398,9 @@ def __init__(self, name: str) -> None:
self._thread: Optional[threading.Thread] = None
self._lock = threading.Lock()

def getProperties(self) -> List:
return list(self._properties.values())

@classmethod
def create(
cls,
Expand All @@ -412,7 +417,6 @@ def create(
inst.camera = UsbCamera(f"USB Camera {index}", path)

inst.sink = CameraServer.getVideo(inst.camera)
inst.sink.getProperty("auto_exposure").set(0)

# Cache properties and metadata
props = inst.camera.enumerateProperties()
Expand All @@ -428,6 +432,7 @@ def create(

# Cache video modes and valid resolutions
inst._videoModes = inst.camera.enumerateVideoModes()
inst.camera.setExposureManual(1)
inst._validVideoModes = [mode for mode in inst._videoModes]

# This will call setVideoMode, which now initializes the buffer pool.
Expand Down Expand Up @@ -536,6 +541,8 @@ def close(self) -> None:
)

def setProperty(self, prop: str, value: Union[int, float, str]) -> None:
if prop == "orientation":
return
if prop == "resolution" and isinstance(value, str):
resolution = value.split("x")
width = int(resolution[0])
Expand Down
6 changes: 1 addition & 5 deletions synapse_core/src/synapse/core/camera_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,6 @@ def scanCameras(self) -> None:
found.append(info.productId)
newIndex = 0

print(self.requestedCameraUIDs)
if len(self.requestedCameraUIDs.keys()) > 0:
if id in self.requestedCameraUIDs.keys():
newIndex = self.requestedCameraUIDs.pop(id)
Expand Down Expand Up @@ -365,7 +364,7 @@ def addCameraData(

self.streamOutputs[cameraIndex] = self.createStreamOutput(cameraIndex)

ret, frame = camera.grabFrame()
frame = camera.generateNoSignalFrame()

if frame is not None:
self.streamOutputs[cameraIndex].putFrame(
Expand All @@ -381,9 +380,6 @@ def addCameraData(
.replace("mjpg:", "")
)

print(cameraConfig.name)
print(stream)

camera.stream = stream

self.setRecordingStatus(cameraIndex, False)
Expand Down
8 changes: 4 additions & 4 deletions synapse_core/src/synapse/core/pipeline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -208,7 +208,7 @@ def setSetting(self, setting: Union[Setting, str], value: SettingsValue) -> None
self.settings.setSetting(settingObj, value)
self.onSettingChanged(settingObj, self.getSetting(setting))
elif setting in CameraSettings():
collection = self.getCurrentCameraSettingCollection()
collection = self.getCameraSettings()
assert collection is not None
collection.setSetting(setting, value)
else:
Expand Down Expand Up @@ -309,11 +309,11 @@ def getCameraSetting(self, setting: Union[str, Setting]) -> Optional[Any]:
def setCameraSetting(
self, setting: Union[str, Setting], value: SettingsValue
) -> None:
collection = self.getCurrentCameraSettingCollection()
collection = self.getCameraSettings()
assert collection is not None
collection.setSetting(setting, value)

def getCurrentCameraSettingCollection(self) -> Optional[CameraSettings]:
def getCameraSettings(self) -> CameraSettings:
return self.cameraSettings

def onSettingChanged(self, setting: Setting, value: SettingsValue) -> None:
Expand All @@ -332,7 +332,7 @@ def pipelineToProto(inst: Pipeline, index: int, cameraId: CameraID) -> PipelineP
for key in api.getSettingsSchema().keys()
}

cameraSettings = inst.getCurrentCameraSettingCollection()
cameraSettings = inst.getCameraSettings()
if cameraSettings:
cameraAPI = cameraSettings.getAPI()
settingsValues.update(
Expand Down
50 changes: 24 additions & 26 deletions synapse_core/src/synapse/core/runtime_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,7 @@ def __setupPipelineForCamera(

currPipeline.bind(cameraIndex, camera)

cameraSettings = currPipeline.getCurrentCameraSettingCollection()
cameraSettings = currPipeline.getCameraSettings()

assert cameraSettings is not None

Expand Down Expand Up @@ -348,24 +348,26 @@ def updateSetting(self, prop: str, cameraIndex: CameraID, value: Any) -> None:
)
assert pipeline is not None

settings = self.pipelineHandler.getPipelineSettings(
self.pipelineBindings[cameraIndex], cameraIndex
)
setting = settings.getAPI().getSetting(prop)
camera = self.cameraHandler.getCamera(cameraIndex)
camSettings = pipeline.getCameraSettings().getAPI().settings.keys()

if prop in CameraSettings().getAPI().settings.keys():
if prop in camSettings:
assert camera is not None
camera.setProperty(prop=prop, value=value)
pipeline.setCameraSetting(prop, value)
elif setting is not None:
settings.setSetting(prop, value)
pipeline.onSettingChanged(setting, settings.getSetting(prop))
else:
log.warn(
f"Attempted to set setting {prop} on pipeline #{pipeline.pipelineIndex} but it was not found!"
settings = self.pipelineHandler.getPipelineSettings(
self.pipelineBindings[cameraIndex], cameraIndex
)
return
setting = settings.getAPI().getSetting(prop)
if setting is not None:
pipeline.setSetting(prop, value)
pipeline.onSettingChanged(setting, settings.getSetting(prop))
else:
log.warn(
f"Attempted to set setting {prop} on pipeline #{pipeline.pipelineIndex} but it was not found!"
)
return

self.onSettingChanged.call(prop, value, cameraIndex)

Expand Down Expand Up @@ -726,20 +728,18 @@ def rotateCameraBySettings(self, settings: CameraSettings, frame: Frame) -> Fram

def fixBlackLevelOffset(self, settings: PipelineSettings, frame: Frame) -> Frame:
blackLevelOffset = settings.getSetting("black_level_offset")
if blackLevelOffset is None or blackLevelOffset == 0:
return frame

if blackLevelOffset == 0 or blackLevelOffset is None:
return frame # No adjustment needed

blackLevelOffset = -blackLevelOffset / 100
# Normalize to [0,1] and convert to float32
image = frame.astype(np.float32) / 255.0

# Convert to float32 for better precision
image = frame.astype(np.float32) / 255.0 # Normalize to range [0,1]
# Apply black level offset (scaled)
offset = blackLevelOffset / 100.0
image = np.clip(image + offset, 0, 1)

# Apply black level offset: lift only the darkest values
image = np.power(image + blackLevelOffset, 1.0) # Apply a soft offset

# Clip to valid range and convert back to uint8
return np.clip(image * 255, 0, 255).astype(np.uint8)
# Convert back to uint8
return (image * 255).astype(np.uint8)

def fixtureFrame(self, cameraIndex: CameraID, frame: Frame) -> Frame:
if (
Expand All @@ -752,9 +752,7 @@ def fixtureFrame(self, cameraIndex: CameraID, frame: Frame) -> Frame:
)
if pipeline is None:
return frame
settings: Optional[CameraSettings] = (
pipeline.getCurrentCameraSettingCollection()
)
settings: Optional[CameraSettings] = pipeline.getCameraSettings()
if settings is not None:
frame = self.rotateCameraBySettings(settings, frame)

Expand Down
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