camera config classes (#73)

* camera config classes

* camera config classes updated

* updated camera_comfig

* updated camera config

* updated config

* updated camera config

* styling errors fix

* styling fixes

* fixed errors

* styling issues

* fixed styling

* fixed styling:

* fixed styling

Author: joeyhlu

modules/camera/base_camera.py

@@ -6,6 +6,8 @@
 
 import numpy as np
 
+from . import camera_configurations
+
 
 class BaseCameraDevice(abc.ABC):
     """
@@ -15,7 +17,10 @@ class BaseCameraDevice(abc.ABC):
     @classmethod
     @abc.abstractmethod
     def create(
-        cls, width: int, height: int
+        cls,
+        width: int,
+        height: int,
+        config: camera_configurations.PiCameraConfig | camera_configurations.OpenCVCameraConfig,
     ) -> "tuple[True, BaseCameraDevice] | tuple[False, None]":
         """
         Abstract create method.

modules/camera/camera_configurations.py

@@ -0,0 +1,62 @@
+"""
+Camera configuration
+"""
+
+try:
+    from libcamera import controls  # This is a pre-installed library on the Rpi5
+except ImportError:
+    pass
+
+
+class PiCameraConfig:
+    """
+    Configuration for the PiCamera.
+    This class allows specifying parameters such as exposure time, gain, and contrast.
+    """
+
+    def __init__(
+        self,
+        exposure_time: int = 250,
+        analogue_gain: float = 64.0,
+        contrast: float = 1.0,
+        lens_position: float = None,
+    ) -> None:
+        """
+        Args:
+            exposure_time (int)
+            analogue_gain (float)
+            contrast (float)
+            lens_position (float)
+        """
+        self.exposure_time = exposure_time
+        self.analogue_gain = analogue_gain
+        self.contrast = contrast
+        self.lens_position = lens_position
+
+    def to_dict(self) -> dict[str, int | float | None]:
+        """
+        Dictionary containing camera controls.
+        """
+        camera_controls: dict[str, int | float] = {}
+        if self.exposure_time is not None:
+            camera_controls["ExposureTime"] = self.exposure_time
+        if self.analogue_gain is not None:
+            camera_controls["AnalogueGain"] = self.analogue_gain
+        if self.contrast is not None:
+            camera_controls["Contrast"] = self.contrast
+        if self.lens_position is not None:
+            camera_controls["LensPosition"] = self.lens_position
+            camera_controls["AfMode"] = controls.AfModeEnum.Manual
+        else:
+            camera_controls["LensPosition"] = 0.0
+            camera_controls["AfMode"] = controls.AfModeEnum.Auto
+
+        return camera_controls
+
+
+class OpenCVCameraConfig:
+    """
+    Placeholder
+    """
+
+    pass  # pylint: disable=unnecessary-pass

modules/camera/camera_factory.py

@@ -5,6 +5,7 @@
 import enum
 
 from . import base_camera
+from . import camera_configurations
 from . import camera_opencv
 from . import camera_picamera2
 
@@ -19,7 +20,10 @@ class CameraOption(enum.Enum):
 
 
 def create_camera(
-    camera_option: CameraOption, width: int, height: int
+    camera_option: CameraOption,
+    width: int,
+    height: int,
+    config: camera_configurations.PiCameraConfig | camera_configurations.OpenCVCameraConfig,
 ) -> tuple[True, base_camera.BaseCameraDevice] | tuple[False, None]:
     """
     Create a camera object based off of given parameters.
@@ -28,8 +32,8 @@ def create_camera(
     """
     match camera_option:
         case CameraOption.OPENCV:
-            return camera_opencv.CameraOpenCV.create(width, height)
+            return camera_opencv.CameraOpenCV.create(width, height, config)
         case CameraOption.PICAM2:
-            return camera_picamera2.CameraPiCamera2.create(width, height)
+            return camera_picamera2.CameraPiCamera2.create(width, height, config)
 
     return False, None

modules/camera/camera_opencv.py

@@ -6,6 +6,7 @@
 import numpy as np
 
 from . import base_camera
+from . import camera_configurations
 
 
 class CameraOpenCV(base_camera.BaseCameraDevice):
@@ -16,15 +17,21 @@ class CameraOpenCV(base_camera.BaseCameraDevice):
     __create_key = object()
 
     @classmethod
-    def create(cls, width: int, height: int) -> "tuple[True, CameraOpenCV] | tuple[False, None]":
+    def create(
+        cls, width: int, height: int, config: camera_configurations.OpenCVCameraConfig = None
+    ) -> "tuple[True, CameraOpenCV] | tuple[False, None]":
         """
         OpenCV Camera.
 
         width: Width of the camera.
         height: Height of the camera.
+        config (OpenCVCameraConfig, optional): Configuration of the camera.
 
         Return: Success, camera object.
         """
+
+        # TODO: apply camera configs to camera here
+        _ = config  # placeholder
         camera = cv2.VideoCapture(0)
         if not camera.isOpened():
             return False, None

modules/camera/camera_picamera2.py

@@ -11,6 +11,8 @@
     pass
 
 from . import base_camera
+from . import camera_configurations
+
 
 # TODO: pass in as constructor parameter
 CAMERA_TIMEOUT = 1
@@ -24,23 +26,28 @@ class CameraPiCamera2(base_camera.BaseCameraDevice):
     __create_key = object()
 
     @classmethod
-    def create(cls, width: int, height: int) -> "tuple[True, CameraPiCamera2] | tuple[False, None]":
+    def create(
+        cls, width: int, height: int, config: camera_configurations.PiCameraConfig = None
+    ) -> "tuple[True, CameraPiCamera2] | tuple[False, None]":
         """
         Picamera2 Camera.
 
         width: Width of the camera.
         height: Height of the camera.
-
+        config (PiCameraConfig): Configuration object
         Return: Success, camera object.
         """
         try:
             camera = picamera2.Picamera2()
 
-            config = camera.create_still_configuration(
+            camera_config = camera.create_preview_configuration(
                 {"size": (width, height), "format": "RGB888"}
             )
-            camera.configure(config)
+            camera.configure(camera_config)
             camera.start()
+            if config:
+                controls = config.to_dict()
+                camera.set_controls(controls)
             return True, CameraPiCamera2(cls.__create_key, camera)
         except RuntimeError:
             return False, None

tests/integration/test_camera_opencv.py

@@ -6,6 +6,7 @@
 
 import cv2
 
+from modules.camera import camera_configurations
 from modules.camera import camera_factory
 
 
@@ -17,7 +18,12 @@ def main() -> int:
     """
     Main function.
     """
-    result, device = camera_factory.create_camera(camera_factory.CameraOption.OPENCV, 640, 480)
+    config = camera_configurations.OpenCVCameraConfig()
+    assert config is not None
+
+    result, device = camera_factory.create_camera(
+        camera_factory.CameraOption.OPENCV, 640, 480, config=config
+    )
     if not result:
         print("OpenCV camera creation error.")
         return -1

tests/integration/test_camera_picamera2.py

@@ -1,11 +1,12 @@
 """
-Test Picamera2 camera physically.
+Test Picamera2 camera physically and verifies configuration.
 """
 
 import pathlib
 
 import cv2
 
+from modules.camera import camera_configurations
 from modules.camera import camera_factory
 
 
@@ -17,7 +18,18 @@ def main() -> int:
     """
     Main function.
     """
-    result, device = camera_factory.create_camera(camera_factory.CameraOption.PICAM2, 640, 480)
+
+    config = camera_configurations.PiCameraConfig(
+        exposure_time=250, contrast=1.0, analogue_gain=64.0
+    )
+    assert config.exposure_time == 250
+    assert config.contrast == 1.0
+    assert config.analogue_gain == 64.0
+    assert config.lens_position is None
+
+    result, device = camera_factory.create_camera(
+        camera_factory.CameraOption.PICAM2, 640, 480, config
+    )
     if not result:
         print("Picamera2 camera creation error.")
         return -1

tests/integration/test_camera_qr_example.py

@@ -4,6 +4,7 @@
 
 import cv2
 
+from modules.camera import camera_configurations
 from modules.camera import camera_factory
 from modules.qr import qr_scanner
 
@@ -12,7 +13,10 @@ def main() -> int:
     """
     Main function.
     """
-    result, camera = camera_factory.create_camera(camera_factory.CameraOption.OPENCV, 640, 480)
+    config = camera_configurations.OpenCVCameraConfig()
+    result, camera = camera_factory.create_camera(
+        camera_factory.CameraOption.OPENCV, 640, 480, config=config
+    )
     if not result:
         print("OpenCV camera creation error.")
         return -1