Merge pull request #18 from ralatsdc/rl/make-auto-focus-option-dirty

Make auto focus option dirty
IQTLabs · Aug 28, 2023 · ad2bb09 · ad2bb09
2 parents 60e67df + a1d6465
commit ad2bb09
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Showing 3 changed files with 53 additions and 27 deletions.
diff --git a/axis-ptz-controller.env b/axis-ptz-controller.env
@@ -3,11 +3,11 @@ MQTT_IP=mqtt
 CAMERA_IP=<CAMERA_IP>
 CAMERA_USER=<CAMERA_USERNAME>
 CAMERA_PASSWORD=<CAMERA_PASSWORD>
-CONFIG_TOPIC="skyscan/config/json"
-ORIENTATION_TOPIC="skyscan/calibration/json"
+CONFIG_TOPIC=skyscan/config/json
+ORIENTATION_TOPIC=skyscan/calibration/json
 OBJECT_TOPIC=/Multimodal/${HOSTNAME}/selection/edgetech-axis-ptz-controller/JSON
-CAPTURE_TOPIC="skyscan/captures/json"
-LOGGER_TOPIC="skyscan/logger/json"
+CAPTURE_TOPIC=skyscan/captures/json
+LOGGER_TOPIC=skyscan/logger/json
 HEARTBEAT_INTERVAL=10
 TRIPOD_LATITUDE=<CAMERA_LAT>
 TRIPOD_LONGITUDE=<CAMERA_LON>
@@ -24,11 +24,11 @@ TILT_RATE_MIN=1.8
 TILT_RATE_MAX=150.0
 FOCUS_SLOPE=0.0006
 FOCUS_INTERCEPT=54
-JPEG_RESOLUTION="1920x1080"
+JPEG_RESOLUTION=1920x1080
 JPEG_COMPRESSION=5
 USE_MQTT=True
 USE_CAMERA=False
+AUTO_FOCUS=False
 INCLUDE_AGE=True
 LOG_TO_MQTT=False
 CONTINUE_ON_EXCEPTION=False
-
diff --git a/axis-ptz-controller/axis_ptz_controller.py b/axis-ptz-controller/axis_ptz_controller.py
@@ -62,6 +62,7 @@ def __init__(
         jpeg_compression: int = 5,
         use_mqtt: bool = True,
         use_camera: bool = True,
+        auto_focus: bool = False,
         include_age: bool = True,
         log_to_mqtt: bool = False,
         continue_on_exception: bool = False,
@@ -133,6 +134,8 @@ def __init__(
             Flag to use MQTT, or not
         use_camera: bool
             Flag to use camera configuration and control, or not
+        auto_focus: bool
+            Flag to auto focus, or not
         include_age: bool
             Flag to include object message age in lead time, or not
         log_to_mqtt: bool
@@ -179,6 +182,7 @@ def __init__(
         self.jpeg_compression = jpeg_compression
         self.use_mqtt = use_mqtt
         self.use_camera = use_camera
+        self.auto_focus = auto_focus
         self.include_age = include_age
         self.log_to_mqtt = log_to_mqtt
         self.continue_on_exception = continue_on_exception
@@ -316,10 +320,18 @@ def __init__(
 
         # Initialize camera pointing
         if self.use_camera:
-            logging.debug(f"Absolute move to pan: {self.rho_c}, and tilt: {self.tau_c}")
-            self.camera_control.absolute_move(
-                self.rho_c, self.tau_c, self.zoom, 50, self.focus
-            )
+            if self.auto_focus:
+                logging.info(
+                    f"Absolute move to pan: {self.rho_c}, and tilt: {self.tau_c}, with zoom: {self.zoom}"
+                )
+                self.camera_control.absolute_move(self.rho_c, self.tau_c, self.zoom, 50)
+            else:
+                logging.info(
+                    f"Absolute move to pan: {self.rho_c}, and tilt: {self.tau_c}, with zoom: {self.zoom}, and focus: {self.focus}"
+                )
+                self.camera_control.absolute_move(
+                    self.rho_c, self.tau_c, self.zoom, 50, self.focus
+                )
 
         # Log configuration parameters
         logging.info(
@@ -355,6 +367,7 @@ def __init__(
     jpeg_compression = {jpeg_compression}
     use_mqtt = {use_mqtt}
     use_camera = {use_camera}
+    auto_focus: {auto_focus}
     include_age = {include_age}
     log_to_mqtt = {log_to_mqtt}
     continue_on_exception = {continue_on_exception}
@@ -639,12 +652,20 @@ def _object_callback(
             # Point the camera at any new object directly
             if self.object_id != object_id:
                 self.object_id = object_id
-                logging.info(
-                    f"Absolute move to pan: {self.rho_o}, and tilt: {self.tau_o}, with zoom: {self.zoom}, and focus: {self.focus}"
-                )
-                self.camera_control.absolute_move(
-                    self.rho_o, self.tau_o, self.zoom, 50, self.focus
-                )
+                if self.auto_focus:
+                    logging.info(
+                        f"Absolute move to pan: {self.rho_o}, and tilt: {self.tau_o}, with zoom: {self.zoom}"
+                    )
+                    self.camera_control.absolute_move(
+                        self.rho_o, self.tau_o, self.zoom, 50
+                    )
+                else:
+                    logging.info(
+                        f"Absolute move to pan: {self.rho_o}, and tilt: {self.tau_o}, with zoom: {self.zoom}, and focus: {self.focus}"
+                    )
+                    self.camera_control.absolute_move(
+                        self.rho_o, self.tau_o, self.zoom, 50, self.focus
+                    )
                 duration = max(
                     math.fabs(self.rho_c - self.rho_o) / (self.pan_rate_max / 2),
                     math.fabs(self.tau_c - self.tau_o) / (self.tilt_rate_max / 2),
@@ -708,14 +729,15 @@ def _object_callback(
         # Compute and set focus, command camera pan and tilt rates,
         # and begin capturing images, if needed
         if self.use_camera:
-            self.focus = int(
-                (self.focus_max - self.focus_min)
-                * (self.focus_slope * self.distance3d + self.focus_intercept)
-                / 100.0
-                + self.focus_min
-            )  # [%]
-            logging.debug(f"Commanding focus: {self.focus}")
-            self.camera_control.set_focus(self.focus)
+            if not self.auto_focus:
+                self.focus = int(
+                    (self.focus_max - self.focus_min)
+                    * (self.focus_slope * self.distance3d + self.focus_intercept)
+                    / 100.0
+                    + self.focus_min
+                )  # [%]
+                logging.debug(f"Commanding focus: {self.focus}")
+                self.camera_control.set_focus(self.focus)
 
             pan_rate_index = self._compute_pan_rate_index(self.rho_dot_c)
             tilt_rate_index = self._compute_tilt_rate_index(self.tau_dot_c)
@@ -1027,6 +1049,7 @@ def main(self) -> None:
         jpeg_compression=int(os.getenv("JPEG_COMPRESSION", 5)),
         use_mqtt=ast.literal_eval(os.getenv("USE_MQTT", "True")),
         use_camera=ast.literal_eval(os.getenv("USE_CAMERA", "True")),
+        auto_focus=ast.literal_eval(os.getenv("AUTO_FOCUS", "True")),
         include_age=ast.literal_eval(os.getenv("INCLUDE_AGE", "True")),
         log_to_mqtt=ast.literal_eval(os.getenv("LOG_TO_MQTT", "False")),
         continue_on_exception=ast.literal_eval(

diff --git a/axis-ptz-controller/camera_control.py b/axis-ptz-controller/camera_control.py
@@ -54,9 +54,12 @@ def absolute_move(
             Returns the response from the device to the command sent.
 
         """
-        return self._camera_command(
-            {"pan": pan, "tilt": tilt, "zoom": zoom, "speed": speed, "focus": focus}
-        )
+        command = {"pan": pan, "tilt": tilt, "zoom": zoom, "speed": speed}
+        # Defensively only set focus if needed
+        if focus is not None:
+            command["focus"] = focus
+        logging.info(f"command: {command}")
+        return self._camera_command(command)
 
     def get_ptz(self) -> Tuple[float, float, float, float]:
         """