WIP: Add support for basler cameras

.envrc

@@ -0,0 +1 @@
+use nix

.gitignore

@@ -148,3 +148,6 @@ node_modules
 dist
 components.d.ts
 photon-server/src/main/resources/web/index.html
+
+# Direnv
+.direnv

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
-    "python.testing.cwd": "photon-lib/py"
+    "python.testing.cwd": "photon-lib/py",
+    "java.configuration.updateBuildConfiguration": "interactive"
 }

build.gradle

@@ -40,6 +40,7 @@ ext {
     libcameraDriverVersion = "v2025.0.4"
     rknnVersion = "dev-v2025.0.0-5-g666c0c6"
     rubikVersion = "dev-v2025.1.0-8-g067a316"
+    baslerVersion = "local"
     frcYear = "2025"
     mrcalVersion = "v2025.0.0";
 

photon-client/src/components/common/pv-camera-info-card.vue

@@ -18,6 +18,9 @@ const cameraInfoFor: any = (camera: PVCameraInfo) => {
   if (camera.PVFileCameraInfo) {
     return camera.PVFileCameraInfo;
   }
+  if (camera.PVBaslerCameraInfo) {
+    return camera.PVBaslerCameraInfo;
+  }
   return {};
 };
 </script>
@@ -39,6 +42,7 @@ const cameraInfoFor: any = (camera: PVCameraInfo) => {
           <td v-if="camera.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="camera.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="camera.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="camera.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr v-if="cameraInfoFor(camera).baseName !== undefined && cameraInfoFor(camera).baseName !== null">

photon-client/src/components/common/pv-camera-match-card.vue

@@ -36,6 +36,9 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
   if (camera.PVFileCameraInfo) {
     return camera.PVFileCameraInfo;
   }
+  if (camera.PVBaslerCameraInfo) {
+    return camera.PVBaslerCameraInfo;
+  }
   return {};
 };
 </script>
@@ -78,10 +81,12 @@ const cameraInfoFor = (camera: PVCameraInfo): any => {
           <td v-if="saved.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="saved.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="saved.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="saved.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
           <td v-if="current.PVUsbCameraInfo" class="mb-3">USB Camera</td>
           <td v-else-if="current.PVCSICameraInfo" class="mb-3">CSI Camera</td>
           <td v-else-if="current.PVFileCameraInfo" class="mb-3">File Camera</td>
+          <td v-else-if="current.PVBaslerCameraInfo" class="mb-3">Basler Camera</td>
           <td v-else>Unidentified Camera Type</td>
         </tr>
         <tr

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

@@ -6,7 +6,7 @@ import PvSelect from "@/components/common/pv-select.vue";
 import { computed } from "vue";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { getResolutionString } from "@/lib/PhotonUtils";
+import { getBinningString, getResolutionString } from "@/lib/PhotonUtils";
 import { useDisplay } from "vuetify";
 
 // Due to something with libcamera or something else IDK much about, the 90° rotations need to be disabled if the libcamera drivers are being used.
@@ -31,9 +31,9 @@ const getFilteredStreamDivisors = (): number[] => {
 const getNumberOfSkippedDivisors = () => streamDivisors.length - getFilteredStreamDivisors().length;
 
 const cameraResolutions = computed(() =>
-  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
-    (f) => `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`
-  )
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map((f) => {
+    return `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}${getBinningString(f.binning)}`;
+  })
 );
 const handleResolutionChange = (value: number) => {
   useCameraSettingsStore().changeCurrentPipelineSetting({ cameraVideoModeIndex: value }, false);
@@ -116,24 +116,38 @@ const interactiveCols = computed(() =>
     />
     <pv-slider
       v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
+      :disabled="
+        useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp === -1 &&
+        useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoWhiteBalance
+      "
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
-      label="Red AWB Gain"
+      :label="
+        useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp !== -1 ? 'Red AWB Gain' : 'Red Gain'
+      "
       :min="0"
       :max="100"
       :slider-cols="interactiveCols"
-      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls red white balance gain, which affects how the camera captures colors in different conditions"
       @update:modelValue="
         (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)
       "
     />
     <pv-slider
       v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
+      :disabled="(() => {
+        const temp = useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp;
+        const autoWB = useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoWhiteBalance;
+        console.log('Blue Gain - temp:', temp, 'autoWB:', autoWB, 'disabled:', temp === -1 && autoWB);
+        return temp === -1 && autoWB;
+      })()"
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
-      label="Blue AWB Gain"
+      :label="
+        useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp !== -1 ? 'Blue AWB Gain' : 'Blue Gain'
+      "
       :min="0"
       :max="100"
       :slider-cols="interactiveCols"
-      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls blue white balance gain, which affects how the camera captures colors in different conditions"
       @update:modelValue="
         (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)
       "
@@ -148,6 +162,7 @@ const interactiveCols = computed(() =>
       "
     />
     <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp !== -1"
       v-model="useCameraSettingsStore().currentPipelineSettings.cameraWhiteBalanceTemp"
       :disabled="useCameraSettingsStore().currentPipelineSettings.cameraAutoWhiteBalance"
       label="White Balance Temperature"

photon-client/src/lib/PhotonUtils.ts

@@ -1,11 +1,14 @@
-import type { Resolution } from "@/types/SettingTypes";
+import type { BinningConfig, Resolution } from "@/types/SettingTypes";
 
 export const resolutionsAreEqual = (a: Resolution, b: Resolution) => {
   return a.height === b.height && a.width === b.width;
 };
 
 export const getResolutionString = (resolution: Resolution): string => `${resolution.width}x${resolution.height}`;
 
+export const getBinningString = (binning?: BinningConfig): string =>
+  binning != null && binning.mode !== "NONE" ? ` ${binning.mode} ${binning.horz}x${binning.vert}` : "";
+
 export const parseJsonFile = async <T extends Record<string, any>>(file: File): Promise<T> => {
   return new Promise((resolve, reject) => {
     const fileReader = new FileReader();

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

@@ -101,6 +101,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
   actions: {
     updateCameraSettingsFromWebsocket(data: WebsocketCameraSettingsUpdate[]) {
       const configuredCameras = data.reduce<{ [key: string]: UiCameraConfiguration }>((acc, d) => {
+        console.log("Bmode: " + d.videoFormatList[0].binningMode);
         acc[d.uniqueName] = {
           cameraPath: d.cameraPath,
           nickname: d.nickname,
@@ -128,7 +129,16 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
               horizontalFOV: v.horizontalFOV,
               verticalFOV: v.verticalFOV,
               standardDeviation: v.standardDeviation,
-              mean: v.mean
+              mean: v.mean,
+              ...(v.binningMode !== undefined &&
+                v.binningHorz !== undefined &&
+                v.binningVert !== undefined && {
+                  binning: {
+                    mode: v.binningMode,
+                    horz: v.binningHorz,
+                    vert: v.binningVert
+                  }
+                })
             })),
           completeCalibrations: d.calibrations,
           isCSICamera: d.isCSICamera,
@@ -145,6 +155,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           hasConnected: d.hasConnected,
           mismatch: d.mismatch
         };
+
         return acc;
       }, {});
       this.cameras =

photon-client/src/types/SettingTypes.ts

@@ -74,7 +74,7 @@ export interface PVCameraInfoBase {
   Huge hack. In Jackson, this is set based on the underlying type -- this
   then maps to one of the 3 subclasses here below. Not sure how to best deal with this.
   */
-  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo";
+  cameraTypename: "PVUsbCameraInfo" | "PVCSICameraInfo" | "PVFileCameraInfo" | "PVBaslerCameraInfo";
 }
 
 export interface PVUsbCameraInfo {
@@ -103,11 +103,19 @@ export interface PVFileCameraInfo {
   uniquePath: string;
 }
 
+export interface PVBaslerCameraInfo {
+  serial: string;
+  model: string;
+
+  uniquePath: string;
+}
+
 // This camera info will only ever hold one of its members - the others should be undefined.
 export class PVCameraInfo {
   PVUsbCameraInfo: PVUsbCameraInfo | undefined;
   PVCSICameraInfo: PVCSICameraInfo | undefined;
   PVFileCameraInfo: PVFileCameraInfo | undefined;
+  PVBaslerCameraInfo: PVBaslerCameraInfo | undefined;
 }
 
 export interface VsmState {
@@ -139,10 +147,17 @@ export interface Resolution {
   height: number;
 }
 
+export interface BinningConfig {
+  mode: String;
+  horz: number;
+  vert: number;
+}
+
 export interface VideoFormat {
   resolution: Resolution;
   fps: number;
   pixelFormat: string;
+  binning?: BinningConfig;
   index?: number;
   diagonalFOV?: number;
   horizontalFOV?: number;
@@ -220,7 +235,9 @@ export enum ValidQuirks {
   PiCam = "PiCam",
   StickyFPS = "StickyFPS",
   LifeCamControls = "LifeCamControls",
-  PsEyeControls = "PsEyeControls"
+  PsEyeControls = "PsEyeControls",
+  BaslerDaA1280Controls = "BaslerDaA1280Controls",
+  ManualWB = "ManualWB"
 }
 
 export interface QuirkyCamera {
@@ -371,7 +388,9 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = {
       StickyFPS: false,
       InnoOV9281Controls: false,
       LifeCamControls: false,
-      PsEyeControls: false
+      PsEyeControls: false,
+      BaslerDaA1280Controls: false,
+      ManualWB: false
     }
   },
   isCSICamera: false,
@@ -386,7 +405,8 @@ export const PlaceholderCameraSettings: UiCameraConfiguration = {
       uniquePath: "/dev/foobar2"
     },
     PVCSICameraInfo: undefined,
-    PVUsbCameraInfo: undefined
+    PVUsbCameraInfo: undefined,
+    PVBaslerCameraInfo: undefined
   },
   isConnected: true,
   hasConnected: true,

photon-client/src/types/WebsocketDataTypes.ts

@@ -43,6 +43,9 @@ export type WebsocketVideoFormat = Record<
     verticalFOV?: number;
     standardDeviation?: number;
     mean?: number;
+    binningMode?: String;
+    binningHorz?: number;
+    binningVert?: number;
   }
 >;
 

photon-client/src/views/CameraMatchingView.vue

@@ -5,6 +5,7 @@ import { useStateStore } from "@/stores/StateStore";
 import {
   PlaceholderCameraSettings,
   PVCameraInfo,
+  type PVBaslerCameraInfo,
   type PVCSICameraInfo,
   type PVFileCameraInfo,
   type PVUsbCameraInfo,
@@ -221,7 +222,7 @@ const yesDeleteMySettingsText = ref("");
 /**
  * Get the connection-type-specific camera info from the given PVCameraInfo object.
  */
-const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | any => {
+const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICameraInfo | PVFileCameraInfo | PVBaslerCameraInfo | any => {
   if (!camera) return null;
   if (camera.PVUsbCameraInfo) {
     return camera.PVUsbCameraInfo;
@@ -232,6 +233,9 @@ const cameraInfoFor = (camera: PVCameraInfo | null): PVUsbCameraInfo | PVCSICame
   if (camera.PVFileCameraInfo) {
     return camera.PVFileCameraInfo;
   }
+  if (camera.PVBaslerCameraInfo) {
+    return camera.PVBaslerCameraInfo;
+  }
   return {};
 };
 
@@ -243,7 +247,8 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
     return {
       PVFileCameraInfo: undefined,
       PVCSICameraInfo: undefined,
-      PVUsbCameraInfo: undefined
+      PVUsbCameraInfo: undefined,
+      PVBaslerCameraInfo: undefined,
     };
   }
   return (
@@ -252,7 +257,8 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
     ) || {
       PVFileCameraInfo: undefined,
       PVCSICameraInfo: undefined,
-      PVUsbCameraInfo: undefined
+      PVUsbCameraInfo: undefined,
+      PVBaslerCameraInfo: undefined,
     }
   );
 };
@@ -477,6 +483,7 @@ const getMatchedDevice = (info: PVCameraInfo | undefined): PVCameraInfo => {
             <span v-if="camera.PVUsbCameraInfo">USB Camera:</span>
             <span v-else-if="camera.PVCSICameraInfo">CSI Camera:</span>
             <span v-else-if="camera.PVFileCameraInfo">File Camera:</span>
+            <span v-else-if="camera.PVBaslerCameraInfo">Basler Camera:</span>
             <span v-else>Unknown Camera:</span>
             &nbsp;<span>{{ cameraInfoFor(camera)?.name ?? cameraInfoFor(camera)?.baseName }}</span>
           </v-card-title>

photon-core/build.gradle

@@ -47,6 +47,9 @@ dependencies {
     implementation("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:linuxarm64") {
         transitive = false
     }
+    implementation("org.teamdeadbolts:basler_jni-linuxx64:$baslerVersion") {
+        transitive = false
+    }
     implementation "org.photonvision:photon-libcamera-gl-driver-java:$libcameraDriverVersion"
 
     implementation "org.photonvision:photon-mrcal-java:$mrcalVersion"

photon-core/src/main/java/org/photonvision/jni/BaslerCameraJNI.java

@@ -0,0 +1,36 @@
+package org.photonvision.jni;
+
+import java.io.IOException;
+import java.util.List;
+import org.photonvision.common.util.TestUtils;
+
+public class BaslerCameraJNI extends PhotonJNICommon {
+    private boolean isLoaded;
+    private static BaslerCameraJNI instance = null;
+
+    private BaslerCameraJNI() {
+        isLoaded = false;
+    }
+
+    public static BaslerCameraJNI getInstance() {
+        if (instance == null) instance = new BaslerCameraJNI();
+
+        return instance;
+    }
+
+    public static synchronized void forceLoad() throws IOException {
+        TestUtils.loadLibraries();
+
+        forceLoad(getInstance(), BaslerCameraJNI.class, List.of("baslerjni"));
+    }
+
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
+    }
+}

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

@@ -58,4 +58,10 @@ public enum CameraQuirk {
     ArduOV9782,
     /** Camera has odd exposure range, and supports gain control */
     See3Cam_24CUG,
+
+    /** Quirks to tell the difference between basler cameras */
+    BaslerDaA1280Controls,
+
+    /** Other Basler Quirks */
+    ManualWB,
 }

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

@@ -20,5 +20,6 @@
 public enum CameraType {
     UsbCamera,
     ZeroCopyPicam,
+    BaslerCamera,
     FileCamera // special case for File-based vision sources
 }