From 673fbfc50721a06fb828e959ddc8347254eaeab3 Mon Sep 17 00:00:00 2001
From: Samuel <martinsa0182@gmail.com>
Date: Fri, 27 Dec 2024 09:22:12 +0000
Subject: [PATCH] Put the camera in dark mode for a moment to catch property
 setting errors

---
 marimapper/camera.py           | 2 +-
 marimapper/detector.py         | 6 +++++-
 marimapper/detector_process.py | 4 ++++
 marimapper/sfm.py              | 4 +++-
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/marimapper/camera.py b/marimapper/camera.py
index 6000616..0c9c9c5 100644
--- a/marimapper/camera.py
+++ b/marimapper/camera.py
@@ -86,7 +86,7 @@ def set_exposure(self, exposure):
         logger.debug(f"Setting exposure to {exposure}")
 
         if not self.device.set(cv2.CAP_PROP_EXPOSURE, exposure):
-            logger.warning(f"Failed to set exposure to {exposure}")
+            logger.info(f"Failed to set exposure to {exposure}")
 
     def eat(self, count=30):
         for _ in range(count):
diff --git a/marimapper/detector.py b/marimapper/detector.py
index 785090b..8c32dfd 100644
--- a/marimapper/detector.py
+++ b/marimapper/detector.py
@@ -105,7 +105,11 @@ def set_cam_dark(cam: Camera, exposure: int) -> None:
     cam.set_autofocus(0, 0)
     cam.set_exposure_mode(0)
     cam.set_gain(0)
-    cam.set_exposure(exposure)
+    if not cam.set_exposure(exposure):
+        logger.warning(
+            f"failed to set exposure to {exposure}, your camera might not support exposure control, try darkening the scene and adjusting the threshold with --threshold "
+        )
+
     cam.eat()
 
 
diff --git a/marimapper/detector_process.py b/marimapper/detector_process.py
index 49a00da..eba79f2 100644
--- a/marimapper/detector_process.py
+++ b/marimapper/detector_process.py
@@ -72,6 +72,10 @@ def run(self):
 
         timeout_controller = TimeoutController()
 
+        # we quickly switch to dark mode here to throw any exceptions about the camera early
+        set_cam_dark(cam, self._dark_exposure)
+        set_cam_default(cam)
+
         while not self._exit_event.is_set():
 
             if not self._request_detections_queue.empty():
diff --git a/marimapper/sfm.py b/marimapper/sfm.py
index ba4d06a..c380939 100644
--- a/marimapper/sfm.py
+++ b/marimapper/sfm.py
@@ -56,7 +56,9 @@ def sfm(leds_2d: list[LED2D]) -> list[LED3D]:
 
             new_map = binary_to_led_map_3d(Path(temp_dir))
 
-            logger.debug(f"sfm managed to reconstruct {len(new_map)} leds in map {map_id}")
+            logger.debug(
+                f"sfm managed to reconstruct {len(new_map)} leds in map {map_id}"
+            )
 
             leds_3d = new_map if len(new_map) > len(leds_3d) else leds_3d