mirror of
https://github.com/PhotonVision/photonvision
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Add solvePNP, 3d tab on the UI, and some other misc bug fixes (#35)
* Rebase solvePNP on master * added 3D tab minimap and csv reader * More solvePNP * Create draw pipe for pnp data * SolvePNP piping work * Move sorting into solvepnppipe * Create calibration pipeline * Update CalibrateSolvePNPPipeline.java * add camera tilt angle * Add calibration slider and snapshot button to 3D view * Mirror updates in the socket handler * add 3d calibration mode to the pipeline manager * created calibration functions in ui and backend * Start plumbing calibration * Add snapshot and other handling to the RequestHandler * added select resolution before starting calibration * Rename solvePNPPipe to bounding box solve pnp pipe * Update BoundingBoxSolvePNPPipe.java * Add Mat serializer and CameraCalibrationConfig * Begun calibration saving, fixed UI/Backend snapshot count mismatch * Add (unplumbed) option to set checkerboard size This will allow users to change the units their calibration is in * Create chessboard.png * Fix calibration NPE * changed string serialization to a json send * bug fixed cancellation button * Fix spelling of snapshot in 3d.vue * Plumb resolution change * Set resolution during config, start on config serialization * Update .gitignore * Config fixes * Start transition away from cvpipeline3d * fix NPE on uncalibrated cameras * clear list on fail * Fix video mode index error * ignore getters in camera calibration config * Create json constructor for jsonmat * get solvePNP mostly returning sane values * Fix solvePNP bug and add unit test * FIx calibration mat truncation * added capture amount model upload and minimap data * Standardize on meters in calibration and bounding box * fix json out of bounds and handle null calibration more gracefully * don't put text on calibrate image, go back to inches * convert distance to meters this means calibration will need to be in inches * Actually save raw contor * Update GroupContoursPipe.java * Add all calibration return to camera capture * hard code 2019 target * bugfixed draw2d added fail calib popup, merge end and cancel added the res index to the calib start * Clarify error message and draw more fancy rectangles * Cleanup memory in solvepnp * re did minimap component * fix npe if left/right is null * remove references to 2d * try-catch running the current pipeline * Add method to find corners using the harris corner detector * Possibly fix left/right missmatch * Fix 3D Tab error * FIx file permissions, mat serializer adjustments * fixed mini map for field coordinates * mini map changes fov * Update SolvePNPPipe.java * get rid of target corners * some memory leak fixes * fixed mini map location * added position under minimap * changed player fov look * put all targets in the web send * re did target send to ui added target tables, bugfix calibration * fixed y position * Add tilt angle to capture properties * maybe fix y axis in minimap * Add square size to onCalibrationEnding * Possibly add square size to UI * fix NPE with pitch * Fix bug with sending multiple targets * Only instantiate 3d stuff if we are in 3d mode * Fix array list exceptions * Fix bug in sort contors list was truncated too early * added download chess, tilt setting and ordinal tilt, * added square size connection * removed unused code * Update pom version to 2.1-RELEASE * Send camera calibrations to UI * Stream pose list to a LIst * Only stream necessary parts of the aux list entry * Make broadcastMessage synchronized to prevent ConcurrentModificationExceptions * added fps counter changed squaresize steps bug fixes in tables * bugfix camera settings cam wont change Authored-by: oriagranat9 <oriagranat9@gmail.com>
This commit is contained in:
Matt
@@ -75,6 +75,7 @@
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<v-tab>Threshold</v-tab>
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<v-tab>Contours</v-tab>
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<v-tab>Output</v-tab>
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<v-tab>3D</v-tab>
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</v-tabs>
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<div v-else style="height: 48px"></div>
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<div style="padding-left:30px">
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@@ -96,10 +97,40 @@
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<div v-else style="height: 58px"></div>
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<!-- camera image stream -->
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<div class="videoClass">
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<img id="CameraStream" v-if="cameraList.length > 0" :src="streamAddress" @click="onImageClick"
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crossorigin="Anonymous"/>
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<span v-else>No Cameras Are connected</span>
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<h5 id="Point">{{point}}</h5>
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<v-row align="center">
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<img id="CameraStream" style="display: block;margin: auto; width: 70%;height: 70%;"
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v-if="cameraList.length > 0"
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:src="streamAddress" @click="onImageClick"
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crossorigin="Anonymous"/>
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<span v-else>No Cameras Are connected</span>
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</v-row>
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<v-row justify="end">
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<span style="margin-right: 45px">FPS:{{fps.toFixed(2)}}</span>
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</v-row>
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<v-row align="center">
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<v-simple-table
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style="text-align: center;background-color: transparent; display: block;margin: auto"
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dense dark>
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<template v-slot:default>
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<thead>
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<tr>
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<th class="text-center">Target</th>
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<th class="text-center">Pitch</th>
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<th class="text-center">Yaw</th>
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<th class="text-center">Area</th>
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</tr>
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</thead>
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<tbody>
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<tr v-for="(value, index) in targets" :key="index">
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<td>{{ index}}</td>
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<td>{{ parseFloat(value.pitch).toFixed(2) }}</td>
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<td>{{ parseFloat(value.yaw).toFixed(2) }}</td>
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<td>{{ parseFloat(value.area).toFixed(2) }}</td>
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</tr>
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</tbody>
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</template>
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</v-simple-table>
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</v-row>
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</div>
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</div>
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</v-col>
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@@ -154,6 +185,7 @@
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import ThresholdTab from './CameraViewes/ThresholdTab'
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import ContoursTab from './CameraViewes/ContoursTab'
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import OutputTab from './CameraViewes/OutputTab'
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import pnpTab from './CameraViewes/3D'
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import CVselect from '../components/cv-select'
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import CVicon from '../components/cv-icon'
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import CVinput from '../components/cv-input'
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@@ -165,6 +197,7 @@
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ThresholdTab,
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ContoursTab,
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OutputTab,
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pnpTab,
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CVselect,
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CVicon,
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CVinput
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@@ -319,19 +352,21 @@
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return "ContoursTab";
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case 3:
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return "OutputTab";
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case 4:
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return "pnpTab";
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}
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return "";
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}
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},
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point: {
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targets: {
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get: function () {
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let p = this.$store.state.point.calculated;
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let fps = this.$store.state.point.fps;
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if (p !== undefined) {
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return `Pitch: ${parseFloat(p['pitch']).toFixed(2)}, Yaw: ${parseFloat(p['yaw']).toFixed(2)}, Area: ${parseFloat(p['area']).toFixed(2)}, FPS: ${parseFloat(fps).toFixed(2)}`
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} else {
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return undefined;
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}
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return this.$store.state.point.targets;
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}
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},
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fps: {
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get() {
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return this.$store.state.point.fps;
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}
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},
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currentCameraIndex: {
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@@ -384,17 +419,16 @@
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text-align: center;
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}
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.videoClass img {
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max-height: 70vh;
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max-width: 70%;
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.tableClass {
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padding-top: 5px;
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width: 70%;
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object-fit: cover;
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vertical-align: middle;
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text-align: center;
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}
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#Point {
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padding-top: 5px;
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th {
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width: 80px;
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text-align: center;
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color: #f4f4f4;
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}
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</style>
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