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>
2026-07-01 02:41:42 +00:00 · 2019-12-31 04:53:20 -08:00
parent d8c027dae7
commit 1decd2c3d7
70 changed files with 3029 additions and 297 deletions
--- a/chameleon-client/src/views/CameraViewes/3D.vue
+++ b/chameleon-client/src/views/CameraViewes/3D.vue
@@ -0,0 +1,86 @@
+<template>
+    <div>
+        <v-row align="center" justify="start" dense>
+            <v-col :cols="6">
+                <CVswitch v-model="value.is3D" name="Enable 3D" @input="handleData('is3D')"/>
+            </v-col>
+            <v-col>
+                <CVnumberInput name="Max Height:" v-model="value.targetHeight" @input="handleData('targetHeight')"/>
+                <CVnumberInput name="Max Width:" v-model="value.targetWidth" @input="handleData('targetWidth')"/>
+            </v-col>
+<!--            <v-col>-->
+<!--                <input type="file" ref="file" style="display: none" accept=".csv" @change="readFile">-->
+<!--                <v-btn @click="$refs.file.click()" small>-->
+<!--                    upload model-->
+<!--                </v-btn>-->
+<!--            </v-col>-->
+
+        </v-row>
+        <mini-map class="miniMapClass" :targets="targets" :horizontal-f-o-v="horizontalFOV"/>
+    </div>
+</template>
+
+<script>
+    import miniMap from '../../components/3D/MiniMap';
+    import CVswitch from '../../components/cv-switch';
+    import CVnumberInput from '../../components/cv-number-input';
+    import Papa from 'papaparse';
+
+    export default {
+        name: "solvePNP",
+        props: ['value'],
+        components: {
+            CVswitch,
+            CVnumberInput,
+            miniMap
+        },
+        data() {
+            return {
+                is3D: false,
+                isPNPCalibration: false,
+            }
+        },
+        methods: {
+            handleData(val) {
+                this.handleInput(val, this.value[val]);
+                this.$emit('update')
+            },
+            readFile(event) {
+                let file = event.target.files[0];
+                Papa.parse(file, {
+                    complete: this.onParse,
+                    skipEmptyLines: true
+                });
+            },
+            onParse(result) {
+                // console.log(result.data);
+                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", result.data);
+            },
+        },
+        computed: {
+            targets: {
+                get() {
+                    return this.$store.state.point.targets;
+                }
+
+            },
+            horizontalFOV: {
+                get() {
+                    let index = this.$store.state.cameraSettings.resolution;
+                    let FOV = this.$store.state.cameraSettings.fov;
+                    let resolution = this.$store.state.resolutionList[index];
+                    let diagonalView = FOV * (Math.PI / 180);
+                    let diagonalAspect = Math.hypot(resolution.width, resolution.height);
+                    return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
+                }
+            }
+        }
+    }
+</script>
+
+<style scoped>
+    .miniMapClass {
+        width: 50% !important;
+        height: 50% !important;
+    }
+</style>