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>

chameleon-server/src/main/java/com/chameleonvision/config/CameraCalibrationConfig.java

@@ -0,0 +1,60 @@
+package com.chameleonvision.config;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.fasterxml.jackson.annotation.JsonIgnoreType;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfDouble;
+import org.opencv.core.Size;
+
+/**
+ * A class that holds a camera matrix and distortion coefficients for a given resolution
+ */
+public class CameraCalibrationConfig {
+    @JsonProperty("resolution") public final Size resolution;
+    @JsonProperty("cameraMatrix") public final JsonMat cameraMatrix;
+    @JsonProperty("distortionCoeffs") public final JsonMat distortionCoeffs;
+
+    @JsonCreator
+    public CameraCalibrationConfig(
+            @JsonProperty("resolution") Size resolution,
+            @JsonProperty("cameraMatrix") JsonMat cameraMatrix,
+            @JsonProperty("distortionCoeffs") JsonMat distortionCoeffs) {
+        this.resolution = resolution;
+        this.cameraMatrix = cameraMatrix;
+        this.distortionCoeffs = distortionCoeffs;
+    }
+
+    public CameraCalibrationConfig(Size resolution, Mat cameraMatrix, Mat distortionCoeffs) {
+        this.resolution = resolution;
+        this.cameraMatrix = JsonMat.fromMat(cameraMatrix);
+        this.distortionCoeffs = JsonMat.fromMat(distortionCoeffs);
+    }
+
+    @JsonIgnoreType
+    public static class UICameraCalibrationConfig {
+        public final int width;
+        public final int height;
+        public final double[] cameraMatrix;
+        public final double[] distortionCoeffs;
+
+        public UICameraCalibrationConfig(CameraCalibrationConfig config) {
+            width = (int) config.resolution.width;
+            height = (int) config.resolution.height;
+            cameraMatrix = config.cameraMatrix.data;
+            distortionCoeffs = config.distortionCoeffs.data;
+        }
+
+    }
+
+    @JsonIgnore
+    public Mat getCameraMatrixAsMat() {
+        return cameraMatrix.toMat();
+    }
+
+    @JsonIgnore
+    public MatOfDouble getDistortionCoeffsAsMat() {
+        return new MatOfDouble(distortionCoeffs.toMat());
+    }
+}