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/vision/camera/USBCameraCapture.java

@@ -1,7 +1,7 @@
 package com.chameleonvision.vision.camera;
 
-import com.chameleonvision.config.CameraJsonConfig;
-import com.chameleonvision.vision.image.CaptureProperties;
+import com.chameleonvision.config.CameraCalibrationConfig;
+import com.chameleonvision.config.FullCameraConfiguration;
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.VideoException;
@@ -9,14 +9,23 @@ import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.cameraserver.CameraServer;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.imgcodecs.Imgcodecs;
+
+import java.util.ArrayList;
+import java.util.List;
 
 public class USBCameraCapture implements CameraCapture {
     private final UsbCamera baseCamera;
     private final CvSink cvSink;
+    private List<CameraCalibrationConfig> calibrationList;
     private Mat imageBuffer = new Mat();
     private USBCaptureProperties properties;
 
-    public USBCameraCapture(CameraJsonConfig config) {
+    public USBCameraCapture(FullCameraConfiguration fullCameraConfiguration) {
+        var config = fullCameraConfiguration.cameraConfig;
+        this.calibrationList = new ArrayList<>(); //fullCameraConfiguration.calibration;
+        calibrationList.addAll(fullCameraConfiguration.calibration);
         baseCamera = new UsbCamera(config.name, config.path);
         cvSink = CameraServer.getInstance().getVideo(baseCamera);
         properties = new USBCaptureProperties(baseCamera, config);
@@ -25,6 +34,24 @@ public class USBCameraCapture implements CameraCapture {
         setVideoMode(videoMode);
     }
 
+    public CameraCalibrationConfig getCalibration(Size size) {
+        for(var calibration: calibrationList) {
+            if(calibration.resolution.equals(size)) return calibration;
+        }
+        return null;
+    }
+
+    public CameraCalibrationConfig getCalibration(VideoMode mode) {
+        return getCalibration(new Size(mode.width, mode.height));
+    }
+
+    public void addCalibrationData(CameraCalibrationConfig newConfig) {
+        calibrationList.add(newConfig);
+    }
+
+    public List<CameraCalibrationConfig> getConfig() {
+        return calibrationList;
+    }
 
     @Override
     public USBCaptureProperties getProperties() {
@@ -91,4 +118,14 @@ public class USBCameraCapture implements CameraCapture {
             }
         }
     }
+
+    @Override
+    public CameraCalibrationConfig getCurrentCalibrationData() {
+        return getCalibration(getCurrentVideoMode());
+    }
+
+    @Override
+    public List<CameraCalibrationConfig> getAllCalibrationData() {
+        return calibrationList;
+    }
 }