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Add solvePNP, 3d tab on the UI, and some other misc bug fixes (#35)

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* 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
2019-12-31 04:53:20 -08:00
committed by oriagranat9
parent d8c027dae7
commit 1decd2c3d7
70 changed files with 3029 additions and 297 deletions
Download Patch File Download Diff File Expand all files Collapse all files

108
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
View File

@@ -4,12 +4,20 @@ import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.network.NetworkIPMode;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
import com.chameleonvision.vision.camera.CameraCapture;
import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.chameleonvision.vision.pipeline.PipelineManager;
import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import io.javalin.http.Context;
import io.javalin.http.Handler;
import java.io.IOException;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
public class RequestHandler {
@@ -35,6 +43,43 @@ public class RequestHandler {
}
}
public static void onDuplicatePipeline(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
Map newPipelineData = objectMapper.readValue(ctx.body(), Map.class);
int newCam = -1;
try {
newCam = (Integer) newPipelineData.get("camera");
} catch (Exception e) {
// ignored
}
var pipeline = (CVPipelineSettings) newPipelineData.get("pipeline");
if (newCam == -1) {
if (VisionManager.getCurrentCameraPipelineNicknames().contains(pipeline.nickname)) {
ctx.status(400); // BAD REQUEST
} else {
VisionManager.getCurrentUIVisionProcess().pipelineManager.addPipeline(pipeline);
ctx.status(200);
}
} else {
var cam = VisionManager.getVisionProcessByIndex(newCam);
if (cam != null && cam.pipelineManager.pipelines.stream().anyMatch(c -> c.settings.nickname.equals(pipeline.nickname))) {
ctx.status(400); // BAD REQUEST
} else {
cam.pipelineManager.addPipeline(pipeline);
ctx.status(200);
}
}
} catch (JsonProcessingException e) {
ctx.status(500);
}
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
try {
@@ -43,13 +88,19 @@ public class RequestHandler {
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
USBCameraCapture currentCamera = currentVisionProcess.getCamera();
double newFOV;
double newFOV, tilt;
try {
newFOV = (Double) camSettings.get("fov");
} catch (Exception ignored) {
newFOV = (Integer) camSettings.get("fov");
}
try {
tilt = (Double) camSettings.get("tilt");
} catch (Exception ignored) {
tilt = (Integer) camSettings.get("tilt");
}
currentCamera.getProperties().setFOV(newFOV);
currentCamera.getProperties().setTilt(Rotation2d.fromDegrees(tilt));
VisionManager.saveCurrentCameraSettings();
SocketHandler.sendFullSettings();
ctx.status(200);
@@ -58,4 +109,57 @@ public class RequestHandler {
ctx.status(500);
}
}
public static void onCalibrationStart(Context ctx) throws JsonProcessingException {
PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
ObjectMapper objectMapper = new ObjectMapper();
var data = objectMapper.readValue(ctx.body(), Map.class);
int resolutionIndex = (Integer) data.get("resolution");
double squareSize;
try {
squareSize = (Double) data.get("squareSize");
} catch (Exception e) {
squareSize = (Integer) data.get("squareSize");
}
// convert from mm to meters
pipeManager.calib3dPipe.setSquareSize(squareSize / 1000d);
VisionManager.getCurrentUIVisionProcess().pipelineManager.calib3dPipe.settings.videoModeIndex = resolutionIndex;
VisionManager.getCurrentUIVisionProcess().pipelineManager.setCalibrationMode(true);
VisionManager.getCurrentUIVisionProcess().getCamera().setVideoMode(resolutionIndex);
}
public static void onSnapshot(Context ctx) {
Calibrate3dPipeline calPipe = VisionManager.getCurrentUIVisionProcess().pipelineManager.calib3dPipe;
calPipe.takeSnapshot();
HashMap<String, Object> toSend = new HashMap<>();
toSend.put("snapshotCount", calPipe.getSnapshotCount());
toSend.put("hasEnough", calPipe.hasEnoughSnapshots());
ctx.json(toSend);
ctx.status(200);
}
public static void onCalibrationEnding(Context ctx) throws JsonProcessingException {
PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
System.out.println("Finishing Cal");
if (pipeManager.calib3dPipe.hasEnoughSnapshots()) {
if (pipeManager.calib3dPipe.tryCalibration()) {
ctx.status(200);
} else {
System.err.println("CALFAIL");
ctx.status(500);
}
}
pipeManager.setCalibrationMode(false);
ctx.status(200);
}
public static void onPnpModel(Context ctx) throws JsonProcessingException {
System.out.println(ctx.body());
ObjectMapper objectMapper = new ObjectMapper();
List points = objectMapper.readValue(ctx.body(), List.class);
System.out.println(points);
}
}

4
chameleon-server/src/main/java/com/chameleonvision/web/Server.java
View File

@@ -30,6 +30,10 @@ public class Server {
});
app.post("/api/settings/general", RequestHandler::onGeneralSettings);
app.post("/api/settings/camera", RequestHandler::onCameraSettings);
app.post("/api/settings/startCalibration", RequestHandler::onCalibrationStart);
app.post("/api/settings/snapshot", RequestHandler::onSnapshot);
app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnding);
app.post("/api/vision/pnpModel", RequestHandler::onPnpModel);
app.start(port);
}
}

59
chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
View File

@@ -1,5 +1,6 @@
package com.chameleonvision.web;
import com.chameleonvision.config.CameraCalibrationConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.vision.VisionManager;
import com.chameleonvision.vision.VisionProcess;
@@ -9,7 +10,7 @@ import com.chameleonvision.vision.camera.USBCameraCapture;
import com.chameleonvision.vision.enums.ImageRotationMode;
import com.chameleonvision.vision.enums.StreamDivisor;
import com.chameleonvision.vision.pipeline.CVPipeline;
import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
import com.chameleonvision.vision.pipeline.CVPipelineSettings;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
@@ -26,6 +27,7 @@ import java.lang.reflect.Field;
import java.nio.ByteBuffer;
import java.util.*;
import java.util.List;
import java.util.stream.Collectors;
public class SocketHandler {
@@ -33,6 +35,8 @@ public class SocketHandler {
private static List<WsContext> users;
private static ObjectMapper objectMapper;
private static final Object broadcastLock = new Object();
SocketHandler() {
users = new ArrayList<>();
objectMapper = new ObjectMapper(new MessagePackFactory());
@@ -107,8 +111,7 @@ public class SocketHandler {
// HashMap<String, Object> data = (HashMap<String, Object>) entry.getValue();
String pipeName = (String) entry.getValue();
// TODO: add to UI selection for new 2d/3d
boolean is3d = false;
currentProcess.pipelineManager.addNewPipeline(is3d, pipeName);
currentProcess.pipelineManager.addNewPipeline(pipeName);
sendFullSettings();
VisionManager.saveCurrentCameraPipelines();
break;
@@ -134,11 +137,22 @@ public class SocketHandler {
sendFullSettings();
break;
}
case "is3D": {
VisionManager.getCurrentUIVisionProcess().setIs3d((Boolean) entry.getValue());
break;
}
case "currentPipeline": {
currentProcess.pipelineManager.setCurrentPipeline((Integer) entry.getValue());
sendFullSettings();
break;
}
case "isPNPCalibration": {
currentProcess.pipelineManager.setCalibrationMode((Boolean) entry.getValue());
break;
}
case "takeCalibrationSnapshot": {
currentProcess.pipelineManager.calib3dPipe.takeSnapshot();
}
default: {
switch (entry.getKey()) {//Pre field value set
@@ -156,8 +170,8 @@ public class SocketHandler {
}
prop = currentCamera.getProperties().getStaticProperties();
currentProcess.cameraStreamer.recalculateDivision();
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = Arrays.asList(prop.mode.width / 2, prop.mode.height / 2);//Reset Crosshair in single point calib
if (currentPipeline instanceof StandardCVPipeline)
((StandardCVPipeline) currentPipeline).settings.point = Arrays.asList(prop.mode.width / 2, prop.mode.height / 2);//Reset Crosshair in single point calib
break;
}
@@ -181,8 +195,8 @@ public class SocketHandler {
break;
}
case "videoModeIndex": {
if (currentPipeline instanceof CVPipeline2d)
((CVPipeline2d) currentPipeline).settings.point = new ArrayList<>();//This will reset the calibration
if (currentPipeline instanceof StandardCVPipeline)
((StandardCVPipeline) currentPipeline).settings.point = new ArrayList<>();//This will reset the calibration
currentCamera.setVideoMode((Integer) entry.getValue());
currentProcess.cameraStreamer.recalculateDivision();
break;
@@ -217,18 +231,22 @@ public class SocketHandler {
}
private static void broadcastMessage(Object obj, WsContext userToSkip) {
if (users != null)
for (WsContext user : users) {
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
continue;
}
try {
ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(obj));
user.send(b);
} catch (JsonProcessingException e) {
e.printStackTrace();
synchronized (broadcastLock) {
if (users != null) {
var userList = users;
for (WsContext user : userList) {
if (userToSkip != null && user.getSessionId().equals(userToSkip.getSessionId())) {
continue;
}
try {
ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(obj));
user.send(b);
} catch (JsonProcessingException e) {
e.printStackTrace();
}
}
}
}
}
public static void broadcastMessage(Object obj) {
@@ -267,9 +285,16 @@ public class SocketHandler {
HashMap<String, Object> tmp = new HashMap<>();
VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
USBCameraCapture currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
tmp.put("fov", currentCamera.getProperties().getFOV());
tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
tmp.put("resolution", currentVisionProcess.getCamera().getProperties().getCurrentVideoModeIndex());
tmp.put("tilt", currentVisionProcess.getCamera().getProperties().getTilt().getDegrees());
List<CameraCalibrationConfig.UICameraCalibrationConfig> calibrations = currentCamera.getAllCalibrationData().stream()
.map(CameraCalibrationConfig.UICameraCalibrationConfig::new).collect(Collectors.toList());
tmp.put("calibration", calibrations);
return tmp;
}