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/web/RequestHandler.java

@@ -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);
+    }
 }