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Reduce initial connection bandwidth (#1200)

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Reduces bandwidth requirements by being much lazier about how much calibration data is sent to the UI.
This commit is contained in:
Matt
2024-02-01 21:42:54 -05:00
committed by GitHub
parent c7508fea46
commit 62112cd2fd
15 changed files with 275 additions and 88 deletions
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74
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -31,6 +31,9 @@ import java.util.HashMap;
import java.util.Optional;
import javax.imageio.ImageIO;
import org.apache.commons.io.FileUtils;
import org.opencv.core.MatOfByte;
import org.opencv.core.MatOfInt;
import org.opencv.imgcodecs.Imgcodecs;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeDestination;
@@ -580,6 +583,77 @@ public class RequestHandler {
ctx.status(204);
}
public static void onCalibrationSnapshotRequest(Context ctx) {
logger.info(ctx.queryString().toString());
int idx = Integer.parseInt(ctx.queryParam("cameraIdx"));
var width = Integer.parseInt(ctx.queryParam("width"));
var height = Integer.parseInt(ctx.queryParam("height"));
var observationIdx = Integer.parseInt(ctx.queryParam("snapshotIdx"));
CameraCalibrationCoefficients calList =
VisionModuleManager.getInstance()
.getModule(idx)
.getStateAsCameraConfig()
.calibrations
.stream()
.filter(
it ->
Math.abs(it.resolution.width - width) < 1e-4
&& Math.abs(it.resolution.height - height) < 1e-4)
.findFirst()
.orElse(null);
if (calList == null || calList.observations.size() < observationIdx) {
ctx.status(404);
return;
}
// encode as jpeg to save even more space. reduces size of a 1280p image from 300k to 25k
var jpegBytes = new MatOfByte();
Imgcodecs.imencode(
".jpg",
calList.observations.get(observationIdx).snapshotData.getAsMat(),
jpegBytes,
new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 60));
ctx.result(jpegBytes.toArray());
jpegBytes.release();
ctx.status(200);
}
public static void onCalibrationExportRequest(Context ctx) {
logger.info(ctx.queryString().toString());
int idx = Integer.parseInt(ctx.queryParam("cameraIdx"));
var width = Integer.parseInt(ctx.queryParam("width"));
var height = Integer.parseInt(ctx.queryParam("height"));
var cc = VisionModuleManager.getInstance().getModule(idx).getStateAsCameraConfig();
CameraCalibrationCoefficients calList =
cc.calibrations.stream()
.filter(
it ->
Math.abs(it.resolution.width - width) < 1e-4
&& Math.abs(it.resolution.height - height) < 1e-4)
.findFirst()
.orElse(null);
if (calList == null) {
ctx.status(404);
return;
}
var filename = "photon_calibration_" + cc.uniqueName + "_" + width + "x" + height + ".json";
ctx.contentType("application/zip");
ctx.header("Content-Disposition", "attachment; filename=\"" + filename + "\"");
ctx.json(calList);
ctx.status(200);
}
public static void onImageSnapshotsRequest(Context ctx) {
var snapshots = new ArrayList<HashMap<String, Object>>();
var cameraDirs = ConfigManager.getInstance().getImageSavePath().toFile().listFiles();