mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
Jade
@@ -47,7 +47,7 @@ If you're cross-compiling, you'll need the wpilib toolchain installed. This can
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## Out-of-Source Dependencies
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PhotonVision uses the following additonal out-of-source repositories for building code.
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PhotonVision uses the following additional out-of-source repositories for building code.
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- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
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- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
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@@ -26,7 +26,7 @@ The built documentation is located at `docs/build/html/index.html` relative to t
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## Docs Builds on Pull Requests
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Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull requrest will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
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Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull request will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
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## Style Guide
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@@ -7,7 +7,7 @@ A Pre-Built Raspberry Pi image is available for ease of installation.
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Download the latest release of the PhotonVision Raspberry image (.xz file) from the [releases page](https://github.com/PhotonVision/photonvision/releases). You do not need to extract the downloaded ZIP file.
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:::{note}
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Make sure you download the image that ends in '-RasberryPi.xz'.
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Make sure you download the image that ends in '-RaspberryPi.xz'.
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:::
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## Flashing the Pi Image
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@@ -142,7 +142,7 @@ export interface CameraCalibrationResult {
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distCoeffs: JsonMatOfDouble;
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observations: BoardObservation[];
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calobjectWarp?: number[];
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// We might have to omit observations for bandwith, so backend will send us this
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// We might have to omit observations for bandwidth, so backend will send us this
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numSnapshots: number;
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meanErrors: number[];
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}
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@@ -340,7 +340,8 @@ public class ConfigManager {
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/**
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* Disable flushing settings to disk as part of our JVM exit hook. Used to prevent uploading all
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* settings from getting its new configs overwritten at program exit and before theyre all loaded.
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* settings from getting its new configs overwritten at program exit and before they're all
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* loaded.
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*/
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public void disableFlushOnShutdown() {
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this.flushOnShutdown = false;
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@@ -28,7 +28,7 @@ public enum PigpioCommand {
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PCMD_WVDEL(50), // int wave_delete(unsigned wave_id)
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PCMD_WVTX(51), // int wave_tx_send(unsigned wave_id) (once)
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PCMD_WVTXR(52), // int wave_tx_send(unsigned wave_id) (repeat)
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PCMD_GDC(83), // int get_duty_cyle(unsigned user_gpio)
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PCMD_GDC(83), // int get_duty_cycle(unsigned user_gpio)
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PCMD_HP(86), // int hardware_pwm(unsigned gpio, unsigned PWMfreq, unsigned PWMduty)
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PCMD_WVTXM(100); // int wave_tx_send(unsigned wave_id, unsigned wave_mode)
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@@ -27,7 +27,7 @@ public class RK3588Cmds extends LinuxCmds {
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// CPU Temperature
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/* The RK3588 chip has 7 thermal zones that can be accessed via:
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* /sys/class/thermal/thermal_zoneX/temp
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* where X is an interger from 0 to 6.
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* where X is an integer from 0 to 6.
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*
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* || Zone || Location || Comments ||
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* | 0 | soc | soc thermal (near the center of the chip) |
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@@ -143,7 +143,7 @@ public class QuirkyCamera {
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* @param usbVid USB VID of camera
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* @param usbPid USB PID of camera
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* @param baseName CSCore name of camera
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* @param displayName Human-friendly quicky camera name
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* @param displayName Human-friendly quirky camera name
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* @param quirks Camera quirks
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*/
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private QuirkyCamera(
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@@ -160,7 +160,7 @@ public class QuirkyCamera {
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this.quirks.put(q, true);
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}
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// (2) for all other quirks in CameraQuirks (in this version of Photon), defalut to false
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// (2) for all other quirks in CameraQuirks (in this version of Photon), default to false
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for (var q : CameraQuirk.values()) {
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this.quirks.putIfAbsent(q, false);
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}
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@@ -152,17 +152,17 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
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var matchType = ntMatchType.getAtomic();
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if (matchType.timestamp == 0) {
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// no NT info yet
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logger.warn("Did not recieve match type, defaulting to 0");
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logger.warn("Did not receive match type, defaulting to 0");
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}
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var matchNum = ntMatchNum.getAtomic();
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if (matchNum.timestamp == 0) {
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logger.warn("Did not recieve match num, defaulting to -1");
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logger.warn("Did not receive match num, defaulting to -1");
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}
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var eventName = ntEventName.getAtomic();
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if (eventName.timestamp == 0) {
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logger.warn("Did not recieve event name, defaulting to 'UNKNOWN'");
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logger.warn("Did not receive event name, defaulting to 'UNKNOWN'");
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}
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String matchTypeStr =
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@@ -140,7 +140,7 @@ public class CornerDetectionPipe
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var compareDistToTr =
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Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(2)));
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// top left and top right are the poly corners closest to the bouding box tl and tr
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// top left and top right are the poly corners closest to the bounding box tl and tr
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pointList.sort(compareDistToTl);
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var tl = pointList.get(0);
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pointList.remove(tl);
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@@ -512,7 +512,7 @@ public class PipelineManager {
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var oldSettings = userPipelineSettings.get(idx);
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var name = getCurrentPipelineSettings().pipelineNickname;
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// Dummy settings to copy common fileds over
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// Dummy settings to copy common fields over
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var newSettings = createSettingsForType(type, name);
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// Copy all fields from AdvancedPipelineSettings/its superclasses from old to new
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@@ -535,7 +535,7 @@ public class VisionSourceManager {
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* Filter out any blacklisted or ignored devices.
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*
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* @param allDevices
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* @return list of devices with blacklisted or ingore devices removed.
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* @return list of devices with blacklisted or ignore devices removed.
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*/
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private List<CameraInfo> filterAllowedDevices(List<CameraInfo> allDevices) {
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List<CameraInfo> filteredDevices = new ArrayList<>();
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@@ -59,7 +59,7 @@ public abstract class VisionSourceSettables {
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public abstract void setGain(int gain);
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// Pretty uncommon so instead of abstract this is just a no-op by default
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// Overriden by cameras with AWB gain support
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// Overriddenn by cameras with AWB gain support
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public void setRedGain(int red) {}
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public void setBlueGain(int blue) {}
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@@ -287,7 +287,7 @@ public class Calibrate3dPipeTest {
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}
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/**
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* Uses a given camera coefficents matrix set to "undistort" every image file found in a given
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* Uses a given camera coefficientss matrix set to "undistort" every image file found in a given
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* directory and display them. Provides an easy way to visually debug the results of the
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* calibration routine. Seems to play havoc with CI and takes a chunk of time, so shouldn't
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* usually be left active in tests.
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@@ -139,7 +139,7 @@ public class CalibrationRotationPipeTest {
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Point[] originalPoints = {new Point(100, 100), new Point(200, 200), new Point(300, 100)};
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// Distort the origional points
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// Distort the origonal points
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var distortedOriginalPoints =
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OpenCVHelp.distortPoints(
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List.of(originalPoints),
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@@ -153,14 +153,14 @@ public class CalibrationRotationPipeTest {
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.collect(Collectors.toList());
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// Now let's instead rotate then distort
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var rotatedOrigionalPoints =
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var rotatedOriginalPoints =
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Arrays.stream(originalPoints)
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.map(it -> rot.rotatePoint(it, frameProps.imageWidth, frameProps.imageHeight))
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.collect(Collectors.toList());
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var distortedRotatedPoints =
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OpenCVHelp.distortPoints(
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rotatedOrigionalPoints,
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rotatedOriginalPoints,
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rotatedFrameProps.cameraCalibration.getCameraIntrinsicsMat(),
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rotatedFrameProps.cameraCalibration.getDistCoeffsMat());
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@@ -297,7 +297,7 @@ public class VisionSourceManagerTest {
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new CameraConfiguration(
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"Arducam OV2311 USB Camera",
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"Arducam OV2311 USB Camera",
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"fromt-left",
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"front-left",
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"/dev/video0",
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CAM1_OLD_PATHS);
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camera1_saved_config.usbVID = 3141;
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@@ -306,7 +306,7 @@ public class VisionSourceManagerTest {
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new CameraConfiguration(
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"Arducam OV2311 USB Camera",
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"Arducam OV2311 USB Camera (1)",
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"fromt-left",
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"front-left",
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"/dev/video2",
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CAM2_OLD_PATH);
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camera2_saved_config.usbVID = 3141;
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@@ -362,7 +362,7 @@ public class VisionSourceManagerTest {
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new CameraConfiguration(
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"Arducam OV2311 USB Camera",
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"Arducam OV2311 USB Camera (1)",
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"fromt-left",
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"front-left",
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"/dev/video0",
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CAM1_OLD_PATHS);
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camera1_saved_config.usbVID = 3141;
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@@ -371,7 +371,7 @@ public class VisionSourceManagerTest {
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new CameraConfiguration(
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"Arducam OV2311 USB Camera",
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"Arducam OV2311 USB Camera (1)",
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"fromt-left",
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"front-left",
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"/dev/video2",
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CAM2_OLD_PATH);
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camera2_saved_config.usbVID = 3141;
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@@ -571,7 +571,7 @@ public class VisionSourceManagerTest {
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ret1.stream().filter(it -> thisName.equals(it.cameraConfiguration.uniqueName)).count());
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}
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// duplciate cameras, same info, new ref
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// duplicate cameras, same info, new ref
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var duplicateCameraInfos = new ArrayList<CameraInfo>();
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CameraInfo info1_dup =
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new CameraInfo(
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@@ -609,7 +609,7 @@ public class VisionSourceManagerTest {
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assertTrue(inst.knownCameras.contains(info2_dup));
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assertEquals(2, inst.knownCameras.size());
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// duplciate cameras this simulates unplugging one and plugging the other in where v4l assigns
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// duplicate cameras this simulates unplugging one and plugging the other in where v4l assigns
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// the same by-id path to the other camera
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var duplicateCameraInfos1 = new ArrayList<CameraInfo>();
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CameraInfo info3_dup =
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@@ -408,7 +408,7 @@ public class PhotonPoseEstimator {
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result.getTargets(),
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PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR));
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} else {
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// We can nver fall back on another multitag strategy
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// We can never fall back on another multitag strategy
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return update(result, Optional.empty(), Optional.empty(), this.multiTagFallbackStrategy);
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}
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}
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@@ -151,7 +151,7 @@ public class OpenCVTest {
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assertEquals(
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actualRelation.camToTargPitch.getDegrees(),
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pitchDiff.getDegrees()
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* Math.cos(yaw2d.getRadians()), // adjust for unaccounted perpsective distortion
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* Math.cos(yaw2d.getRadians()), // adjust for unaccounted perspective distortion
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kRotDeltaDeg,
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"2d pitch doesn't match 3d");
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assertEquals(
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@@ -15,7 +15,7 @@ Like Rosmsg. But worse.
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The code for a single type is split across 3 files. Let's look at PnpResult:
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- [The struct definition](src/struct/pnpresult_struct.h): This is the data the object holds. Auto-generated. The data this object holds can be primitives or other, fully-deserialized types (like Vec2)
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- [The user class](src/targeting/pnpresult_struct.h): This is the fully-deserialized PnpResult type. This contains extra functions users might need to expose like `Amgiguity`, or other computed helper things.
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- [The serde interface](src/serde/pnpresult_struct.h): This is a template specilization for converting the user class to/from bytes
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- [The serde interface](src/serde/pnpresult_struct.h): This is a template specialization for converting the user class to/from bytes
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## Prior art
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@@ -71,7 +71,7 @@ remotes {
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task findDeployTarget {
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doLast {
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if(project.hasProperty('tgtIP')){
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//If user specificed IP, default to using the PI profile
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//If user specified IP, default to using the PI profile
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// but adjust hostname to match the provided IP address
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findDeployTarget.ext.rmt = remotes.pi
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findDeployTarget.ext.rmt.host=tgtIP
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@@ -203,7 +203,7 @@ public final class OpenCVHelp {
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* @param <T> Element type
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||||
* @param elements list elements
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* @param backwards If indexing should happen in reverse (0, size-1, size-2, ...)
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* @param shiftStart How much the inital index should be shifted (instead of starting at index 0,
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* @param shiftStart How much the initial index should be shifted (instead of starting at index 0,
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||||
* start at shiftStart, negated if backwards)
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* @return Reordered list
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*/
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@@ -257,7 +257,7 @@ public final class OpenCVHelp {
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||||
*
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||||
* @param pointsList the undistorted points
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||||
* @param cameraMatrix standard OpenCV camera mat
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||||
* @param distCoeffs standard OpenCV distortion coefficeints. Must OPENCV5 or OPENCV8
|
||||
* @param distCoeffs standard OpenCV distortion coefficients. Must OPENCV5 or OPENCV8
|
||||
*/
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||||
public static List<Point> distortPoints(
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||||
List<Point> pointsList, Mat cameraMatrix, Mat distCoeffs) {
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||||
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||||
@@ -119,7 +119,7 @@ public class PhotonTrackedTarget
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||||
}
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||||
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||||
/**
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||||
* Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0
|
||||
* Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is between 0
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* and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers
|
||||
* above 0.2 are likely to be ambiguous. -1 if invalid.
|
||||
*/
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||||
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||||
@@ -41,7 +41,7 @@ class PhotonPipelineResult : public PhotonPipelineResult_PhotonStruct {
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||||
PhotonPipelineResult() : Base() {}
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||||
explicit PhotonPipelineResult(Base&& data) : Base(data) {}
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||||
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||||
// Don't forget to deal with our ntRecieveTimestamp
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||||
// Don't forget to deal with our ntReceiveTimestamp
|
||||
PhotonPipelineResult(const PhotonPipelineResult& other)
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: Base(other), ntReceiveTimestamp(other.ntReceiveTimestamp) {}
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||||
PhotonPipelineResult(PhotonPipelineResult& other)
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||||
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||||
@@ -111,7 +111,7 @@ class PhotonTrackedTarget : public PhotonTrackedTarget_PhotonStruct {
|
||||
|
||||
/**
|
||||
* Get the ratio of best:alternate pose reprojection errors, called ambiguity.
|
||||
* This is betweeen 0 and 1 (0 being no ambiguity, and 1 meaning both have the
|
||||
* This is between 0 and 1 (0 being no ambiguity, and 1 meaning both have the
|
||||
* same reprojection error). Numbers above 0.2 are likely to be ambiguous. -1
|
||||
* if invalid.
|
||||
*/
|
||||
|
||||
@@ -81,7 +81,7 @@ void Robot::TeleopPeriodic() {
|
||||
targetRange = photon::PhotonUtils::CalculateDistanceToTarget(
|
||||
0.5_m, // Measured with a tape measure, or in CAD
|
||||
1.435_m, // From 2024 game manual for ID 7
|
||||
-30.0_deg, // Measured witha protractor, or in CAD
|
||||
-30.0_deg, // Measured with a protractor, or in CAD
|
||||
units::degree_t{target.GetPitch()});
|
||||
targetVisible = true;
|
||||
}
|
||||
|
||||
@@ -31,7 +31,7 @@ then
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Unziped image: " $IMAGE_FILE " -- mounting"
|
||||
echo "Unzipped image: " $IMAGE_FILE " -- mounting"
|
||||
TMP=$(mktemp -d)
|
||||
LOOP=$(sudo losetup --show -fP "${IMAGE_FILE}")
|
||||
echo "Image mounted! Copying jar..."
|
||||
|
||||
@@ -11,5 +11,5 @@ systemctl stop photonvision
|
||||
systemctl disable photonvision
|
||||
rm /lib/systemd/system/photonvision.service
|
||||
rm /etc/systemd/system/photonvision.service
|
||||
systemctl dameon-relaod
|
||||
systemctl daemeon-reload
|
||||
systemctl reset-failed
|
||||
|
||||
@@ -30,4 +30,4 @@ curl -sk https://api.github.com/repos/photonvision/photonvision/releases/latest
|
||||
echo "Starting PhotonVision service"
|
||||
systemctl start photonvision
|
||||
|
||||
echo "PhotonVision update succesful!"
|
||||
echo "PhotonVision update successful!"
|
||||
|
||||
Reference in New Issue
Block a user