mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-27 02:01:40 +00:00
Save calibration data and show preliminary GUI (#1078)
* Serialize all calibration data * Run lint * typing nit * fix code * move these tables around some * Add cool formatting * add request to get snapshots by resolution and camera * re-enable all resolutions * add wip so i can change computers (SQUASH ME AND KILL ME AHHHH) * Get everything working but viewing snapshots * Update RequestHandler.java * Update CameraCalibrationInfoCard.vue * Update CameraCalibrationInfoCard.vue * add observation viewer * round * fix illiegal import * Swap to PNG and serialize insolution * move import/export buttons TO THE TOP * Update WebsocketDataTypes.ts * Add snapshotname to observation * Refactor to serialize snapshot image itself * Run lint * Use new base64 image data in info card * Update SettingTypes.ts * Create calibration json -> mrcal converter script * Update calibrationUtils.py * Fix calibrate NPEs in teest * Run lint * Always run cornersubpix * Update CameraCalibrationInfoCard.vue Update CameraCalibrationInfoCard.vue * Update OpenCVHelp.java * Update OpenCVHelp.java * Replace test mode camera JSONs * Run wpiformat * Revert intrinsics but keep other data * Remove misc comments * Rename JsonMat->JsonImageMat and add calobject_warp * Update Server.java * Rename cameraExtrinsics to distCoeffs * fix typing issues * use util methods * Formatting fixes * fix styling * move to devTools * remove unneeded or unused imports * Remove fixed-right css If its really that big of a deal, we can add it back later, kind of a drag to fix rn. * Create util method * Remove extra legacy calibration things --------- Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
This commit is contained in:
Matt
@@ -1,3 +1,26 @@
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export interface Quaternion {
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X: number;
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Y: number;
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Z: number;
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W: number;
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}
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export interface Translation3d {
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x: number;
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y: number;
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z: number;
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}
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export interface Rotation3d {
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quaternion: Quaternion;
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}
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export interface Pose3d {
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translation: Translation3d;
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rotation: Rotation3d;
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}
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// TODO update backend to serialize this using correct layout
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export interface Transform3d {
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x: number;
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y: number;
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@@ -11,13 +34,6 @@ export interface Transform3d {
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angle_z: number;
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}
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export interface Quaternion {
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X: number;
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Y: number;
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Z: number;
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W: number;
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}
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export interface AprilTagFieldLayout {
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field: {
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length: number;
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@@ -25,16 +41,7 @@ export interface AprilTagFieldLayout {
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};
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tags: {
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ID: number;
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pose: {
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translation: {
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x: number;
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y: number;
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z: number;
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};
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rotation: {
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quaternion: Quaternion;
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};
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};
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pose: Pose3d;
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}[];
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}
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@@ -1,4 +1,5 @@
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import { type ActivePipelineSettings, DefaultAprilTagPipelineSettings } from "@/types/PipelineTypes";
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import type { Pose3d } from "@/types/PhotonTrackingTypes";
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export interface GeneralSettings {
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version?: string;
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@@ -77,16 +78,59 @@ export interface VideoFormat {
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diagonalFOV?: number;
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horizontalFOV?: number;
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verticalFOV?: number;
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standardDeviation?: number;
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mean?: number;
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}
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export enum CvType {
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CV_8U = 0,
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CV_8S = 1,
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CV_16U = 2,
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CV_16S = 3,
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CV_32S = 4,
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CV_32F = 5,
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CV_64F = 6,
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CV_16F = 7
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}
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export interface JsonMatOfDouble {
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rows: number;
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cols: number;
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type: CvType;
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data: number[];
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}
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export interface JsonImageMat {
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rows: number;
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cols: number;
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type: CvType;
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data: string; // base64 encoded
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}
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export interface CvPoint3 {
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x: number;
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y: number;
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z: number;
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}
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export interface CvPoint {
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x: number;
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y: number;
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}
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export interface BoardObservation {
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locationInObjectSpace: CvPoint3[];
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locationInImageSpace: CvPoint[];
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reprojectionErrors: CvPoint[];
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optimisedCameraToObject: Pose3d;
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includeObservationInCalibration: boolean;
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snapshotName: string;
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snapshotData: JsonImageMat;
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}
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export interface CameraCalibrationResult {
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resolution: Resolution;
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distCoeffs: number[];
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standardDeviation: number;
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perViewErrors: number[] | null;
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intrinsics: number[];
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cameraIntrinsics: JsonMatOfDouble;
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distCoeffs: JsonMatOfDouble;
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observations: BoardObservation[];
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}
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export interface ConfigurableCameraSettings {
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@@ -95,6 +139,7 @@ export interface ConfigurableCameraSettings {
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export interface CameraSettings {
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nickname: string;
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uniqueName: string;
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fov: {
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value: number;
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@@ -117,6 +162,7 @@ export interface CameraSettings {
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export const PlaceholderCameraSettings: CameraSettings = {
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nickname: "Placeholder Camera",
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uniqueName: "Placeholder Name",
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fov: {
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value: 70,
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managedByVendor: true
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@@ -142,7 +188,45 @@ export const PlaceholderCameraSettings: CameraSettings = {
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pixelFormat: "RGB"
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}
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],
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completeCalibrations: [],
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completeCalibrations: [
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{
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resolution: { width: 1920, height: 1080 },
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cameraIntrinsics: {
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rows: 1,
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cols: 1,
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type: 1,
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data: [1, 2, 3, 4, 5, 6, 7, 8, 9]
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},
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distCoeffs: {
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rows: 1,
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cols: 1,
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type: 1,
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data: [10, 11, 12, 13]
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},
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observations: [
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{
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locationInImageSpace: [
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{ x: 100, y: 100 },
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{ x: 210, y: 100 },
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{ x: 320, y: 101 }
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],
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locationInObjectSpace: [{ x: 0, y: 0, z: 0 }],
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optimisedCameraToObject: {
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translation: { x: 1, y: 2, z: 3 },
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rotation: { quaternion: { W: 1, X: 0, Y: 0, Z: 0 } }
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},
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reprojectionErrors: [
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{ x: 1, y: 1 },
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{ x: 2, y: 1 },
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{ x: 3, y: 1 }
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],
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includeObservationInCalibration: false,
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snapshotName: "img0.png",
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snapshotData: { rows: 480, cols: 640, type: CvType.CV_8U, data: "" }
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}
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]
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}
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],
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pipelineNicknames: ["Placeholder Pipeline"],
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lastPipelineIndex: 0,
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currentPipelineIndex: 0,
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@@ -1,4 +1,11 @@
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import type { GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
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import type {
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CameraCalibrationResult,
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GeneralSettings,
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LightingSettings,
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LogLevel,
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MetricData,
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NetworkSettings
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} from "@/types/SettingTypes";
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import type { ActivePipelineSettings } from "@/types/PipelineTypes";
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import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
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@@ -20,16 +27,6 @@ export interface WebsocketNumberPair {
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second: number;
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}
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export interface WebsocketCompleteCalib {
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distCoeffs: number[];
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height: number;
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width: number;
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standardDeviation: number;
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// perViewErrors not set in test mode
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perViewErrors: number[] | null;
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intrinsics: number[];
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}
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export type WebsocketVideoFormat = Record<
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number,
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{
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@@ -47,7 +44,7 @@ export type WebsocketVideoFormat = Record<
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>;
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export interface WebsocketCameraSettingsUpdate {
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calibrations: WebsocketCompleteCalib[];
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calibrations: CameraCalibrationResult[];
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currentPipelineIndex: number;
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currentPipelineSettings: ActivePipelineSettings;
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fov: number;
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@@ -55,6 +52,7 @@ export interface WebsocketCameraSettingsUpdate {
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isFovConfigurable: boolean;
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isCSICamera: boolean;
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nickname: string;
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uniqueName: string;
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outputStreamPort: number;
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pipelineNicknames: string[];
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videoFormatList: WebsocketVideoFormat;
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