mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +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
@@ -460,7 +460,7 @@ public class RequestHandler {
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}
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}
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public static void onCalibrationImportRequest(Context ctx) {
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public static void onCalibDBCalibrationImportRequest(Context ctx) {
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var data = ctx.body();
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try {
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@@ -492,6 +492,38 @@ public class RequestHandler {
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}
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}
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public static void onDataCalibrationImportRequest(Context ctx) {
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try {
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var data = kObjectMapper.readTree(ctx.body());
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int cameraIndex = data.get("cameraIndex").asInt();
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var coeffs =
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kObjectMapper.convertValue(data.get("calibration"), CameraCalibrationCoefficients.class);
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var uploadCalibrationEvent =
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new IncomingWebSocketEvent<>(
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DataChangeDestination.DCD_ACTIVEMODULE,
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"calibrationUploaded",
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coeffs,
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cameraIndex,
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null);
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DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
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ctx.status(200);
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ctx.result("Calibration imported successfully from imported data!");
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logger.info("Calibration imported successfully from imported data!");
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} catch (JsonProcessingException e) {
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ctx.status(400);
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ctx.result("The provided calibration data was malformed");
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logger.error("The provided calibration data was malformed", e);
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} catch (Exception e) {
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ctx.status(500);
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ctx.result("An error occurred while uploading calibration data");
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logger.error("An error occurred while uploading calibration data", e);
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}
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}
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public static void onProgramRestartRequest(Context ctx) {
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// TODO, check if this was successful or not
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ctx.status(204);
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@@ -567,6 +599,50 @@ public class RequestHandler {
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ctx.json(snapshots);
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}
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public static void onCameraCalibImagesRequest(Context ctx) {
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try {
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HashMap<String, HashMap<String, ArrayList<HashMap<String, Object>>>> snapshots =
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new HashMap<>();
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var cameraDirs = ConfigManager.getInstance().getCalibDir().toFile().listFiles();
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if (cameraDirs != null) {
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var camData = new HashMap<String, ArrayList<HashMap<String, Object>>>();
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for (var cameraDir : cameraDirs) {
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var resolutionDirs = cameraDir.listFiles();
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if (resolutionDirs == null) continue;
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for (var resolutionDir : resolutionDirs) {
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var calibImages = resolutionDir.listFiles();
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if (calibImages == null) continue;
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var resolutionImages = new ArrayList<HashMap<String, Object>>();
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for (var calibImg : calibImages) {
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var snapshotData = new HashMap<String, Object>();
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var bufferedImage = ImageIO.read(calibImg);
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var buffer = new ByteArrayOutputStream();
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ImageIO.write(bufferedImage, "png", buffer);
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byte[] data = buffer.toByteArray();
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snapshotData.put("snapshotData", data);
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snapshotData.put("snapshotFilename", calibImg.getName());
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resolutionImages.add(snapshotData);
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}
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camData.put(resolutionDir.getName(), resolutionImages);
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}
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var cameraName = cameraDir.getName();
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snapshots.put(cameraName, camData);
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}
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}
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ctx.json(snapshots);
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} catch (Exception e) {
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ctx.status(500);
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ctx.result("An error occurred while getting calib data");
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logger.error("An error occurred while getting calib data", e);
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}
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}
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/**
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* Create a temporary file using the UploadedFile from Javalin.
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*
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@@ -38,6 +38,10 @@ public class Server {
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corsContainer.add(CorsPluginConfig::anyHost);
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});
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// Increase the upload size limit (arbitrary, but need to be able to deal with large
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// calibration JSONs)
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javalinConfig.http.maxRequestSize = (long) (50 * 1e6);
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javalinConfig.requestLogger.http(
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(ctx, ms) -> {
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StringJoiner joiner =
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@@ -90,6 +94,7 @@ public class Server {
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app.post("/api/settings/general", RequestHandler::onGeneralSettingsRequest);
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app.post("/api/settings/camera", RequestHandler::onCameraSettingsRequest);
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app.post("/api/settings/camera/setNickname", RequestHandler::onCameraNicknameChangeRequest);
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app.get("/api/settings/camera/getCalibImages", RequestHandler::onCameraCalibImagesRequest);
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// Utilities
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app.post("/api/utils/offlineUpdate", RequestHandler::onOfflineUpdateRequest);
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@@ -101,7 +106,9 @@ public class Server {
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// Calibration
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app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);
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app.post("/api/calibration/importFromCalibDB", RequestHandler::onCalibrationImportRequest);
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app.post(
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"/api/calibration/importFromCalibDB", RequestHandler::onCalibDBCalibrationImportRequest);
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app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);
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app.start(port);
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}
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