Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

standardize on calibration in inches and add square size as a divisor

Browse Source 
This should do the same thing as calibrating in the correct units but it doesnt like meeeeee
This commit is contained in:
Matt
2019-12-31 16:38:52 -08:00
parent 347b3274d7
commit 9559bb360e
5 changed files with 32 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
View File

@@ -22,8 +22,10 @@ import java.util.Map;
public class RequestHandler {
private static final ObjectMapper kObjectMapper = new ObjectMapper();
public static void onGeneralSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
ObjectMapper objectMapper = kObjectMapper;
try {
Map map = objectMapper.readValue(ctx.body(), Map.class);
@@ -44,7 +46,7 @@ public class RequestHandler {
}
public static void onDuplicatePipeline(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
ObjectMapper objectMapper = kObjectMapper;
try {
Map newPipelineData = objectMapper.readValue(ctx.body(), Map.class);
@@ -81,7 +83,7 @@ public class RequestHandler {
}
public static void onCameraSettings(Context ctx) {
ObjectMapper objectMapper = new ObjectMapper();
ObjectMapper objectMapper = kObjectMapper;
try {
Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
@@ -112,7 +114,7 @@ public class RequestHandler {
public static void onCalibrationStart(Context ctx) throws JsonProcessingException {
PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
ObjectMapper objectMapper = new ObjectMapper();
ObjectMapper objectMapper = kObjectMapper;
var data = objectMapper.readValue(ctx.body(), Map.class);
int resolutionIndex = (Integer) data.get("resolution");
double squareSize;
@@ -122,7 +124,7 @@ public class RequestHandler {
squareSize = (Integer) data.get("squareSize");
}
// convert from mm to meters
pipeManager.calib3dPipe.setSquareSize(squareSize / 1000d);
pipeManager.calib3dPipe.setSquareSize(squareSize);
VisionManager.getCurrentUIVisionProcess().pipelineManager.calib3dPipe.settings.videoModeIndex = resolutionIndex;
VisionManager.getCurrentUIVisionProcess().pipelineManager.setCalibrationMode(true);
VisionManager.getCurrentUIVisionProcess().getCamera().setVideoMode(resolutionIndex);
@@ -143,6 +145,16 @@ public class RequestHandler {
public static void onCalibrationEnding(Context ctx) throws JsonProcessingException {
PipelineManager pipeManager = VisionManager.getCurrentUIVisionProcess().pipelineManager;
var data = kObjectMapper.readValue(ctx.body(), Map.class);
double squareSize;
try {
squareSize = (Double) data.get("squareSize");
} catch (Exception e) {
squareSize = (Integer) data.get("squareSize");
}
pipeManager.calib3dPipe.setSquareSize(squareSize);
System.out.println("Finishing Cal");
if (pipeManager.calib3dPipe.hasEnoughSnapshots()) {
if (pipeManager.calib3dPipe.tryCalibration()) {
@@ -158,7 +170,7 @@ public class RequestHandler {
public static void onPnpModel(Context ctx) throws JsonProcessingException {
System.out.println(ctx.body());
ObjectMapper objectMapper = new ObjectMapper();
ObjectMapper objectMapper = kObjectMapper;
List points = objectMapper.readValue(ctx.body(), List.class);
System.out.println(points);
}