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Add calibdb upload button (#735)

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* Add calibdb upload

* Fix distortion coefficients size
This commit is contained in:
Matt
2023-01-18 16:29:58 -05:00
committed by GitHub
parent a985c6cf3a
commit 9d6997180d
6 changed files with 185 additions and 1 deletions
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40
photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
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@@ -21,6 +21,7 @@ import com.fasterxml.jackson.annotation.JsonAlias;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.fasterxml.jackson.databind.JsonNode;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
import org.opencv.core.Size;
@@ -82,4 +83,43 @@ public class CameraCalibrationCoefficients implements Releasable {
cameraIntrinsics.release();
distCoeffs.release();
}
public static CameraCalibrationCoefficients parseFromCalibdbJson(JsonNode json) {
// camera_matrix is a row major, array of arrays
var cam_matrix = json.get("camera_matrix");
double[] cam_arr =
new double[] {
cam_matrix.get(0).get(0).doubleValue(),
cam_matrix.get(0).get(1).doubleValue(),
cam_matrix.get(0).get(2).doubleValue(),
cam_matrix.get(1).get(0).doubleValue(),
cam_matrix.get(1).get(1).doubleValue(),
cam_matrix.get(1).get(2).doubleValue(),
cam_matrix.get(2).get(0).doubleValue(),
cam_matrix.get(2).get(1).doubleValue(),
cam_matrix.get(2).get(2).doubleValue()
};
var dist_coefs = json.get("distortion_coefficients");
double[] dist_array =
new double[] {
dist_coefs.get(0).doubleValue(),
dist_coefs.get(1).doubleValue(),
dist_coefs.get(2).doubleValue(),
dist_coefs.get(3).doubleValue(),
dist_coefs.get(4).doubleValue(),
};
var cam_jsonmat = new JsonMat(3, 3, cam_arr);
var distortion_jsonmat = new JsonMat(1, 5, dist_array);
var error = json.get("avg_reprojection_error").asDouble();
var width = json.get("img_size").get(0).doubleValue();
var height = json.get("img_size").get(1).doubleValue();
return new CameraCalibrationCoefficients(
new Size(width, height), cam_jsonmat, distortion_jsonmat, new double[] {error}, 0);
}
}

11
photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
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@@ -586,4 +586,15 @@ public class VisionModule {
logger.error("Cannot set target model of non-reflective pipe! Ignoring...");
}
}
public void addCalibrationToConfig(CameraCalibrationCoefficients newCalibration) {
if (newCalibration != null) {
logger.info("Got new calibration for " + newCalibration.resolution);
visionSource.getSettables().getConfiguration().addCalibration(newCalibration);
} else {
logger.error("Got null calibration?");
}
saveAndBroadcastAll();
}
}

5
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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@@ -28,6 +28,7 @@ import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
import org.photonvision.vision.pipeline.PipelineType;
import org.photonvision.vision.pipeline.UICalibrationData;
@@ -114,6 +115,10 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
parentModule.setPipeline(idx);
parentModule.saveAndBroadcastAll();
return;
case "calibrationUploaded":
if (newPropValue instanceof CameraCalibrationCoefficients)
parentModule.addCalibrationToConfig((CameraCalibrationCoefficients) newPropValue);
return;
case "robotOffsetPoint":
if (currentSettings instanceof AdvancedPipelineSettings) {
var curAdvSettings = (AdvancedPipelineSettings) currentSettings;