mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
3d, camera calibration, backend settings hookup (#80)
* Implement new UI backend stuff * Kinda partially add resolution accuracy list * camera calibration go brrrrrrrr * ayyyy calibration works * Maybe fix grouping * Reorganize camera view * Fix settings not getting sent * Make pretty (#4) * Reorganize camera view * Apply some cosmetic layout changes to the cameras page * Fix pipeline rollback bug when starting on non-dashboard pages Co-authored-by: Matt <matthew.morley.ca@gmail.com> * Fix naming mismatch * Mostly make stuff work * rename robot-relative pose to camera-relative pose * SolvePNP memes, fix isFovConfigurable * Change config path to photonvision_config * netmask go poof, fix zip download? * Update index.js * Fix multi cam stuff? * Use LinearFilter instead * Fix multicam * aaa * start adding restart device and restart program, fix square size bug * Add some debug stuff * oop * Start fixing tests * Fix tests * Make target box proportinal * run spotless * Make crosshair h o t p i n k * Address review comments * Address review 2 electric booaloo * Possibly implement vendor FOV? * Make centroid crosshair gren * actually use FOV * Fix tests * actually fix tests Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
This commit is contained in:
Matt
@@ -28,31 +28,31 @@ import org.photonvision.common.logging.LogGroup;
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import org.photonvision.common.logging.LogLevel;
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import org.photonvision.common.logging.Logger;
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import org.photonvision.common.util.TestUtils;
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import org.photonvision.common.util.file.JacksonUtils;
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import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
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import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
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import org.photonvision.vision.target.TargetModel;
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public class ConfigTest {
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private static final ConfigManager configMgr;
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private static final CameraConfiguration cameraConfig =
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new CameraConfiguration("TestCamera", "/dev/video420");
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private static final ReflectivePipelineSettings REFLECTIVE_PIPELINE_SETTINGS =
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new ReflectivePipelineSettings();
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private static final ColoredShapePipelineSettings COLORED_SHAPE_PIPELINE_SETTINGS =
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new ColoredShapePipelineSettings();
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static {
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TestUtils.loadLibraries();
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configMgr = new ConfigManager(Path.of("testconfigdir"));
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}
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private static ConfigManager configMgr;
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private static final CameraConfiguration cameraConfig =
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new CameraConfiguration("TestCamera", "/dev/video420");
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private static ReflectivePipelineSettings REFLECTIVE_PIPELINE_SETTINGS;
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private static ColoredShapePipelineSettings COLORED_SHAPE_PIPELINE_SETTINGS;
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@BeforeAll
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public static void init() {
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TestUtils.loadLibraries();
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configMgr = new ConfigManager(Path.of("testconfigdir"));
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Logger.setLevel(LogGroup.General, LogLevel.TRACE);
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REFLECTIVE_PIPELINE_SETTINGS = new ReflectivePipelineSettings();
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COLORED_SHAPE_PIPELINE_SETTINGS = new ColoredShapePipelineSettings();
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REFLECTIVE_PIPELINE_SETTINGS.pipelineNickname = "2019Tape";
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REFLECTIVE_PIPELINE_SETTINGS.targetModel = TargetModel.get2019Target();
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@@ -67,7 +67,6 @@ public class ConfigTest {
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@Order(1)
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public void serializeConfig() throws IOException {
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TestUtils.loadLibraries();
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JacksonUtils.serializer(Path.of("settings.json"), REFLECTIVE_PIPELINE_SETTINGS);
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Logger.setLevel(LogGroup.General, LogLevel.TRACE);
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configMgr.getConfig().addCameraConfig(cameraConfig);
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@@ -75,16 +74,16 @@ public class ConfigTest {
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var camConfDir =
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new File(
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Path.of(configMgr.rootFolder.toString(), "cameras", "TestCamera")
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Path.of(configMgr.configDirectoryFile.toString(), "cameras", "TestCamera")
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.toAbsolutePath()
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.toString());
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Assertions.assertTrue(camConfDir.exists(), "TestCamera config folder not found!");
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Assertions.assertTrue(
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Files.exists(Path.of(configMgr.rootFolder.toString(), "hardwareConfig.json")),
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Files.exists(Path.of(configMgr.configDirectoryFile.toString(), "hardwareConfig.json")),
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"hardwareConfig.json file not found!");
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Assertions.assertTrue(
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Files.exists(Path.of(configMgr.rootFolder.toString(), "networkSettings.json")),
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Files.exists(Path.of(configMgr.configDirectoryFile.toString(), "networkSettings.json")),
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"networkSettings.json file not found!");
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}
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@@ -116,7 +115,7 @@ public class ConfigTest {
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e.printStackTrace();
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}
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FileUtils.cleanDirectory(configMgr.rootFolder);
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configMgr.rootFolder.delete();
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FileUtils.cleanDirectory(configMgr.configDirectoryFile);
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configMgr.configDirectoryFile.delete();
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}
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}
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@@ -29,7 +29,7 @@ import org.photonvision.common.util.TestUtils;
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public class HardwareManagerTest {
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@Test
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public void ManagementTest() throws IOException {
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public void managementTest() throws IOException {
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var config =
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new ObjectMapper().readValue(TestUtils.getHardwareConfigJson(), HardwareConfig.class);
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@@ -24,33 +24,33 @@ import org.photonvision.common.hardware.GPIO.CustomGPIO;
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import org.photonvision.common.hardware.GPIO.GPIOBase;
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import org.photonvision.common.hardware.GPIO.PiGPIO;
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import org.photonvision.common.hardware.Platform;
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import org.photonvision.common.hardware.metrics.CPU;
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import org.photonvision.common.hardware.metrics.GPU;
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import org.photonvision.common.hardware.metrics.RAM;
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import org.photonvision.common.hardware.metrics.CPUMetrics;
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import org.photonvision.common.hardware.metrics.GPUMetrics;
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import org.photonvision.common.hardware.metrics.RAMMetrics;
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public class HardwareTest {
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@Test
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public void testHardware() {
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CPU cpu = CPU.getInstance();
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RAM ram = RAM.getInstance();
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GPU gpu = GPU.getInstance();
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CPUMetrics cpuMetrics = new CPUMetrics();
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RAMMetrics ramMetrics = new RAMMetrics();
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GPUMetrics gpuMetrics = new GPUMetrics();
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if (!Platform.isRaspberryPi()) return;
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System.out.println("Testing on platform: " + Platform.CurrentPlatform);
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System.out.println("Printing CPU Info:");
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System.out.println("Memory: " + cpu.getMemory() + "MB");
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System.out.println("Temperature: " + cpu.getTemp() + "C");
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System.out.println("Utilization: : " + cpu.getUtilization() + "%");
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System.out.println("Memory: " + cpuMetrics.getMemory() + "MB");
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System.out.println("Temperature: " + cpuMetrics.getTemp() + "C");
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System.out.println("Utilization: : " + cpuMetrics.getUtilization() + "%");
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System.out.println("Printing GPU Info:");
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System.out.println("Memory: " + gpu.getMemory() + "MB");
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System.out.println("Temperature: " + gpu.getTemp() + "C");
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System.out.println("Memory: " + gpuMetrics.getMemory() + "MB");
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System.out.println("Temperature: " + gpuMetrics.getTemp() + "C");
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System.out.println("Printing RAM Info: ");
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System.out.println("Used RAM: : " + ram.getUsedRam() + "MB");
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System.out.println("Used RAM: : " + ramMetrics.getUsedRam() + "MB");
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}
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@Test
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@@ -17,12 +17,15 @@
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package org.photonvision.vision.pipeline;
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import static org.junit.jupiter.api.Assertions.assertNotNull;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import java.io.File;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.List;
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import org.apache.commons.lang3.tuple.Triple;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.opencv.core.Mat;
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@@ -53,13 +56,19 @@ public class Calibrate3dPipeTest {
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FindBoardCornersPipe findBoardCornersPipe = new FindBoardCornersPipe();
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findBoardCornersPipe.setParams(
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new FindBoardCornersPipe.FindCornersPipeParams(11, 4, false, 15));
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var findBoardCornersPipeOutput = findBoardCornersPipe.run(frames);
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new FindBoardCornersPipe.FindCornersPipeParams(
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11, 4, UICalibrationData.BoardType.DOTBOARD, 15));
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List<Triple<Size, Mat, Mat>> foundCornersList = new ArrayList<>();
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for (var f : frames) {
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foundCornersList.add(findBoardCornersPipe.run(f).output);
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}
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Calibrate3dPipe calibrate3dPipe = new Calibrate3dPipe();
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calibrate3dPipe.setParams(new Calibrate3dPipe.CalibratePipeParams(new Size(640, 480)));
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var calibrate3dPipeOutput = calibrate3dPipe.run(findBoardCornersPipeOutput.output);
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var calibrate3dPipeOutput = calibrate3dPipe.run(foundCornersList);
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assertTrue(calibrate3dPipeOutput.output.perViewErrors.length > 0);
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System.out.println(
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"Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.output.perViewErrors));
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@@ -71,10 +80,10 @@ public class Calibrate3dPipeTest {
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File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
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File[] directoryListing = dir.listFiles();
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Calibration3dPipeline calibration3dPipeline = new Calibration3dPipeline();
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Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline(20);
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calibration3dPipeline.getSettings().boardHeight = 11;
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calibration3dPipeline.getSettings().boardWidth = 4;
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calibration3dPipeline.getSettings().isUsingChessboard = false;
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calibration3dPipeline.getSettings().boardType = UICalibrationData.BoardType.DOTBOARD;
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calibration3dPipeline.getSettings().gridSize = 15;
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calibration3dPipeline.getSettings().resolution = new Size(640, 480);
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@@ -84,28 +93,35 @@ public class Calibrate3dPipeTest {
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calibration3dPipeline.run(
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new Frame(
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new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
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new FrameStaticProperties(640, 480, 60)));
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TestUtils.showImage(output.outputFrame.image.getMat());
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new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
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// TestUtils.showImage(output.outputFrame.image.getMat());
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}
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assertTrue(
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calibration3dPipeline.foundCornersList.stream()
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.map(Triple::getRight)
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.allMatch(it -> it.width() > 0 && it.height() > 0));
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calibration3dPipeline.removeSnapshot(0);
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calibration3dPipeline.startCalibration();
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calibration3dPipeline.run(
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new Frame(
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new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
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new FrameStaticProperties(640, 480, 60)));
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new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
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assertTrue(
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calibration3dPipeline.foundCornersList.stream()
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.map(Triple::getRight)
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.allMatch(it -> it.width() > 0 && it.height() > 0));
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var cal = calibration3dPipeline.tryCalibration();
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calibration3dPipeline.finishCalibration();
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System.out.println(
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"Per View Errors: " + Arrays.toString(calibration3dPipeline.perViewErrors()));
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System.out.println(
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"Camera Intrinsics : "
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+ calibration3dPipeline.cameraCalibrationCoefficients().cameraIntrinsics.toString());
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System.out.println(
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"Camera Extrinsics : "
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+ calibration3dPipeline.cameraCalibrationCoefficients().cameraExtrinsics.toString());
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System.out.println(
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"Standard Deviation: "
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+ calibration3dPipeline.cameraCalibrationCoefficients().standardDeviation);
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assertNotNull(cal);
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assertNotNull(cal.perViewErrors);
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System.out.println("Per View Errors: " + Arrays.toString(cal.perViewErrors));
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System.out.println("Camera Intrinsics : " + cal.cameraIntrinsics.toString());
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System.out.println("Camera Extrinsics : " + cal.cameraExtrinsics.toString());
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System.out.println("Standard Deviation: " + cal.standardDeviation);
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System.out.println(
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"Mean: " + Arrays.stream(calibration3dPipeline.perViewErrors()).average().toString());
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}
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@@ -57,7 +57,7 @@ public class CirclePNPTest {
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}
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private CameraCalibrationCoefficients getCoeffs(String filename) {
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var cameraCalibration = TestUtils.getCoeffs(filename, false);
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var cameraCalibration = TestUtils.getCoeffs(filename, true);
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checkCameraCoefficients(cameraCalibration);
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return cameraCalibration;
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}
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@@ -162,7 +162,7 @@ public class CirclePNPTest {
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System.out.println(
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"Found targets at "
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+ pipelineResult.targets.stream()
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.map(TrackedTarget::getRobotRelativePose)
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.map(TrackedTarget::getCameraToTarget)
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.collect(Collectors.toList()));
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}
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}
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@@ -21,10 +21,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertNotNull;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.util.Units;
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import java.util.stream.Collectors;
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import org.junit.jupiter.api.Assertions;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.opencv.imgcodecs.Imgcodecs;
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import org.photonvision.common.util.TestUtils;
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import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
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import org.photonvision.vision.frame.Frame;
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@@ -58,7 +60,7 @@ public class SolvePNPTest {
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}
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private CameraCalibrationCoefficients getCoeffs(String filename) {
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var cameraCalibration = TestUtils.getCoeffs(filename, false);
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var cameraCalibration = TestUtils.getCoeffs(filename, true);
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checkCameraCoefficients(cameraCalibration);
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return cameraCalibration;
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}
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@@ -97,12 +99,13 @@ public class SolvePNPTest {
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pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
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pipeline.getSettings().cornerDetectionUseConvexHulls = true;
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pipeline.getSettings().targetModel = TargetModel.get2019Target();
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pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_240P_CAL_FILE);
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var frameProvider =
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new FileFrameProvider(
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TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoStraightDark48in, false),
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TestUtils.WPI2019Image.FOV);
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TestUtils.WPI2019Image.FOV,
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new Rotation2d(),
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TestUtils.get2019LifeCamCoeffs(true));
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CVPipelineResult pipelineResult;
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@@ -110,12 +113,13 @@ public class SolvePNPTest {
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printTestResults(pipelineResult);
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// these numbers are not *accurate*, but they are known and expected
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var pose = pipelineResult.targets.get(0).getRobotRelativePose();
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Assertions.assertEquals(41.96, pose.getTranslation().getX(), 0.05);
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Assertions.assertEquals(-1.03, pose.getTranslation().getY(), 0.05);
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Assertions.assertEquals(1.46, pose.getRotation().getDegrees(), 0.05);
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var pose = pipelineResult.targets.get(0).getCameraToTarget();
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Assertions.assertEquals(1.1, pose.getTranslation().getX(), 0.05);
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Assertions.assertEquals(0.0, pose.getTranslation().getY(), 0.05);
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Assertions.assertEquals(1, pose.getRotation().getDegrees(), 1);
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TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 1000 * 90);
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Imgcodecs.imwrite("D:\\out.jpg", pipelineResult.outputFrame.image.getMat());
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TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
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}
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@Test
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@@ -129,23 +133,23 @@ public class SolvePNPTest {
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pipeline.getSettings().solvePNPEnabled = true;
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pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
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pipeline.getSettings().cornerDetectionUseConvexHulls = true;
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pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
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pipeline.getSettings().targetModel = TargetModel.get2020Target(36);
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pipeline.getSettings().cameraPitch = Rotation2d.fromDegrees(0.0);
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pipeline.getSettings().targetModel = TargetModel.get2020Target();
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var frameProvider =
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new FileFrameProvider(
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TestUtils.getWPIImagePath(TestUtils.WPI2020Image.kBlueGoal_224in_Left, false),
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TestUtils.WPI2020Image.FOV);
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TestUtils.WPI2020Image.FOV,
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new Rotation2d(),
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TestUtils.get2020LifeCamCoeffs(true));
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CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
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printTestResults(pipelineResult);
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// these numbers are not *accurate*, but they are known and expected
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var pose = pipelineResult.targets.get(0).getRobotRelativePose();
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Assertions.assertEquals(260.26, pose.getTranslation().getX(), 0.05);
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Assertions.assertEquals(64.26, pose.getTranslation().getY(), 0.05);
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Assertions.assertEquals(36.88, pose.getRotation().getDegrees(), 0.05);
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var pose = pipelineResult.targets.get(0).getCameraToTarget();
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Assertions.assertEquals(Units.inchesToMeters(240.26), pose.getTranslation().getX(), 0.05);
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Assertions.assertEquals(Units.inchesToMeters(35), pose.getTranslation().getY(), 0.05);
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Assertions.assertEquals(42, pose.getRotation().getDegrees(), 1);
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||||
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TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
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}
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@@ -193,7 +197,7 @@ public class SolvePNPTest {
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System.out.println(
|
||||
"Found targets at "
|
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+ pipelineResult.targets.stream()
|
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.map(TrackedTarget::getRobotRelativePose)
|
||||
.map(TrackedTarget::getCameraToTarget)
|
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.collect(Collectors.toList()));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -18,6 +18,7 @@
|
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package org.photonvision.vision.processes;
|
||||
|
||||
import edu.wpi.cscore.VideoMode;
|
||||
import edu.wpi.first.wpilibj.geometry.Rotation2d;
|
||||
import java.util.HashMap;
|
||||
import java.util.List;
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||||
import org.junit.jupiter.api.*;
|
||||
@@ -78,8 +79,9 @@ public class VisionModuleManagerTest {
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setCurrentVideoMode(VideoMode videoMode) {
|
||||
this.frameStaticProperties = new FrameStaticProperties(getCurrentVideoMode(), getFOV());
|
||||
public void setVideoModeInternal(VideoMode videoMode) {
|
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this.frameStaticProperties =
|
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new FrameStaticProperties(getCurrentVideoMode(), getFOV(), new Rotation2d(), null);
|
||||
}
|
||||
|
||||
@Override
|
||||
|
||||
@@ -19,6 +19,7 @@ package org.photonvision.vision.target;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
|
||||
import edu.wpi.first.wpilibj.geometry.Rotation2d;
|
||||
import org.apache.commons.math3.util.FastMath;
|
||||
import org.junit.jupiter.api.BeforeEach;
|
||||
import org.junit.jupiter.api.Test;
|
||||
@@ -35,7 +36,8 @@ public class TargetCalculationsTest {
|
||||
private static final double diagFOV = Math.toRadians(70.0);
|
||||
|
||||
private static final FrameStaticProperties props =
|
||||
new FrameStaticProperties((int) imageSize.width, (int) imageSize.height, diagFOV);
|
||||
new FrameStaticProperties(
|
||||
(int) imageSize.width, (int) imageSize.height, diagFOV, new Rotation2d(), null);
|
||||
private static final TrackedTarget.TargetCalculationParameters params =
|
||||
new TrackedTarget.TargetCalculationParameters(
|
||||
true,
|
||||
|
||||
Reference in New Issue
Block a user