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Show board outliers in calibration info card (#1267)

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This commit is contained in:
Matt Morley
2025-12-26 21:20:36 -05:00
committed by GitHub
parent 235e601cbc
commit fddff5dbca
17 changed files with 1062 additions and 348 deletions
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18
photon-server/src/main/java/org/photonvision/Main.java
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@@ -187,6 +187,15 @@ public class Main {
}
public static void main(String[] args) {
var logLevel = printDebugLogs ? LogLevel.TRACE : LogLevel.DEBUG;
Logger.setLevel(LogGroup.Camera, logLevel);
Logger.setLevel(LogGroup.WebServer, logLevel);
Logger.setLevel(LogGroup.VisionModule, logLevel);
Logger.setLevel(LogGroup.Data, logLevel);
Logger.setLevel(LogGroup.Config, logLevel);
Logger.setLevel(LogGroup.General, logLevel);
logger.info("Logging initialized in debug mode.");
logger.info(
"Starting PhotonVision version "
+ PhotonVersion.versionString
@@ -257,15 +266,6 @@ public class Main {
CVMat.enablePrint(false);
PipelineProfiler.enablePrint(false);
var logLevel = printDebugLogs ? LogLevel.TRACE : LogLevel.DEBUG;
Logger.setLevel(LogGroup.Camera, logLevel);
Logger.setLevel(LogGroup.WebServer, logLevel);
Logger.setLevel(LogGroup.VisionModule, logLevel);
Logger.setLevel(LogGroup.Data, logLevel);
Logger.setLevel(LogGroup.Config, logLevel);
Logger.setLevel(LogGroup.General, logLevel);
logger.info("Logging initialized in debug mode.");
// Add Linux kernel log->Photon logger
KernelLogLogger.getInstance();

68
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
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@@ -32,7 +32,6 @@ import java.util.LinkedList;
import java.util.Optional;
import javax.imageio.ImageIO;
import org.apache.commons.io.FileUtils;
import org.opencv.core.Mat;
import org.opencv.core.MatOfByte;
import org.opencv.core.MatOfInt;
import org.opencv.core.Size;
@@ -525,7 +524,7 @@ public class RequestHandler {
public static void onDataCalibrationImportRequest(Context ctx) {
try {
DataCalibrationImportRequest request =
kObjectMapper.readValue(ctx.body(), DataCalibrationImportRequest.class);
kObjectMapper.readValue(ctx.req().getInputStream(), DataCalibrationImportRequest.class);
var uploadCalibrationEvent =
new IncomingWebSocketEvent<>(
@@ -1000,6 +999,41 @@ public class RequestHandler {
ctx.status(204);
}
/**
* Get the calibration JSON for a specific observation. Excludes camera image data
*
* <p>This is excluded from UICalibrationCoefficients by default to save bandwidth on large
* calibrations
*/
public static void onCalibrationJsonRequest(Context ctx) {
String cameraUniqueName = ctx.queryParam("cameraUniqueName");
var width = Integer.parseInt(ctx.queryParam("width"));
var height = Integer.parseInt(ctx.queryParam("height"));
var module = VisionSourceManager.getInstance().vmm.getModule(cameraUniqueName);
if (module == null) {
ctx.status(404);
return;
}
CameraCalibrationCoefficients calList =
module.getStateAsCameraConfig().calibrations.stream()
.filter(
it ->
Math.abs(it.unrotatedImageSize.width - width) < 1e-4
&& Math.abs(it.unrotatedImageSize.height - height) < 1e-4)
.findFirst()
.orElse(null);
if (calList == null) {
ctx.status(404);
return;
}
ctx.json(calList);
ctx.status(200);
}
private record CalibrationRemoveRequest(int width, int height, String cameraUniqueName) {}
public static void onCalibrationRemoveRequest(Context ctx) {
@@ -1065,28 +1099,18 @@ public class RequestHandler {
return;
}
// encode as jpeg to save even more space. reduces size of a 1280p image from
// 300k to 25k
// encode as jpeg to save even more space. reduces size of a 1280p image from 300k to 25k
var mat = calList.observations.get(observationIdx).annotateImage();
if (mat == null) {
ctx.status(404);
return;
}
var jpegBytes = new MatOfByte();
Mat img = null;
try {
img =
Imgcodecs.imread(
calList.observations.get(observationIdx).snapshotDataLocation.toString());
} catch (Exception e) {
ctx.status(500);
ctx.result("Unable to read calibration image");
return;
}
if (img == null || img.empty()) {
ctx.status(500);
ctx.result("Unable to read calibration image");
return;
}
Imgcodecs.imencode(".jpg", img, jpegBytes, new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 60));
Imgcodecs.imencode(".jpg", mat, jpegBytes, new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 60));
ctx.result(jpegBytes.toArray());
mat.release();
jpegBytes.release();
ctx.status(200);

2
photon-server/src/main/java/org/photonvision/server/Server.java
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@@ -68,7 +68,6 @@ public class Server {
it.anyHost();
});
}));
javalinConfig.requestLogger.http(
(ctx, ms) -> {
StringJoiner joiner =
@@ -129,6 +128,7 @@ public class Server {
app.post("/api/settings/camera", RequestHandler::onCameraSettingsRequest);
app.post("/api/settings/camera/setNickname", RequestHandler::onCameraNicknameChangeRequest);
app.get("/api/settings/camera/getCalibImages", RequestHandler::onCameraCalibImagesRequest);
app.get("/api/settings/camera/getCalibration", RequestHandler::onCalibrationJsonRequest);
// Utilities
app.post("/api/utils/offlineUpdate", RequestHandler::onOfflineUpdateRequest);