Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Show board outliers in calibration info card (#1267)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

68
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
View File

@@ -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);