Team2890/PhotonVision
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3c7165bb0db4e912697c6060f604d1a9eeb8d165
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85 Commits

Author SHA1 Message Date
Matt
c7aa84ca41 Add tag16h5 support (#584) 
* Fix target dropdown

* Add hamming and decision margin to UI, pipeline

* Run spotless

* Update index.html

* Update index.html

* Implement second apriltag size
 2022-11-10 18:48:41 -08:00
Matt
209cdbf45f Re-license apriltag code (#585) 
Relicense under wpilib BSD license
 2022-11-09 23:22:47 -05:00
Chris Gerth
a64697e714 Added proper state machine to websocket video stream to control connect/disconnect sequence better. (#561) 2022-11-03 15:05:17 -05:00
Jack
e971db2f52 Fix pipeline setting update not being sent if only autoexposure fails (#565) 2022-11-03 13:12:21 -04:00
Andrew Gasser
b1280e49d5 Ignore cameras with no supported VideoModes (#550) 2022-10-30 22:58:22 -04:00
Chris Gerth
aaac6a4fbb Add Websocket Camera Streaming (#529) 
* WIP adding second websocket handling for cameras

* just more WIP

* even more wip. Most java-side framework completed, but not yet debugged

* IT LIVES. Still needs lots of cleanup. But we're transferring and displaying data!

* moved down an architecture layer. Improved multiple-camera handling

* Additional WIP to help improve smoothness and performance, though not yet tested

* bugfixes galore

* tweak compression

* spotless

* more tweaks for handling slow/intermittent streams

* wpilibformat maybe?

* clang-format maybe?

* WIP - adding thinclient. I don't like it yet, it should be more auto-generated than it is.

* thinclient formatting fixups

* Reduced amount of empty send data by limiting to only one stream per client (which is all we really need). Framerate is up slightly, overhead is down.

* bugfixes, faster streaming, better mjpeg compression settings, thinclient working

* spotless and formatting

* cmon wpiformat....

* re-added mjpg streams

* added a loading GIF to imporve the feeling of responsiveness

* formatting

* urlparams and built-in thinclient

* wpiformat

* prevent wpiformat complaints

* Removed uint8 array and base64 conversion from client side

* Synced up js implementations for ws streaming

* formatting/spotless
 2022-10-30 13:16:17 -05:00
Chris Gerth
45d99f1f6b Added camera quirek to account for Facetime HD Cameras, and fix logging message (#551) 2022-10-30 14:13:55 -04:00
Chris Gerth
c4500ce12b Added throttling reasons and cpu uptime (#507) 
* Added throttling reasons and cpu uptime

* spotless

* adding tooltips for the acronyms used

* Added icon for suggesting folks should attempt a hover-over for tooltip

* wip making the implementaiton more platform independent

* spotless

* wpiformat

* wpilibformat pt 2
 2022-10-29 06:50:51 -04:00
Jack
81d19672d2 Change order of drawing to better show axes (#541) 2022-10-28 17:54:57 -05:00
Avery Black
5e604cf98d Remove 90 degree offset from UI (#533) 
Removes offset originally added to offset broken backend code
 2022-10-24 15:18:46 -04:00
Matt
2d7a88e231 Expose both pose solutions (#521) 
* Half-add second pose

* add c++

* run wpiformat

* Fix c++
 2022-10-22 06:42:45 -05:00
amquake
27198a3e32 Don't spam log on client connection retry (#530) 
* dont spam log on connection retry

* Move print into ntTick

Update NetworkTablesManager.java

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2022-10-21 23:37:22 -04:00
Chris Gerth
c392d5fa4d Exclude more broken cameras (#527) 
* Adding new broken cameras

* Fixed up snapcamera enumeration to actually detect snapcamera
 2022-10-21 19:39:30 -04:00
Chris Gerth
ccd3a512d6 Add additional try/catch to prevent pigpio communication issues from crashing the main thread (#511) 2022-10-21 18:10:32 -04:00
Matt
bfc5e45cd0 Restart NT client every 5 seconds if not connected (#467) 
Fun hack to get around photonvision not connecting if it boots before robot code starts

Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
 2022-10-18 23:52:13 -04:00
Jack
a1b09100e0 Remove pitch camera configuration (#492) 
* Remove pitch configuration from camera view

* Remove pitch config from backend; fix 'this' binding bug

* Stylistic choice to remove excessive whitespace br

* Spotless apply

* Spotless apply 2
 2022-10-17 12:41:57 -04:00
Matt
07904589df Rotate all solvePNP-ed poses to be 180 about Z facing camera (#500) 
* Rotate all solvePNP-ed poses to be 180 about Z facing camera

* Run spotless

* Fix test coordinate systems
 2022-10-16 17:48:30 -07:00
Matt
87e7c3ca74 [Wip] Add auto exposure switch (#488) 
* Add auto exposure switch

* Run wpiformat

* Update ZeroCopyPicamSource.java
 2022-10-09 21:41:40 -05:00
Chris Gerth
4d5904dd6d Stream content reorg. (#489) 
Revised stream and target draw logic to divide the streams by "Raw" and "Processed" and only draw the results on the "Processed" stream.

Should allow for input sterams to be recorded for raw camera input, and output for debug info.
 2022-10-09 21:30:16 -04:00
Avery Black
9bf589ebc6 Disable auto focus on USB cameras by default (#487) 
* Disable auto focus on USB cameras by default

* Remove extra log

* Implement camera quirk for auto focus

* Spotless apply
 2022-10-09 17:49:58 -04:00
Matt
4ad9d97508 Fix AprilTag rotation reversal bug (#482) 
Applies base rotation to apriltags to match solvepnp base rotation
 2022-10-08 09:27:27 -04:00
Matt
2c6b0ddac3 Expose pose ambiguity (#483) 
* Expose pose ambiguity

* Run spotless

* Add tooltips and expose number of iterations
 2022-10-08 09:27:00 -04:00
shueja-personal
dafee954e0 Draw3dTargetsPipe returns immediately if coeffs are null (previously NPE crashlooped) (#485) 
* Draw3dTargetsPipe returns immediately if coeffs are null

* fix lint
 2022-10-08 09:26:37 -04:00
shueja-personal
5ac541642e Remove extra distortion in Draw3dTargetsPipe (#479) 
* Remove extra distortion in Draw3dTargetsPipe

* fix wpiformat
 2022-09-29 10:47:00 -07:00
Matt
4b4a0a1cd9 [UI] Fix target tab under AprilTag (#478) 
* Start addressing things

* Fix target tab table

* Update TrackedTarget.java
 2022-09-29 09:28:11 -07:00
shueja-personal
a764ace7f2 Initial AprilTag support (#458) 
(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
 2022-09-28 21:21:41 -04:00
shueja-personal
a3bcd3ac4f Fix #461 (pipeline type change index) (#462) 
* Fix #461 (pipeline type change index)

* Reassign indexes after changing pipeline type
 2022-05-08 17:09:52 -07:00
Matt
971ff3ac40 Calculate aspect ratio using rotated rect (#447) 2022-03-31 22:51:14 -04:00
Banks T
b80e436f02 Force fs sync on all .json writes (#451) 2022-03-31 22:46:12 -04:00
Matt
f4555dc545 Fix offset point bug (#445) 
Fixes bug where offset point can be wrong
 2022-03-16 21:38:47 -07:00
Matt
54fdd1db51 Add test mode from path (#440) 
adds --path to --test-mode
 2022-03-16 21:33:20 -07:00
Matt
1805785cc6 Rio discovery slowdown (#444) 
* Only send rio IPs on settings button click

* Wpiformat
 2022-03-14 20:44:14 -07:00
Matt
e62f6419b5 Move config saving to its own thread (#438) 
* Move config saving to its own thread

RIO discovery can block

* Add sleep
 2022-03-01 00:11:30 -05:00
Declan
fa7824c616 Fix 960x720 weirdness (#439) 
* Update 960x720 FOV modifier to track video mode change

* Update native code to version that includes 960x720 fix
 2022-02-28 07:42:26 -05:00
Declan
5655ca6890 Separate AWB gain slider (#410) 
Makes gain adjust digital gain, adds sliders for red/blue on picam

Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>
 2022-02-28 00:45:29 -05:00
Matt
50fdfd8bce Add outlier rejection (#432) 
Uses standard deviations from mean x/y location to reject outliers
 2022-02-28 00:44:22 -05:00
Banks T
5144819ce2 Invertable hue (#428) 
* Add UI-side changes for invertable hue slider

* Add hue inverted range

* Add new slider backgrounds to threshold tab

* Run spotless

* Updated libpicam.so to artifact built from commit c458bab87740 in that repo on gerth2's pi.

* undo the java-side hack since isVCSMSupported is fixed

* Hook up hue inversion frontend to backend and UI tweaks

* Remove unused .flipped class

* Fix hueInverted name in Vue.js store

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>
 2022-02-21 22:41:51 -05:00
Matt
d779fe23f0 Add disabled stream warning (#409) 2022-01-24 12:39:04 -05:00
Matt
b2a3f34433 Fix version verification with non-default networktable (#407) 
Adds version verification to c++ too
 2022-01-24 12:38:45 -05:00
drew-struensee
b09a6d6a2d Added Support for 3D tracking of the 2022 Cargo Balls (#408) 
* added cargo ball 2022

* added cargoball2022. tested on pi.. it works

* spotlessapply

* made list more consistant
 2022-01-20 22:36:54 -05:00
Tyler Veness
9893cf1f7e Update photonlib and photonlib example license headers to MIT (#395) 2022-01-20 22:35:28 -05:00
Matt
fc91daf397 Enable GPU acecel on any Pi Zeros, not just zero W (#405) 2022-01-20 21:59:29 -05:00
Matt
da8d70f887 Ensure cameras with gain will always have it enabled (#388) 2022-01-11 17:12:30 -08:00
Tyler Veness
80a0d8de1c Fix test resources path (#386) 2022-01-10 21:40:43 -08:00
Matt
3ad476bc28 Send corners of min area rectangles (#382) 
Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-01-10 20:31:36 -08:00
Matt
e6d8e05b91 2022 grouping and test mode updates (#381) 
Add 2022 images, "2orMore" grouping mode, and 2022 test mode
Test mode now preserves old settings
 2022-01-10 16:51:06 -08:00
Tyler Veness
46fa17dfd8 Upgrade spotless and shadow (#385) 
Fixes Log4J vulnerability
 2022-01-10 11:56:45 -08:00
Matt
43c35286f3 Reword restart modal (#374) 
Clarifies that photon will restart (when running as service)
 2022-01-09 16:02:32 -08:00
Tyler Veness
a161bd5be9 Upgrade all maven dependencies for 2022 (#377) 
This also fixes compilation with JDK 17.
 2022-01-08 10:17:28 -08:00
Matt
12e06b09c3 Add Pi zero 2 W to PiVersion enum (#373) 
This approach is quite brittle, but it's easy to get working and can ship in an initial 2022 release. It's necessary to prevent GPU acceleration from happening on Pi 4s though. Let's try to put together something better for future releases.
 2022-01-05 20:34:42 -08:00