Commit Graph

120 Commits

Author SHA1 Message Date
Matt
dcd917870c Properly assign camera index when connecting new camera (#819) 2023-03-01 16:05:30 -05:00
Matt
2b8f900768 Add checks for null in NTDataPublisher (#820) 2023-03-01 16:05:22 -05:00
Matt
0bb563a6e2 Save ConfigManager to disk on JVM exit (#821) 2023-03-01 16:05:03 -05:00
Matt
5b86360b9b Multi-tag pnp in robot code (#787)
---------

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>
2023-02-13 17:57:01 -05:00
Matt
6886663688 Robustify setting pipeline index (#790) 2023-02-08 21:07:12 -05:00
Matt
3c53dcbb7b Call correct addCalibration in VisionModule (#793) 2023-02-08 21:06:53 -05:00
Matt
f6e3c9b3ee Fix desync between web UI and NT (#778)
Actually calls VisionModule::setPipeline when changing pipelines (needed to change video modes)
2023-01-29 23:30:34 -05:00
Matt
d0162b0ed0 Switch network management to networkmanager on Linux (#738)
* Switch network management to networkmanager

* Run style

* Fix command formatting

* Add curst Pi 5 second sleep

* Run formatter

* Also bring up/down on other linux

* Switch to nmcli down/up

* Remove sleep in nmcli down/up

* Address review
2023-01-18 16:31:14 -05:00
Matt
9d6997180d Add calibdb upload button (#735)
* Add calibdb upload

* Fix distortion coefficients size
2023-01-18 16:29:58 -05:00
Matt
d9f99f9c9b Add calibration decimate dropdown (#739)
* Increase resized size to 640

* Add calibration decimation dropdown

* Update Calibrate3dPipeTest.java

* Only allow decimation down to >=320x240

* Update CamerasView.vue
2023-01-14 19:23:14 -06:00
Matt
073714f0bc [AprilTags] Reduce default iterations to 40 (#726)
Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
2023-01-11 16:32:31 -05:00
Jack
80e16ece87 Add hostname to camerapublisher mjpeg stream (#722)
Closes #721
2023-01-09 13:11:49 -05:00
Matt
86b9d4b037 Add 2023 pics to test mode (#720) 2023-01-07 20:48:21 -05:00
amquake
63b3cfe7e1 Remove distortion logs (#712)
* remove distortion logs

* spotless

* Run spotless

💀

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
2023-01-06 23:09:58 -05:00
Matt
967be84b4b Expose detected tag corners (#702)
Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
2023-01-06 22:20:27 -05:00
Nick Hadley
0f427bb52b Update PhotonCamera error messages to be more specific (#697)
Closes #692
2023-01-05 19:28:32 -05:00
Mohammad Durrani
05198ef294 Aruco Support for AprilTag Detection (Experimental) (#636)
Uses OpenCV's aruco module for AprilTag detection.
2023-01-05 13:25:44 -05:00
Matt
b263fe19cc Undistort corners in umich pose estimation (#699)
* Undistort corners in umich pose estimation

Add tag corner unit test

Delete hellooo.jpg

Update Draw3dTargetsPipe.java

Update FileFrameProvider.java

* Update AprilTagTest.java
2023-01-05 12:08:25 -06:00
Chris Gerth
326701b74f Bug Fix Grab Bag (#688)
* Reordered ov video modes to be lowest-to-highest res

* Save off sensor model on init. Guard against low, crashy exposures.

* Pulled in matt's fixups from https://github.com/PhotonVision/photon-libcamera-gl-driver/suites/10144555465/artifacts/495489276

* Further autoexposure tweaks for picam v1

* Allow undercores in camera rename

* Additional guarding against output images being empty

* lock out auto-exposure on ov9281's

* Guarding stream pipelines against empty frames from cameras. Rearranged driver stream to resize first, then draw crosshairs (matchces with other pipelines now).

* NT Priority fixup - if client is sending commands on NT, its nt value should win over anything done from the UI

* Synchronous pipline adjustmet fix, method cleanup

* lint

* circle pipe and data publish bugfixes

* lint

* Pulled in matt's latest .so and re-enabled auto exposure on 9281's
2023-01-03 21:53:04 -06:00
Mohammad Durrani
1ab5b66829 Clean up front end, remove decision margin and error bits, remove target family selector (#652)
* clean up front end ui

* address changes

* Further tweaks to camera default gains to help make sure users get a good first impression

* even more saner defaults

* Even even more camera sane defaults

* lint

* lint pt 2

* unit test fixup

Co-authored-by: Chris <chrisgerth010592@gmail.com>
2022-12-31 18:29:36 -05:00
Chris Gerth
d0bf64af6c Convert input/output image save to integers (#664)
Changes image saving technique to use integers, not booleans
2022-12-30 22:48:28 -05:00
Sriman Achanta
15fbe29d34 Remove redundant if check in OutputStreamPipeline (#660)
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
2022-12-30 02:00:14 -05:00
Matt
3a10f49b54 Only run Apriltag pose estimation when enabled (#657)
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
2022-12-28 13:32:38 -08:00
Matt
7ff630dc44 Replace MMAL driver with Libcamera (#491)
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
2022-12-28 14:21:41 -05:00
Chris Gerth
cf1a45d35b Set a compression level to better optimize the latency of the stream by reducing the bytes sent (#656) 2022-12-27 15:55:43 -05:00
Matt
2ebc27aa3b Use refactored Apriltag API in WPILib (#644)
Bumps to a wpilib dev version, until they cut a new release. Should help address the random NPEs from the old JNI.

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
2022-12-27 13:47:20 -05:00
Chris Gerth
b1905954bc Fix isRaspian() to properly detect Buster image (#637)
* Revised isRaspian() call to look in multiple spots to check if we're a Pi or not

* wpiformat

* linefeed fixup

* whoops

* WIP updating platform

* More platform fixups WIP

* Condensed metrics classes, but expanded the configuration to default to file, but fall back on hardcoded commands for certain platforms

* Migrate unixSupported to isLinux

* applied spotless

* wpiformat

* Linux metrics (#641)

* Move generic commands from PiCmds to LinuxCmds; have PiCmds inherit from LinuxCmds

* Better names for variables to save the total memory values

* Remove "Bionic" from the architecture; that is not actually determined.

* Trigger PhotonVision CI

* Dummy change to trigger CI

* Run format

Update index.html

Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
Co-authored-by: Paul Rensing <prensing@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
2022-12-26 22:51:34 -05:00
Mohammad Durrani
548f52e117 Allow JAR update/restart on all linux platforms (#651)
* Added linux support

* Changed to just check linux
2022-12-26 21:40:36 -05:00
Chris Gerth
1971744589 Revert to mjpeg (#645)
* Reverted to front end using MJPEG streams. Added FPS limiting to the stream.

* formatting

* fixup - got handlers getting called on error to reload

* revised architecture to let a click open a new tab

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
2022-12-25 06:55:12 -08:00
Matt
6c51d8ab51 Update license on orthogonalizeRotationMatrix (#615)
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
2022-12-25 00:08:09 -05:00
amquake
e1b39a1723 Prepare for config.json renaming cameraExtrinsics to distCoeffs (#612)
Doesn't actually rename in the JSON file yet, but fixes the name everywhere else
2022-12-25 00:01:24 -05:00
Chris Gerth
96006fc501 Fix misplaced crosshair when rotated +-90 degrees (#646) 2022-12-24 19:57:26 -05:00
Matt
4fd7533456 Manage network on all Linux platforms (#630) 2022-12-17 22:29:27 -06:00
shueja-personal
bb63af601d Update to wpilib 2023 beta 7 (#607)
We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
2022-12-16 20:05:23 -05:00
sarah-e-c
ec7bef7a4b Logging for NTDataPublisher (#560)
* logging for NTDataPublisher

* logging name along with index

* formatting lol

* resolution logging

* Removed pipelineManager object from data publisher
2022-12-01 18:35:43 -06:00
Chris Gerth
678961e4f2 Websocket Stream Stats & Robustness Improvements (#605)
* wip support for a stats overlay

* WIP adding stream stats. But.... eeeh. Corporate.

* kbits over mbytes

* A ton more tweaks:

- Increased thread priority for streaming to reduce "stutter/slow" issues
- revised client side URL creation order to prevent the possibility of repeat-identical URL's
- Improved overlay to only be visible on mouseover, and fully centered in the screen

* wpiformat on js
2022-12-01 12:42:21 -06:00
Matt
dcad7f34a2 Fix thinclient address in dev builds and move thinclient (#586)
* Fix thinclient address in dev builds and move thinclient

Update USBFrameProvider.java

Create index.html

Update index.html

Null check stream to prevent spam

* Update main.yml

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
2022-11-13 15:51:02 -06:00
Matt
72d8f49145 Add orthogonalizeRotationMatrix (#587)
* Add orthogonalizeRotationMatrix

* Update docstring

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
2022-11-13 14:49:59 -06:00
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