Commit Graph

90 Commits

Author SHA1 Message Date
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
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
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