Adds logic that will reset the CSI camera in the case that it doesn't receive any new frames from the camera in 3 seconds. This is very helpful for cases where the camera cable was bumped enough to cause a temporary disconnect. Most of the time (if not all the time) the camera needs to be recreated for it to start sending frames again.
Goes with PhotonVision/photon-libcamera-gl-driver#13
* Serialize all calibration data
* Run lint
* typing nit
* fix code
* move these tables around some
* Add cool formatting
* add request to get snapshots by resolution and camera
* re-enable all resolutions
* add wip so i can change computers (SQUASH ME AND KILL ME AHHHH)
* Get everything working but viewing snapshots
* Update RequestHandler.java
* Update CameraCalibrationInfoCard.vue
* Update CameraCalibrationInfoCard.vue
* add observation viewer
* round
* fix illiegal import
* Swap to PNG and serialize insolution
* move import/export buttons TO THE TOP
* Update WebsocketDataTypes.ts
* Add snapshotname to observation
* Refactor to serialize snapshot image itself
* Run lint
* Use new base64 image data in info card
* Update SettingTypes.ts
* Create calibration json -> mrcal converter script
* Update calibrationUtils.py
* Fix calibrate NPEs in teest
* Run lint
* Always run cornersubpix
* Update CameraCalibrationInfoCard.vue
Update CameraCalibrationInfoCard.vue
* Update OpenCVHelp.java
* Update OpenCVHelp.java
* Replace test mode camera JSONs
* Run wpiformat
* Revert intrinsics but keep other data
* Remove misc comments
* Rename JsonMat->JsonImageMat and add calobject_warp
* Update Server.java
* Rename cameraExtrinsics to distCoeffs
* fix typing issues
* use util methods
* Formatting fixes
* fix styling
* move to devTools
* remove unneeded or unused imports
* Remove fixed-right css
If its really that big of a deal, we can add it back later, kind of a drag to fix rn.
* Create util method
* Remove extra legacy calibration things
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Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Fix grayscale passthrough with libcamera. Additionally fixes issue #1091.
Must go with PhotonVision/photon-libcamera-gl-driver#11.
When grayscale passthrough is used currently the frames that are returned do not have the type grayscale so calculations that need grayscale to not run. With these changes pipelines that need grayscale will now run and properly display fps.
UI would say that every camera on a Pi device was a CSI camera basically. It would not let you rotate usb cameras 90 degrees or 270 degrees because it thought that they were CSI cameras. Fixes: #1098
Allows logging software and live data view to see results. Also removes the requirement for AScope to keep up with the packet serde schema and instead just use the Protobuf descriptor.
Resolved race condition between saveGlobal and saveOneFile modifying settings on shutdown. Previously, saveGlobal would overwrite the action of saveOneFile on a clean shutdown.
Continuation of #802
Support RGB status LED to indicate:
Running/no-running
NT connected
At least one target visible
Configured by manually uploading hardware config JSON
Follows a similar system to the current Protobuf implementation that helps make code more readable and expandable. Also wraps the NT topic to be more useful. Impl stuff is hidden so it can't be extended. Optimizes AT-specific classes by only serializing data when needed, won't save on size but will on time.
closes#1003
* Record standard deviations for multi-tag pose
* Add XYZ translation and angle to stdev uI
* create multitag result buffer in store
allows results to be stored in the background
* simplify logic in targeting tab
also adds a reset button
* Formatting fixes
* convert rad angles to deg
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Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
add aliases for older enum names
* two more aliases for 6.5" 36h11 tags
* added unit test for missing @JsonAlias
* use proper tempfiles
* check proper TargetModel enum
Deals with new otherpaths on pi 5 CSI cameras and bumps libcamera driver to latest from the pi 5 PR
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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Allows multiple cameras of the same model to be used while ensuring they stay tied to the physical camera and not the port. Matching occurs when first connecting cameras so swapping the ports while PV is running will swap the virtual cameras until a restart. Currently only tested on Linux.
Fixes a bug where multiple cameras would receive identical stream indexes and would cause at least one camera to not function at all and the other to not display a stream.
One of the reasons the that usbcamerasource equals method used to incorrectly determine equality was because the quirkycamera object didn't have a basename. When a camera that had a quirk was found it would set equal to a predefined quirkycamera without changing the name first. Add unit test that will better test the equality of two usbcamerasources. This required a few changes to allow creating a fake usbcamerasource.
Cleanup project-wide gradle configuration.
removes native dependencies from java only projects
increases readability
Pass generated headers in setup instead of modifying model
* Make MultiTagPNPResult and PNPResult singular
* add java tests
* Formatting fixes
* bring in the rest of the little stuff
* final things
* Formatting fixes
* add multisubscriber back
* Formatting fixes
* make comments better about x and y relationship
Removes websocket-based camera streaming functionality.
Fixes#975. This was caused by destroying the camera streams and recreating them on nickname change. Even when directly using `MJPGFrameConsumer` and the streams were exactly the same, the freeze would occur when creating a new `MjpegServer` and require a refresh. I think this is simply how cscore works?
- Aruco pipeline now infers tag width from tag family like the AprilTag pipeline
- Removes unused Aruco and 200mm AprilTag models
- `VisionEstimation.estimateCamPosePNP()` now requires a target model instead of assuming 16h5
- Multitarget pipeline similarly infers target model of tag family now
- `PhotonPoseEstimator` can have target model set for on-rio multitarget
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Co-authored-by: amquake <noleetarrr@gmail.com>
- Fixes ArUco on picam
- Adds `ArucoPoseEstimatorPipe` for single-tag pose estimation
- Previously, `Aruco.estimatePoseSingleMarkers()` was used for tag pose estimation. This uses the default `SOLVEPNP_ITERATIVE` solver and I believe the method is removed in opencv 4.8. The `SOLVEPNP_IPPE_SQUARE` solver implemented is more appropriate for markers.
- Pipeline architecture cleanup
- Re-enables ArUco pipeline in UI
- Multi-tag support
ArUco detector support is still considered experimental at this time. This should enable a baseline of support for initial testing, but expect some quirks to remain across platforms.
