mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
0af5a62d5e
Uses jars built from https://github.com/photonvision/mrcal-java/ See: https://mrcal.secretsauce.net/ and https://docs.photonvision.org/en/latest/docs/calibration/calibration.html#investigating-calibration-data-with-mrcal --------- Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
110 lines
6.3 KiB
Markdown
110 lines
6.3 KiB
Markdown
# Photon Vision
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[](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [](https://codecov.io/gh/PhotonVision/photonvision) [](https://discord.gg/wYxTwym)
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PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
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A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).
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If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
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## Authors
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<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
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<img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
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</a>
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## Gradle Arguments
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Note that these are case sensitive!
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* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
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* linuxathena
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* linuxarm32
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* linuxarm64
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* arm32
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* arm64
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* x86-64
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* x86
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- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
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- `-Pprofile`: enables JVM profiling
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## Building
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Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
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You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the `photonlib-java-examples` and `photonlib-cpp-examples` subdirectories, respectively. The projects currently available include:
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- photonlib-java-examples:
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- aimandrange:simulateJava
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- aimattarget:simulateJava
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- getinrange:simulateJava
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- simaimandrange:simulateJava
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- simposeest:simulateJava
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- photonlib-cpp-examples:
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- aimandrange:simulateNative
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- getinrange:simulateNative
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To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the `copyPhotonlib` task will copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though unsupported.
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```
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~/photonvision$ ./gradlew publishToMavenLocal
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~/photonvision$ cd photonlib-java-examples
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~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
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~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
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~/photonvision$ cd photonlib-cpp-examples
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~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
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~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
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```
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## Out-of-Source Dependencies
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PhotonVision uses the following additonal out-of-source repositories for building code.
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- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
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- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
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- JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
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- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
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- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
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## Acknowledgments
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PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
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* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
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* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
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* [Javalin](https://javalin.io/)
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* [JSON](https://json.org)
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* [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
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## License
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PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
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## Meeting Notes
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Our meeting notes can be found in the wiki section of this repository.
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* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
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* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
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## Additional packages
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For now, using mrcal requires installing these additional packages on Linux systems:
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```
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sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
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```
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## Documentation
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- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
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- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
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- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
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- C++ Doxygen [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
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