[wpical] Add WPIcal: Field Calibration Tool (#6915)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com> Co-authored-by: Jade <spacey-sooty@proton.me> Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
2026-06-19 00:41:43 +00:00 · 2024-12-28 23:24:32 -05:00
parent b74f84f876
commit 85507a6c65
86 changed files with 30195 additions and 2 deletions
--- a/upstream_utils/mrcal_java.py
+++ b/upstream_utils/mrcal_java.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib, walk_cwd_and_copy_if
+
+
+def delete_lines_by_range(file_path, start_line, end_line):
+    # Read all lines from the file
+    with open(file_path, "r") as file:
+        lines = file.readlines()
+
+    # Filter out lines that are within the specified range
+    filtered_lines = [
+        line
+        for i, line in enumerate(lines, start=1)
+        if not (start_line <= i <= end_line)
+    ]
+
+    # Write the remaining lines back to the file
+    with open(file_path, "w") as file:
+        file.writelines(filtered_lines)
+
+
+def copy_upstream_src(wpilib_root):
+    wpical = os.path.join(wpilib_root, "wpical")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/mrcal_java/src",
+        "src/main/native/thirdparty/mrcal_java/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    os.chdir("src")
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.h"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/include"),
+    )
+
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.cpp"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/src"),
+    )
+
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+            content = content.replace("#include <malloc.h>", "")
+            content = content.replace(
+                "// mrcal_point3_t *c_observations_point_pool = observations_point;",
+                "mrcal_point3_t *c_observations_point_pool = observations_point;",
+            )
+            content = content.replace(
+                "// mrcal_observation_point_triangulated_t *observations_point_triangulated =",
+                "mrcal_observation_point_triangulated_t *observations_point_triangulated = NULL;",
+            )
+            content = content.replace(
+                "// observations_point_triangulated,",
+                "observations_point_triangulated,",
+            )
+            content = content.replace(
+                "// 0, // hard-coded to 0", "0, // hard-coded to 0"
+            )
+            content = content.replace(
+                "// observations_point_triangulated, -1,",
+                "observations_point_triangulated, -1,",
+            )
+            content = content.replace(
+                "c_observations_board_pool, &mrcal_lensmodel, c_imagersizes,",
+                "c_observations_board_pool, c_observations_point_pool, &mrcal_lensmodel, c_imagersizes,",
+            )
+        with open(f, "w") as file:
+            file.write(content)
+
+
+def main():
+    name = "mrcal_java"
+    url = "https://github.com/PhotonVision/mrcal-java"
+    tag = "5f9d3168ccf1ecdfca48da13ea07fffa47f95d00"
+
+    mrcal_java = Lib(name, url, tag, copy_upstream_src)
+    mrcal_java.main()
+
+
+if __name__ == "__main__":
+    main()