Yeet calibdb

PhotonVision · Aug 31, 2024 · 43474a0 · 43474a0
1 parent 50ea32c
commit 43474a0
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Showing 5 changed files with 4 additions and 141 deletions.
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -161,38 +161,7 @@ const downloadCalibBoard = () => {
   doc.save(`calibrationTarget-${CalibrationBoardTypes[boardType.value]}.pdf`);
 };
 
-const importCalibrationFromCalibDB = ref();
-const openCalibUploadPrompt = () => {
-  importCalibrationFromCalibDB.value.click();
-};
-const readImportedCalibrationFromCalibDB = () => {
-  const files = importCalibrationFromCalibDB.value.files;
-  if (files.length === 0) return;
-
-  files[0].text().then((text) => {
-    useCameraSettingsStore()
-      .importCalibDB({ payload: text, filename: files[0].name })
-      .then((response) => {
-        useStateStore().showSnackbarMessage({
-          message: response.data.text || response.data,
-          color: response.status === 200 ? "success" : "error"
-        });
-      })
-      .catch((err) => {
-        if (err.request) {
-          useStateStore().showSnackbarMessage({
-            message: "Error while uploading calibration file! The backend didn't respond to the upload attempt.",
-            color: "error"
-          });
-        } else {
-          useStateStore().showSnackbarMessage({
-            message: "Error while uploading calibration file!",
-            color: "error"
-          });
-        }
-      });
-  });
-};
+
 
 const isCalibrating = ref(false);
 const startCalibration = () => {
@@ -481,8 +450,8 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             </v-btn>
           </v-col>
         </v-row>
-        <v-row>
-          <v-col :cols="6">
+        <v-row justify="center">
+          <v-col cols="12" sm="6" md="4">
             <v-btn
               color="accent"
               small
@@ -495,19 +464,6 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               <span class="calib-btn-label">Generate Board</span>
             </v-btn>
           </v-col>
-          <v-col :cols="6">
-            <v-btn color="secondary" :disabled="isCalibrating" small style="width: 100%" @click="openCalibUploadPrompt">
-              <v-icon left class="calib-btn-icon"> mdi-upload </v-icon>
-              <span class="calib-btn-label">Import From CalibDB</span>
-            </v-btn>
-            <input
-              ref="importCalibrationFromCalibDB"
-              type="file"
-              accept=".json"
-              style="display: none"
-              @change="readImportedCalibrationFromCalibDB"
-            />
-          </v-col>
         </v-row>
       </div>
     </v-card>

diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -356,22 +356,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     endPnPCalibration(cameraIndex: number = useStateStore().currentCameraIndex) {
       return axios.post("/calibration/end", { index: cameraIndex });
     },
-    /**
-     * Import calibration data that was computed using CalibDB.
-     *
-     * @param data Data from the uploaded CalibDB config
-     * @param cameraIndex the index of the camera
-     */
-    importCalibDB(
-      data: { payload: string; filename: string },
-      cameraIndex: number = useStateStore().currentCameraIndex
-    ) {
-      const payload = {
-        ...data,
-        cameraIndex: cameraIndex
-      };
-      return axios.post("/calibration/importFromCalibDB", payload, { headers: { "Content-Type": "text/plain" } });
-    },
+
     importCalibrationFromData(
       data: { calibration: CameraCalibrationResult },
       cameraIndex: number = useStateStore().currentCameraIndex

diff --git a/...core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/...core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -138,51 +138,6 @@ public void release() {
         distCoeffs.release();
     }
 
-    public static CameraCalibrationCoefficients parseFromCalibdbJson(JsonNode json) {
-        // camera_matrix is a row major, array of arrays
-        var cam_matrix = json.get("camera_matrix");
-
-        double[] cam_arr =
-                new double[] {
-                    cam_matrix.get(0).get(0).doubleValue(),
-                    cam_matrix.get(0).get(1).doubleValue(),
-                    cam_matrix.get(0).get(2).doubleValue(),
-                    cam_matrix.get(1).get(0).doubleValue(),
-                    cam_matrix.get(1).get(1).doubleValue(),
-                    cam_matrix.get(1).get(2).doubleValue(),
-                    cam_matrix.get(2).get(0).doubleValue(),
-                    cam_matrix.get(2).get(1).doubleValue(),
-                    cam_matrix.get(2).get(2).doubleValue()
-                };
-
-        var dist_coefs = json.get("distortion_coefficients");
-
-        double[] dist_array =
-                new double[] {
-                    dist_coefs.get(0).doubleValue(),
-                    dist_coefs.get(1).doubleValue(),
-                    dist_coefs.get(2).doubleValue(),
-                    dist_coefs.get(3).doubleValue(),
-                    dist_coefs.get(4).doubleValue(),
-                };
-
-        var cam_jsonmat = new JsonMatOfDouble(3, 3, cam_arr);
-        var distortion_jsonmat = new JsonMatOfDouble(1, 5, dist_array);
-
-        var width = json.get("img_size").get(0).doubleValue();
-        var height = json.get("img_size").get(1).doubleValue();
-
-        return new CameraCalibrationCoefficients(
-                new Size(width, height),
-                cam_jsonmat,
-                distortion_jsonmat,
-                new double[0],
-                List.of(),
-                new Size(0, 0),
-                0,
-                CameraLensModel.LENSMODEL_OPENCV);
-    }
-
     @Override
     public String toString() {
         return "CameraCalibrationCoefficients [resolution="

diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -481,37 +481,6 @@ public static void onCalibrationEndRequest(Context ctx) {
         }
     }
 
-    public static void onCalibDBCalibrationImportRequest(Context ctx) {
-        var data = ctx.bodyInputStream();
-
-        try {
-            var actualObj = kObjectMapper.readTree(data);
-
-            int cameraIndex = actualObj.get("cameraIndex").asInt();
-            var payload = kObjectMapper.readTree(actualObj.get("payload").asText());
-            var coeffs = CameraCalibrationCoefficients.parseFromCalibdbJson(payload);
-
-            var uploadCalibrationEvent =
-                    new IncomingWebSocketEvent<>(
-                            DataChangeDestination.DCD_ACTIVEMODULE,
-                            "calibrationUploaded",
-                            coeffs,
-                            cameraIndex,
-                            null);
-            DataChangeService.getInstance().publishEvent(uploadCalibrationEvent);
-
-            ctx.status(200);
-            ctx.result("Calibration imported successfully from CalibDB data!");
-            logger.info("Calibration imported successfully from CalibDB data!");
-        } catch (IOException e) {
-            ctx.status(400);
-            ctx.result(
-                    "The Provided CalibDB data is malformed and cannot be parsed for the required fields.");
-            logger.error(
-                    "The Provided CalibDB data is malformed and cannot be parsed for the required fields.",
-                    e);
-        }
-    }
 
     public static void onDataCalibrationImportRequest(Context ctx) {
         try {

diff --git a/photon-server/src/main/java/org/photonvision/server/Server.java b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -137,8 +137,6 @@ private static void start(int port) {
 
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);
-        app.post(
-                "/api/calibration/importFromCalibDB", RequestHandler::onCalibDBCalibrationImportRequest);
         app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);
 
         app.start(port);