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docsu/static/img/logo.svg create mode 100644 docsu/static/img/undraw_docusaurus_mountain.svg create mode 100644 docsu/static/img/undraw_docusaurus_react.svg create mode 100644 docsu/static/img/undraw_docusaurus_tree.svg create mode 100644 docsu/tsconfig.json diff --git a/docs/source/docs/additional-resources/config.md b/docs/source/docs/additional-resources/config.md deleted file mode 100644 index 76fdfee9cb..0000000000 --- a/docs/source/docs/additional-resources/config.md +++ /dev/null @@ -1,50 +0,0 @@ -# Filesystem Directory - -PhotonVision stores and loads settings in the {code}`photonvision_config` directory, in the same folder as the PhotonVision JAR is stored. On the Pi image as well as the Gloworm, this is in the {code}`/opt/photonvision` directory. The contents of this directory can be exported as a zip archive from the settings page of the interface, under "export settings". This export will contain everything detailed below. These settings can later be uploaded using "import settings", to restore configurations from previous backups. - -## Directory Structure - -The directory structure is outlined below. - -```{image} images/configDir.png -:alt: Config directory structure -:width: 600 -``` - -- calibImgs - - Images saved from the last run of the calibration routine -- cameras - - Contains a subfolder for each camera. This folder contains the following files: - - pipelines folder, which contains a {code}`json` file for each user-created pipeline. - - config.json, which contains all camera-specific configuration. This includes FOV, pitch, current pipeline index, and calibration data - - drivermode.json, which contains settings for the driver mode pipeline -- imgSaves - - Contains images saved with the input/output save commands. -- logs - - Contains timestamped logs in the format {code}`photonvision-YYYY-MM-D_HH-MM-SS.log`. Note that on Pi or Gloworm these timestamps will likely be significantly behind the real time. -- hardwareSettings.json - - Contains hardware settings. Currently this includes only the LED brightness. -- networkSettings.json - - Contains network settings, including team number (or remote network tables address), static/dynamic settings, and hostname. - -## Importing and Exporting Settings - -The entire settings directory can be exported as a ZIP archive from the settings page. - -```{raw} html - -``` - -A variety of files can be imported back into PhotonVision: - -- ZIP Archive ({code}`.zip`) - - Useful for restoring a full configuration from a different PhotonVision instance. -- Single Config File - - Currently-supported Files - - {code}`hardwareConfig.json` - - {code}`hardwareSettings.json` - - {code}`networkSettings.json` - - Useful for simple hardware or network configuration tasks without overwriting all settings. diff --git a/docs/source/docs/troubleshooting/networking-troubleshooting.md b/docs/source/docs/troubleshooting/networking-troubleshooting.md deleted file mode 100644 index d02520aae4..0000000000 --- a/docs/source/docs/troubleshooting/networking-troubleshooting.md +++ /dev/null @@ -1,47 +0,0 @@ -# Networking Troubleshooting - -Before reading further, ensure that you follow all the recommendations {ref}`in our networking section `. You should follow these guidelines in order for PhotonVision to work properly; other networking setups are not officially supported. - -## Checklist - -A few issues make up the majority of support requests. Run through this checklist quickly to catch some common mistakes. - -- Is your camera connected to the robot's radio through a {ref}`network switch `? - - Ethernet straight from a laptop to a coprocessor will not work (most likely), due to the unreliability of link-local connections. - - Even if there's a switch between your laptop and coprocessor, you'll still want a radio or router in the loop somehow. - - The FRC radio is the *only* router we will officially support due to the innumerable variations between routers. -- (Raspberry Pi, Orange Pi & Limelight only) have you flashed the correct image, and is it up to date? - - Limelights 2/2+ and Gloworms should be flashed using the Limelight 2 image (eg, `photonvision-v2024.2.8-linuxarm64_limelight2.img.xz`). - - Limelights 3 should be flashed using the Limelight 3 image (eg, `photonvision-v2024.2.8-linuxarm64_limelight3.img.xz`). - - Raspberry Pi devices (including Pi 3, Pi 4, CM3 and CM4) should be flashed using the Raspberry Pi image (eg, `photonvision-v2024.2.8-linuxarm64_RaspberryPi.img.xz`). - - Orange Pi 5 devices should be flashed using the Orange Pi 5 image (eg, `photonvision-v2024.2.8-linuxarm64_orangepi5.img.xz`). - - Orange Pi 5+ devices should be flashed using the Orange Pi 5+ image (eg, `photonvision-v2024.2.8-linuxarm64_orangepi5plus.img.xz`). -- Is your robot code using a **2024** version of WPILib, and is your coprocessor using the most up to date **2024** release? - - 2022, 2023 and 2024 versions of either cannot be mix-and-matched! - - Your PhotonVision version can be checked on the {ref}`settings tab`. -- Is your team number correctly set on the {ref}`settings tab`? - -### photonvision.local Not Found - -Use [Angry IP Scanner](https://angryip.org/) and look for an IP that has port 5800 open. Then go to your web browser and do \:5800. - -Alternatively, you can plug your coprocessor into a display, plug in a keyboard, and run `hostname -I` in the terminal. This should give you the IP Address of your coprocessor, then go to your web browser and do \:5800. - -If nothing shows up, ensure your coprocessor has power, and you are following all of our networking recommendations, feel free to {ref}`contact us ` and we will help you. - -### Can't Connect To Robot - -Please check that: -1\. You don't have the NetworkTables Server on (toggleable in the settings tab). Turn this off when doing work on a robot. -2\. You have your team number set properly in the settings tab. -3\. Your camera name in the `PhotonCamera` constructor matches the name in the UI. -4\. You are using the 2024 version of WPILib and RoboRIO image. -5\. Your robot is on. - -If all of the above are met and you still have issues, feel free to {ref}`contact us ` and provide the following information: - -- The WPILib version used by your robot code -- PhotonLib vendor dependency version -- PhotonVision version (from the UI) -- Your settings exported from your coprocessor (if you're able to access it) -- How your RoboRIO/coprocessor are networked together diff --git a/docsu/.gitignore b/docsu/.gitignore new file mode 100644 index 0000000000..b2d6de3062 --- /dev/null +++ b/docsu/.gitignore @@ -0,0 +1,20 @@ +# Dependencies +/node_modules + +# Production +/build + +# Generated files +.docusaurus +.cache-loader + +# Misc +.DS_Store +.env.local +.env.development.local +.env.test.local +.env.production.local + +npm-debug.log* +yarn-debug.log* +yarn-error.log* diff --git a/docsu/README.md b/docsu/README.md new file mode 100644 index 0000000000..0c6c2c27be --- /dev/null +++ b/docsu/README.md @@ -0,0 +1,41 @@ +# Website + +This website is built using [Docusaurus](https://docusaurus.io/), a modern static website generator. + +### Installation + +``` +$ yarn +``` + +### Local Development + +``` +$ yarn start +``` + +This command starts a local development server and opens up a browser window. Most changes are reflected live without having to restart the server. + +### Build + +``` +$ yarn build +``` + +This command generates static content into the `build` directory and can be served using any static contents hosting service. + +### Deployment + +Using SSH: + +``` +$ USE_SSH=true yarn deploy +``` + +Not using SSH: + +``` +$ GIT_USER= yarn deploy +``` + +If you are using GitHub pages for hosting, this command is a convenient way to build the website and push to the `gh-pages` branch. diff --git a/docsu/babel.config.js b/docsu/babel.config.js new file mode 100644 index 0000000000..e00595dae7 --- /dev/null +++ b/docsu/babel.config.js @@ -0,0 +1,3 @@ +module.exports = { + presets: [require.resolve('@docusaurus/core/lib/babel/preset')], +}; diff --git a/docsu/blog/2019-05-28-first-blog-post.md b/docsu/blog/2019-05-28-first-blog-post.md new file mode 100644 index 0000000000..d3032efb35 --- /dev/null +++ b/docsu/blog/2019-05-28-first-blog-post.md @@ -0,0 +1,12 @@ +--- +slug: first-blog-post +title: First Blog Post +authors: [slorber, yangshun] +tags: [hola, docusaurus] +--- + +Lorem ipsum dolor sit amet... + + + +...consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet diff --git a/docsu/blog/2019-05-29-long-blog-post.md b/docsu/blog/2019-05-29-long-blog-post.md new file mode 100644 index 0000000000..eb4435de59 --- /dev/null +++ b/docsu/blog/2019-05-29-long-blog-post.md @@ -0,0 +1,44 @@ +--- +slug: long-blog-post +title: Long Blog Post +authors: yangshun +tags: [hello, docusaurus] +--- + +This is the summary of a very long blog post, + +Use a `` comment to limit blog post size in the list view. + + + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. Lorem ipsum dolor sit amet + +Lorem ipsum dolor sit amet, consectetur adipiscing elit. Pellentesque elementum dignissim ultricies. Fusce rhoncus ipsum tempor eros aliquam consequat. 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blogging features](https://docusaurus.io/docs/blog) are powered by the [blog plugin](https://docusaurus.io/docs/api/plugins/@docusaurus/plugin-content-blog). + +Here are a few tips you might find useful. + + + +Simply add Markdown files (or folders) to the `blog` directory. + +Regular blog authors can be added to `authors.yml`. + +The blog post date can be extracted from filenames, such as: + +- `2019-05-30-welcome.md` +- `2019-05-30-welcome/index.md` + +A blog post folder can be convenient to co-locate blog post images: + +![Docusaurus Plushie](./docusaurus-plushie-banner.jpeg) + +The blog supports tags as well! + +**And if you don't want a blog**: just delete this directory, and use `blog: false` in your Docusaurus config. diff --git a/docsu/blog/authors.yml b/docsu/blog/authors.yml new file mode 100644 index 0000000000..8bfa5c7c4b --- /dev/null +++ b/docsu/blog/authors.yml @@ -0,0 +1,23 @@ +yangshun: + name: Yangshun Tay + title: Front End Engineer @ Facebook + url: https://github.com/yangshun + image_url: https://github.com/yangshun.png + page: true + socials: + x: yangshunz + github: yangshun + +slorber: + name: Sébastien Lorber + title: Docusaurus maintainer + url: https://sebastienlorber.com + image_url: https://github.com/slorber.png + page: + # customize the url of the author page at /blog/authors/ + permalink: '/all-sebastien-lorber-articles' + socials: + x: sebastienlorber + linkedin: sebastienlorber + github: slorber + newsletter: https://thisweekinreact.com diff --git a/docsu/blog/tags.yml b/docsu/blog/tags.yml new file mode 100644 index 0000000000..bfaa778fbd --- /dev/null +++ b/docsu/blog/tags.yml @@ -0,0 +1,19 @@ +facebook: + label: Facebook + permalink: /facebook + description: Facebook tag description + +hello: + label: Hello + permalink: /hello + description: Hello tag description + +docusaurus: + label: Docusaurus + permalink: /docusaurus + description: Docusaurus tag description + +hola: + label: Hola + permalink: /hola + description: Hola tag description diff --git a/docsu/docs-reference/intro.md b/docsu/docs-reference/intro.md new file mode 100644 index 0000000000..45e8604c8b --- /dev/null +++ b/docsu/docs-reference/intro.md @@ -0,0 +1,47 @@ +--- +sidebar_position: 1 +--- + +# Tutorial Intro + +Let's discover **Docusaurus in less than 5 minutes**. + +## Getting Started + +Get started by **creating a new site**. + +Or **try Docusaurus immediately** with **[docusaurus.new](https://docusaurus.new)**. + +### What you'll need + +- [Node.js](https://nodejs.org/en/download/) version 18.0 or above: + - When installing Node.js, you are recommended to check all checkboxes related to dependencies. + +## Generate a new site + +Generate a new Docusaurus site using the **classic template**. + +The classic template will automatically be added to your project after you run the command: + +```bash +npm init docusaurus@latest my-website classic +``` + +You can type this command into Command Prompt, Powershell, Terminal, or any other integrated terminal of your code editor. + +The command also installs all necessary dependencies you need to run Docusaurus. + +## Start your site + +Run the development server: + +```bash +cd my-website +npm run start +``` + +The `cd` command changes the directory you're working with. In order to work with your newly created Docusaurus site, you'll need to navigate the terminal there. + +The `npm run start` command builds your website locally and serves it through a development server, ready for you to view at http://localhost:3000/. + +Open `docs/intro.md` (this page) and edit some lines: the site **reloads automatically** and displays your changes. diff --git a/docsu/docs-reference/tutorial-basics/_category_.json b/docsu/docs-reference/tutorial-basics/_category_.json new file mode 100644 index 0000000000..2e6db55b1e --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/_category_.json @@ -0,0 +1,8 @@ +{ + "label": "Tutorial - Basics", + "position": 2, + "link": { + "type": "generated-index", + "description": "5 minutes to learn the most important Docusaurus concepts." + } +} diff --git a/docsu/docs-reference/tutorial-basics/congratulations.md b/docsu/docs-reference/tutorial-basics/congratulations.md new file mode 100644 index 0000000000..04771a00b7 --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/congratulations.md @@ -0,0 +1,23 @@ +--- +sidebar_position: 6 +--- + +# Congratulations! + +You have just learned the **basics of Docusaurus** and made some changes to the **initial template**. + +Docusaurus has **much more to offer**! + +Have **5 more minutes**? Take a look at **[versioning](../tutorial-extras/manage-docs-versions.md)** and **[i18n](../tutorial-extras/translate-your-site.md)**. + +Anything **unclear** or **buggy** in this tutorial? [Please report it!](https://github.com/facebook/docusaurus/discussions/4610) + +## What's next? + +- Read the [official documentation](https://docusaurus.io/) +- Modify your site configuration with [`docusaurus.config.js`](https://docusaurus.io/docs/api/docusaurus-config) +- Add navbar and footer items with [`themeConfig`](https://docusaurus.io/docs/api/themes/configuration) +- Add a custom [Design and Layout](https://docusaurus.io/docs/styling-layout) +- Add a [search bar](https://docusaurus.io/docs/search) +- Find inspirations in the [Docusaurus showcase](https://docusaurus.io/showcase) +- Get involved in the [Docusaurus Community](https://docusaurus.io/community/support) diff --git a/docsu/docs-reference/tutorial-basics/create-a-blog-post.md b/docsu/docs-reference/tutorial-basics/create-a-blog-post.md new file mode 100644 index 0000000000..550ae17ee1 --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/create-a-blog-post.md @@ -0,0 +1,34 @@ +--- +sidebar_position: 3 +--- + +# Create a Blog Post + +Docusaurus creates a **page for each blog post**, but also a **blog index page**, a **tag system**, an **RSS** feed... + +## Create your first Post + +Create a file at `blog/2021-02-28-greetings.md`: + +```md title="blog/2021-02-28-greetings.md" +--- +slug: greetings +title: Greetings! +authors: + - name: Joel Marcey + title: Co-creator of Docusaurus 1 + url: https://github.com/JoelMarcey + image_url: https://github.com/JoelMarcey.png + - name: Sébastien Lorber + title: Docusaurus maintainer + url: https://sebastienlorber.com + image_url: https://github.com/slorber.png +tags: [greetings] +--- + +Congratulations, you have made your first post! + +Feel free to play around and edit this post as much as you like. +``` + +A new blog post is now available at [http://localhost:3000/blog/greetings](http://localhost:3000/blog/greetings). diff --git a/docsu/docs-reference/tutorial-basics/create-a-document.md b/docsu/docs-reference/tutorial-basics/create-a-document.md new file mode 100644 index 0000000000..c22fe29446 --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/create-a-document.md @@ -0,0 +1,57 @@ +--- +sidebar_position: 2 +--- + +# Create a Document + +Documents are **groups of pages** connected through: + +- a **sidebar** +- **previous/next navigation** +- **versioning** + +## Create your first Doc + +Create a Markdown file at `docs/hello.md`: + +```md title="docs/hello.md" +# Hello + +This is my **first Docusaurus document**! +``` + +A new document is now available at [http://localhost:3000/docs/hello](http://localhost:3000/docs/hello). + +## Configure the Sidebar + +Docusaurus automatically **creates a sidebar** from the `docs` folder. + +Add metadata to customize the sidebar label and position: + +```md title="docs/hello.md" {1-4} +--- +sidebar_label: 'Hi!' +sidebar_position: 3 +--- + +# Hello + +This is my **first Docusaurus document**! +``` + +It is also possible to create your sidebar explicitly in `sidebars.js`: + +```js title="sidebars.js" +export default { + tutorialSidebar: [ + 'intro', + // highlight-next-line + 'hello', + { + type: 'category', + label: 'Tutorial', + items: ['tutorial-basics/create-a-document'], + }, + ], +}; +``` diff --git a/docsu/docs-reference/tutorial-basics/create-a-page.md b/docsu/docs-reference/tutorial-basics/create-a-page.md new file mode 100644 index 0000000000..20e2ac3005 --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/create-a-page.md @@ -0,0 +1,43 @@ +--- +sidebar_position: 1 +--- + +# Create a Page + +Add **Markdown or React** files to `src/pages` to create a **standalone page**: + +- `src/pages/index.js` → `localhost:3000/` +- `src/pages/foo.md` → `localhost:3000/foo` +- `src/pages/foo/bar.js` → `localhost:3000/foo/bar` + +## Create your first React Page + +Create a file at `src/pages/my-react-page.js`: + +```jsx title="src/pages/my-react-page.js" +import React from 'react'; +import Layout from '@theme/Layout'; + +export default function MyReactPage() { + return ( + +

My React page

+

This is a React page

+ + ); +} +``` + +A new page is now available at [http://localhost:3000/my-react-page](http://localhost:3000/my-react-page). + +## Create your first Markdown Page + +Create a file at `src/pages/my-markdown-page.md`: + +```mdx title="src/pages/my-markdown-page.md" +# My Markdown page + +This is a Markdown page +``` + +A new page is now available at [http://localhost:3000/my-markdown-page](http://localhost:3000/my-markdown-page). diff --git a/docsu/docs-reference/tutorial-basics/deploy-your-site.md b/docsu/docs-reference/tutorial-basics/deploy-your-site.md new file mode 100644 index 0000000000..1c50ee063e --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/deploy-your-site.md @@ -0,0 +1,31 @@ +--- +sidebar_position: 5 +--- + +# Deploy your site + +Docusaurus is a **static-site-generator** (also called **[Jamstack](https://jamstack.org/)**). + +It builds your site as simple **static HTML, JavaScript and CSS files**. + +## Build your site + +Build your site **for production**: + +```bash +npm run build +``` + +The static files are generated in the `build` folder. + +## Deploy your site + +Test your production build locally: + +```bash +npm run serve +``` + +The `build` folder is now served at [http://localhost:3000/](http://localhost:3000/). + +You can now deploy the `build` folder **almost anywhere** easily, **for free** or very small cost (read the **[Deployment Guide](https://docusaurus.io/docs/deployment)**). diff --git a/docsu/docs-reference/tutorial-basics/markdown-features.mdx b/docsu/docs-reference/tutorial-basics/markdown-features.mdx new file mode 100644 index 0000000000..35e00825ed --- /dev/null +++ b/docsu/docs-reference/tutorial-basics/markdown-features.mdx @@ -0,0 +1,152 @@ +--- +sidebar_position: 4 +--- + +# Markdown Features + +Docusaurus supports **[Markdown](https://daringfireball.net/projects/markdown/syntax)** and a few **additional features**. + +## Front Matter + +Markdown documents have metadata at the top called [Front Matter](https://jekyllrb.com/docs/front-matter/): + +```text title="my-doc.md" +// highlight-start +--- +id: my-doc-id +title: My document title +description: My document description +slug: /my-custom-url +--- +// highlight-end + +## Markdown heading + +Markdown text with [links](./hello.md) +``` + +## Links + +Regular Markdown links are supported, using url paths or relative file paths. + +```md +Let's see how to [Create a page](/create-a-page). +``` + +```md +Let's see how to [Create a page](./create-a-page.md). +``` + +**Result:** Let's see how to [Create a page](./create-a-page.md). + +## Images + +Regular Markdown images are supported. + +You can use absolute paths to reference images in the static directory (`static/img/docusaurus.png`): + +```md +![Docusaurus logo](/img/docusaurus.png) +``` + +![Docusaurus logo](/img/docusaurus.png) + +You can reference images relative to the current file as well. This is particularly useful to colocate images close to the Markdown files using them: + +```md +![Docusaurus logo](./img/docusaurus.png) +``` + +## Code Blocks + +Markdown code blocks are supported with Syntax highlighting. + +````md +```jsx title="src/components/HelloDocusaurus.js" +function HelloDocusaurus() { + return

Hello, Docusaurus!

; +} +``` +```` + +```jsx title="src/components/HelloDocusaurus.js" +function HelloDocusaurus() { + return

Hello, Docusaurus!

; +} +``` + +## Admonitions + +Docusaurus has a special syntax to create admonitions and callouts: + +```md +:::tip My tip + +Use this awesome feature option + +::: + +:::danger Take care + +This action is dangerous + +::: +``` + +:::tip My tip + +Use this awesome feature option + +::: + +:::danger Take care + +This action is dangerous + +::: + +## MDX and React Components + +[MDX](https://mdxjs.com/) can make your documentation more **interactive** and allows using any **React components inside Markdown**: + +```jsx +export const Highlight = ({children, color}) => ( + { + alert(`You clicked the color ${color} with label ${children}`) + }}> + {children} + +); + +This is Docusaurus green ! + +This is Facebook blue ! +``` + +export const Highlight = ({children, color}) => ( + { + alert(`You clicked the color ${color} with label ${children}`); + }}> + {children} + +); + +This is Docusaurus green ! + +This is Facebook blue ! diff --git a/docsu/docs-reference/tutorial-extras/_category_.json 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a/docsu/docs-reference/tutorial-extras/manage-docs-versions.md b/docsu/docs-reference/tutorial-extras/manage-docs-versions.md new file mode 100644 index 0000000000..ccda0b9076 --- /dev/null +++ b/docsu/docs-reference/tutorial-extras/manage-docs-versions.md @@ -0,0 +1,55 @@ +--- +sidebar_position: 1 +--- + +# Manage Docs Versions + +Docusaurus can manage multiple versions of your docs. + +## Create a docs version + +Release a version 1.0 of your project: + +```bash +npm run docusaurus docs:version 1.0 +``` + +The `docs` folder is copied into `versioned_docs/version-1.0` and `versions.json` is created. + +Your docs now have 2 versions: + +- `1.0` at `http://localhost:3000/docs/` for the version 1.0 docs +- `current` at `http://localhost:3000/docs/next/` for the **upcoming, unreleased docs** + +## Add a Version Dropdown + +To navigate seamlessly across versions, add a version dropdown. + +Modify the `docusaurus.config.js` file: + +```js title="docusaurus.config.js" +export default { + themeConfig: { + navbar: { + items: [ + // highlight-start + { + type: 'docsVersionDropdown', + }, + // highlight-end + ], + }, + }, +}; +``` + +The docs version dropdown appears in your navbar: + +![Docs Version Dropdown](./img/docsVersionDropdown.png) + +## Update an existing version + +It is possible to edit versioned docs in their respective folder: + +- `versioned_docs/version-1.0/hello.md` updates `http://localhost:3000/docs/hello` +- `docs/hello.md` updates `http://localhost:3000/docs/next/hello` diff --git a/docsu/docs-reference/tutorial-extras/translate-your-site.md b/docsu/docs-reference/tutorial-extras/translate-your-site.md new file mode 100644 index 0000000000..b5a644abdf --- /dev/null +++ b/docsu/docs-reference/tutorial-extras/translate-your-site.md @@ -0,0 +1,88 @@ +--- +sidebar_position: 2 +--- + +# Translate your site + +Let's translate `docs/intro.md` to French. + +## Configure i18n + +Modify `docusaurus.config.js` to add support for the `fr` locale: + +```js title="docusaurus.config.js" +export default { + i18n: { + defaultLocale: 'en', + locales: ['en', 'fr'], + }, +}; +``` + +## Translate a doc + +Copy the `docs/intro.md` file to the `i18n/fr` folder: + +```bash +mkdir -p i18n/fr/docusaurus-plugin-content-docs/current/ + +cp docs/intro.md i18n/fr/docusaurus-plugin-content-docs/current/intro.md +``` + +Translate `i18n/fr/docusaurus-plugin-content-docs/current/intro.md` in French. + +## Start your localized site + +Start your site on the French locale: + +```bash +npm run start -- --locale fr +``` + +Your localized site is accessible at [http://localhost:3000/fr/](http://localhost:3000/fr/) and the `Getting Started` page is translated. + +:::caution + +In development, you can only use one locale at a time. + +::: + +## Add a Locale Dropdown + +To navigate seamlessly across languages, add a locale dropdown. + +Modify the `docusaurus.config.js` file: + +```js title="docusaurus.config.js" +export default { + themeConfig: { + navbar: { + items: [ + // highlight-start + { + type: 'localeDropdown', + }, + // highlight-end + ], + }, + }, +}; +``` + +The locale dropdown now appears in your navbar: + +![Locale Dropdown](./img/localeDropdown.png) + +## Build your localized site + +Build your site for a specific locale: + +```bash +npm run build -- --locale fr +``` + +Or build your site to include all the locales at once: + +```bash +npm run build +``` diff --git a/docs/source/docs/additional-resources/best-practices.md b/docsu/docs/additional-resources/best-practices.md similarity index 100% rename from docs/source/docs/additional-resources/best-practices.md rename to docsu/docs/additional-resources/best-practices.md diff --git a/docsu/docs/additional-resources/config.md b/docsu/docs/additional-resources/config.md new file mode 100644 index 0000000000..1982e65e67 --- /dev/null +++ b/docsu/docs/additional-resources/config.md @@ -0,0 +1,50 @@ +# Filesystem Directory + +PhotonVision stores and loads settings in the `photonvision_config` directory, in the same folder as the PhotonVision JAR is stored. On the Pi image as well as the Gloworm, this is in the `/opt/photonvision` directory. The contents of this directory can be exported as a zip archive from the settings page of the interface, under "export settings". This export will contain everything detailed below. These settings can later be uploaded using "import settings", to restore configurations from previous backups. + +## Directory Structure + +The directory structure is outlined below. + +```{image} images/configDir.png +:alt: Config directory structure +:width: 600 +``` + +- calibImgs + - Images saved from the last run of the calibration routine +- cameras + - Contains a subfolder for each camera. This folder contains the following files: + - pipelines folder, which contains a `json` file for each user-created pipeline. + - config.json, which contains all camera-specific configuration. This includes FOV, pitch, current pipeline index, and calibration data + - drivermode.json, which contains settings for the driver mode pipeline +- imgSaves + - Contains images saved with the input/output save commands. +- logs + - Contains timestamped logs in the format `photonvision-YYYY-MM-D_HH-MM-SS.log`. Note that on Pi or Gloworm these timestamps will likely be significantly behind the real time. +- hardwareSettings.json + - Contains hardware settings. Currently this includes only the LED brightness. +- networkSettings.json + - Contains network settings, including team number (or remote network tables address), static/dynamic settings, and hostname. + +## Importing and Exporting Settings + +The entire settings directory can be exported as a ZIP archive from the settings page. + +```{raw} html + +``` + +A variety of files can be imported back into PhotonVision: + +- ZIP Archive (`.zip`) + - Useful for restoring a full configuration from a different PhotonVision instance. +- Single Config File + - Currently-supported Files + - `hardwareConfig.json` + - `hardwareSettings.json` + - `networkSettings.json` + - Useful for simple hardware or network configuration tasks without overwriting all settings. diff --git a/docs/source/docs/additional-resources/images/configDir.png b/docsu/docs/additional-resources/images/configDir.png similarity index 100% rename from docs/source/docs/additional-resources/images/configDir.png rename to docsu/docs/additional-resources/images/configDir.png diff --git a/docs/source/docs/additional-resources/nt-api.md b/docsu/docs/additional-resources/nt-api.md similarity index 95% rename from docs/source/docs/additional-resources/nt-api.md rename to docsu/docs/additional-resources/nt-api.md index e89c26b356..902a09653e 100644 --- a/docs/source/docs/additional-resources/nt-api.md +++ b/docsu/docs/additional-resources/nt-api.md @@ -2,13 +2,13 @@ ## About -:::{warning} +:::warning PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. The NetworkTables server should only be enabled if you know what you're doing! ::: ## API -:::{warning} +:::warning NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once). We recommend using PhotonLib. ::: @@ -51,7 +51,7 @@ Images are returned as part of the .zip package from the "Export" operation in t | `inputSaveImgCmd` | `boolean` | Triggers saving the current input image to file. | | `outputSaveImgCmd` | `boolean` | Triggers saving the current output image to file. | -:::{warning} +:::warning If you manage to make calls to these commands faster than 500ms (between calls), additional photos will not be captured. ::: @@ -63,8 +63,8 @@ These entries are global, meaning that they should be called on the main `photon | --------- | ----- | -------------------------------------------------------- | | `ledMode` | `int` | Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink) | -:::{warning} -Setting the LED mode to -1 (default) when `multiple` cameras are connected may result in unexpected behavior. {ref}`This is a known limitation of PhotonVision. ` +:::warning +Setting the LED mode to -1 (default) when `multiple` cameras are connected may result in unexpected behavior. \{ref}`This is a known limitation of PhotonVision. ` Single camera operation should work without issue. ::: diff --git a/docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md b/docsu/docs/apriltag-pipelines/2D-tracking-tuning.md similarity index 98% rename from docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md rename to docsu/docs/apriltag-pipelines/2D-tracking-tuning.md index 84e7606119..2d7192294f 100644 --- a/docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md +++ b/docsu/docs/apriltag-pipelines/2D-tracking-tuning.md @@ -8,7 +8,7 @@ Before you get started tracking AprilTags, ensure that you have followed the pre :align: center ``` -You are now able to detect and track AprilTags in 2D (yaw, pitch, roll, etc.). In order to get 3D data from your AprilTags, please see {ref}`here. ` +You are now able to detect and track AprilTags in 2D (yaw, pitch, roll, etc.). In order to get 3D data from your AprilTags, please see \{ref}`here. ` ## Tuning AprilTags diff --git a/docs/source/docs/apriltag-pipelines/3D-tracking.md b/docsu/docs/apriltag-pipelines/3D-tracking.md similarity index 68% rename from docs/source/docs/apriltag-pipelines/3D-tracking.md rename to docsu/docs/apriltag-pipelines/3D-tracking.md index 416d12ab6e..03ab19e1fa 100644 --- a/docs/source/docs/apriltag-pipelines/3D-tracking.md +++ b/docsu/docs/apriltag-pipelines/3D-tracking.md @@ -1,6 +1,6 @@ # 3D Tracking -3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera `. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference. `. +3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first \{ref}`calibrate your camera `. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see \{ref}`the programming reference. `. ## Ambiguity @@ -9,5 +9,5 @@ Translating from 2D to 3D using data from the calibration and the four tag corne There are a few steps you can take to resolve/mitigate this issue: 1. Mount cameras at oblique angles so it is less likely that the tag will be seen straight on. -2. Use the {ref}`MultiTag system ` in order to combine the corners from multiple tags to get a more accurate and unambiguous pose. +2. Use the \{ref}`MultiTag system ` in order to combine the corners from multiple tags to get a more accurate and unambiguous pose. 3. Reject all tag poses where the ambiguity ratio (available via PhotonLib) is greater than 0.2. diff --git a/docs/source/docs/apriltag-pipelines/about-apriltags.md b/docsu/docs/apriltag-pipelines/about-apriltags.md similarity index 99% rename from docs/source/docs/apriltag-pipelines/about-apriltags.md rename to docsu/docs/apriltag-pipelines/about-apriltags.md index aaee12ff96..2a4fdf3682 100644 --- a/docs/source/docs/apriltag-pipelines/about-apriltags.md +++ b/docsu/docs/apriltag-pipelines/about-apriltags.md @@ -9,6 +9,6 @@ AprilTags are a common type of visual fiducial marker. Visual fiducial markers a A more technical explanation can be found in the [WPILib documentation](https://docs.wpilib.org/en/latest/docs/software/vision-processing/apriltag/apriltag-intro.html). -:::{note} +:::note You can get FIRST's [official PDF of the targets used in 2024 here](https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/Apriltag_Images_and_User_Guide.pdf). ::: diff --git a/docs/source/docs/apriltag-pipelines/coordinate-systems.md b/docsu/docs/apriltag-pipelines/coordinate-systems.md similarity index 100% rename from docs/source/docs/apriltag-pipelines/coordinate-systems.md rename to docsu/docs/apriltag-pipelines/coordinate-systems.md diff --git a/docs/source/docs/apriltag-pipelines/detector-types.md b/docsu/docs/apriltag-pipelines/detector-types.md similarity index 99% rename from docs/source/docs/apriltag-pipelines/detector-types.md rename to docsu/docs/apriltag-pipelines/detector-types.md index 76d01b1008..b1b345e326 100644 --- a/docs/source/docs/apriltag-pipelines/detector-types.md +++ b/docsu/docs/apriltag-pipelines/detector-types.md @@ -2,7 +2,7 @@ PhotonVision offers two different AprilTag pipeline types based on different implementations of the underlying algorithm. Each one has its advantages / disadvantages, which are detailed below. -:::{note} +:::note Note that both of these pipeline types detect AprilTag markers and are just two different algorithms for doing so. ::: diff --git a/docs/source/docs/apriltag-pipelines/images/apriltag-coords.png b/docsu/docs/apriltag-pipelines/images/apriltag-coords.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/apriltag-coords.png rename to docsu/docs/apriltag-pipelines/images/apriltag-coords.png diff --git a/docs/source/docs/apriltag-pipelines/images/apriltag-tune.png b/docsu/docs/apriltag-pipelines/images/apriltag-tune.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/apriltag-tune.png rename to docsu/docs/apriltag-pipelines/images/apriltag-tune.png diff --git a/docs/source/docs/apriltag-pipelines/images/apriltag.png b/docsu/docs/apriltag-pipelines/images/apriltag.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/apriltag.png rename to docsu/docs/apriltag-pipelines/images/apriltag.png diff --git a/docs/source/docs/apriltag-pipelines/images/camera-coord.png b/docsu/docs/apriltag-pipelines/images/camera-coord.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/camera-coord.png rename to docsu/docs/apriltag-pipelines/images/camera-coord.png diff --git a/docs/source/docs/apriltag-pipelines/images/field-layout.png b/docsu/docs/apriltag-pipelines/images/field-layout.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/field-layout.png rename to docsu/docs/apriltag-pipelines/images/field-layout.png diff --git a/docs/source/docs/apriltag-pipelines/images/multiple-tags.png b/docsu/docs/apriltag-pipelines/images/multiple-tags.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/multiple-tags.png rename to docsu/docs/apriltag-pipelines/images/multiple-tags.png diff --git a/docs/source/docs/apriltag-pipelines/images/multitag-ui.png b/docsu/docs/apriltag-pipelines/images/multitag-ui.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/multitag-ui.png rename to docsu/docs/apriltag-pipelines/images/multitag-ui.png diff --git a/docs/source/docs/apriltag-pipelines/images/pv-apriltag.png b/docsu/docs/apriltag-pipelines/images/pv-apriltag.png similarity index 100% rename from docs/source/docs/apriltag-pipelines/images/pv-apriltag.png rename to docsu/docs/apriltag-pipelines/images/pv-apriltag.png diff --git a/docs/source/docs/apriltag-pipelines/index.md b/docsu/docs/apriltag-pipelines/index.md similarity index 100% rename from docs/source/docs/apriltag-pipelines/index.md rename to docsu/docs/apriltag-pipelines/index.md diff --git a/docs/source/docs/apriltag-pipelines/multitag.md b/docsu/docs/apriltag-pipelines/multitag.md similarity index 91% rename from docs/source/docs/apriltag-pipelines/multitag.md rename to docsu/docs/apriltag-pipelines/multitag.md index 102b36ce1f..d2ad23aac0 100644 --- a/docs/source/docs/apriltag-pipelines/multitag.md +++ b/docsu/docs/apriltag-pipelines/multitag.md @@ -2,7 +2,7 @@ PhotonVision can combine AprilTag detections from multiple simultaneously observed AprilTags from a particular camera with information about where tags are expected to be located on the field to produce a better estimate of where the camera (and therefore robot) is located on the field. PhotonVision can calculate this multi-target result on your coprocessor, reducing CPU usage on your RoboRio. This result is sent over NetworkTables along with other detected targets as part of the `PhotonPipelineResult` provided by PhotonLib. -:::{warning} +:::warning MultiTag requires an accurate field layout JSON to be uploaded! Differences between this layout and the tags' physical location will drive error in the estimated pose output. ::: @@ -15,11 +15,11 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou :width: 600 ``` -:::{note} +:::note By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation". ::: -This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class ` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()` (Java/C++). +This multi-target pose estimate can be accessed using PhotonLib. We suggest using \{ref}`the PhotonPoseEstimator class ` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()` (Java/C++). ```{eval-rst} .. tab-set-code:: @@ -40,7 +40,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin } ``` -:::{note} +:::note The returned field to camera transform is a transform from the fixed field origin to the camera's coordinate system. This does not change based on alliance color, and by convention is on the BLUE ALLIANCE wall. ::: @@ -55,6 +55,6 @@ PhotonVision ships by default with the [2024 field layout JSON](https://github.c An updated field layout can be uploaded by navigating to the "Device Control" card of the Settings tab and clicking "Import Settings". In the pop-up dialog, select the "AprilTag Layout" type and choose an updated layout JSON (in the same format as the WPILib field layout JSON linked above) using the paperclip icon, and select "Import Settings". The AprilTag layout in the "AprilTag Field Layout" card below should be updated to reflect the new layout. -:::{note} +:::note Currently, there is no way to update this layout using PhotonLib, although this feature is under consideration. ::: diff --git a/docs/source/docs/assets/AprilTag16h5.pdf b/docsu/docs/assets/AprilTag16h5.pdf similarity index 100% rename from docs/source/docs/assets/AprilTag16h5.pdf rename to docsu/docs/assets/AprilTag16h5.pdf diff --git a/docs/source/docs/assets/settings.png b/docsu/docs/assets/settings.png similarity index 100% rename from docs/source/docs/assets/settings.png rename to docsu/docs/assets/settings.png diff --git a/docs/source/docs/calibration/calibration.md b/docsu/docs/calibration/calibration.md similarity index 93% rename from docs/source/docs/calibration/calibration.md rename to docsu/docs/calibration/calibration.md index f9f4782da1..156a9f7566 100644 --- a/docs/source/docs/calibration/calibration.md +++ b/docsu/docs/calibration/calibration.md @@ -6,11 +6,11 @@ In order to detect AprilTags and use 3D mode, your camera must be calibrated at To calibrate a camera, images of a chessboard (or grid of dots, or other target) are taken. by comparing where the grid corners (or dots) should be in object space (for example, a dot once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html). -:::{warning} +:::warning While any resolution can be calibrated, resolutions lower than 960x720 are often too low to provide accurate results. Additionally, high resolutions may be too performance intensive for a coprocessor like a Raspberry Pi to handle (solutions to this are being looked into). Thus, we recommend 960x720 when using 3D mode. ::: -:::{note} +:::note The calibration data collected during calibration is specific to each physical camera, as well as each individual resolution. ::: @@ -18,15 +18,15 @@ The calibration data collected during calibration is specific to each physical c Accurate camera calibration is required in order to get accurate pose measurements when using AprilTags and 3D mode. The tips below should help ensure success: -01. Practice calibration using your laptop webcam and . The target can be found on the website and should be printed out if possible. Once you print it out, try to line up your target with the overlay on the screen as best as possible. The point of this practice is to notice how you are prompted to place targets in certain positions on the screen that make sure you account for all regions of the sensor. The chessboard should (in general) not be facing parallel to the camera (straight on), nor should it be aligned with any of the camera axes (i.e., rotated only about an axis going left/right, up/down, or out-of-the-camera). -02. Ensure your the images you take have the target in different positions and angles, with as big of a difference between angles as possible. It is important to make sure the target overlay still lines up with the board while doing this. Tilt no more than 45 degrees. -03. Use as big of a calibration target as your printer can print. -04. Ensure that your printed pattern has enough white border around it. -05. Ensure your camera stays in one position during the duration of the calibration. -06. Make sure you get all 12 images from varying distances and angles. -07. Take at least one image that covers the total image area, and generally ensure that you get even coverage of the lens with your image set. -08. Have good lighting, having a diffusely lit target would be best (light specifically shining on the target without shadows). -09. Ensure the calibration target is completely flat and does not bend or fold in any way. It should be mounted/taped down to something flat and then used for calibration, do not just hold it up. +1. Practice calibration using your laptop webcam and . The target can be found on the website and should be printed out if possible. Once you print it out, try to line up your target with the overlay on the screen as best as possible. The point of this practice is to notice how you are prompted to place targets in certain positions on the screen that make sure you account for all regions of the sensor. The chessboard should (in general) not be facing parallel to the camera (straight on), nor should it be aligned with any of the camera axes (i.e., rotated only about an axis going left/right, up/down, or out-of-the-camera). +2. Ensure your the images you take have the target in different positions and angles, with as big of a difference between angles as possible. It is important to make sure the target overlay still lines up with the board while doing this. Tilt no more than 45 degrees. +3. Use as big of a calibration target as your printer can print. +4. Ensure that your printed pattern has enough white border around it. +5. Ensure your camera stays in one position during the duration of the calibration. +6. Make sure you get all 12 images from varying distances and angles. +7. Take at least one image that covers the total image area, and generally ensure that you get even coverage of the lens with your image set. +8. Have good lighting, having a diffusely lit target would be best (light specifically shining on the target without shadows). +9. Ensure the calibration target is completely flat and does not bend or fold in any way. It should be mounted/taped down to something flat and then used for calibration, do not just hold it up. 10. Avoid having targets that are parallel to the lens of the camera / straight on towards the camera as much as possible. You want angles and variations within your calibration images. Following the ideas above should help in getting an accurate calibration. @@ -51,7 +51,7 @@ The Cameras tab of the UI houses PhotonVision's camera calibration tooling. It a In the Camera Calibration tab, we'll print out the calibration target using the "Download" button. This should be printed on 8.5x11 printer paper. This page shows using an 8x8 chessboard. -:::{warning} +:::warning Ensure that there is no scaling applied during printing (it should be at 100%) and that the PDF is printed as is on regular printer paper. Check the square size with calipers or an accurate measuring device after printing to ensure squares are sized properly, and enter the true size of the square in the UI text box. For optimal results, various resources are available online to calibrate your specific printer if needed. ::: @@ -79,7 +79,7 @@ Details about a particular calibration can be viewed by clicking on that resolut :width: 600 ``` -:::{note} +:::note More info on what these parameters mean can be found in [OpenCV's docs](https://docs.opencv.org/4.8.0/d4/d94/tutorial_camera_calibration.html) ::: @@ -106,7 +106,7 @@ python3 /path/to/calibrationUtils.py path/to/photon_calibration.json /path/to/ou [mrcal](https://mrcal.secretsauce.net/tour.html) is a command-line tool for camera calibration and visualization. PhotonVision has the option to use the mrcal backend during camera calibration to estimate intrinsics. mrcal can also be used post-calibration to inspect snapshots and provide feedback. These steps will closely follow the [mrcal tour](https://mrcal.secretsauce.net/tour-initial-calibration.html) -- I'm aggregating commands and notes here, but the mrcal documentation is much more thorough. -Start by [Installing mrcal](https://mrcal.secretsauce.net/install.html). Note that while mrcal *calibration* using PhotonVision is supported on all platforms, but investigation right now only works on Linux. Some users have also reported luck using [WSL 2 on Windows](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) as well. You may also need to install `feedgnuplot`. On Ubuntu systems, these commands should be run from a standalone terminal and *not* the one [built into vscode](https://github.com/ros2/ros2/issues/1406). +Start by [Installing mrcal](https://mrcal.secretsauce.net/install.html). Note that while mrcal _calibration_ using PhotonVision is supported on all platforms, but investigation right now only works on Linux. Some users have also reported luck using [WSL 2 on Windows](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) as well. You may also need to install `feedgnuplot`. On Ubuntu systems, these commands should be run from a standalone terminal and _not_ the one [built into vscode](https://github.com/ros2/ros2/issues/1406). Let's run `calibrationUtils.py` as described above, and then cd into the output folder. From here, you can follow the mrcal tour, just replacing the VNL filename and camera imager size as necessary. My camera calibration was at 1280x720, so I've set the XY limits to that below. diff --git a/docs/source/docs/calibration/images/cal-details.png b/docsu/docs/calibration/images/cal-details.png similarity index 100% rename from docs/source/docs/calibration/images/cal-details.png rename to docsu/docs/calibration/images/cal-details.png diff --git a/docs/source/docs/calibration/images/camera-uncertainty.svg b/docsu/docs/calibration/images/camera-uncertainty.svg similarity index 100% rename from docs/source/docs/calibration/images/camera-uncertainty.svg rename to docsu/docs/calibration/images/camera-uncertainty.svg diff --git a/docs/source/docs/calibration/images/mrcal-coverage.svg b/docsu/docs/calibration/images/mrcal-coverage.svg similarity index 100% rename from docs/source/docs/calibration/images/mrcal-coverage.svg rename to docsu/docs/calibration/images/mrcal-coverage.svg diff --git a/docs/source/docs/calibration/images/residual-directions.svg b/docsu/docs/calibration/images/residual-directions.svg similarity index 100% rename from docs/source/docs/calibration/images/residual-directions.svg rename to docsu/docs/calibration/images/residual-directions.svg diff --git a/docs/source/docs/calibration/images/residual-magnitudes.svg b/docsu/docs/calibration/images/residual-magnitudes.svg similarity index 100% rename from docs/source/docs/calibration/images/residual-magnitudes.svg rename to docsu/docs/calibration/images/residual-magnitudes.svg diff --git a/docs/source/docs/calibration/images/unpacked-json.png b/docsu/docs/calibration/images/unpacked-json.png similarity index 100% rename from docs/source/docs/calibration/images/unpacked-json.png rename to docsu/docs/calibration/images/unpacked-json.png diff --git a/docs/source/docs/contributing/assets/git-download.png b/docsu/docs/contributing/assets/git-download.png similarity index 100% rename from docs/source/docs/contributing/assets/git-download.png rename to docsu/docs/contributing/assets/git-download.png diff --git a/docs/source/docs/contributing/building-docs.md b/docsu/docs/contributing/building-docs.md similarity index 100% rename from docs/source/docs/contributing/building-docs.md rename to docsu/docs/contributing/building-docs.md diff --git a/docs/source/docs/contributing/building-photon.md b/docsu/docs/contributing/building-photon.md similarity index 55% rename from docs/source/docs/contributing/building-photon.md rename to docsu/docs/contributing/building-photon.md index 602741b341..7dcb265e0e 100644 --- a/docs/source/docs/contributing/building-photon.md +++ b/docsu/docs/contributing/building-photon.md @@ -1,3 +1,6 @@ +import Tabs from '@theme/Tabs'; +import TabItem from '@theme/TabItem'; + # Build Instructions This section contains the build instructions from the source code available at [our GitHub page](https://github.com/PhotonVision/photonvision). @@ -8,11 +11,11 @@ This section contains the build instructions from the source code available at [ **Java Development Kit:** - This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts). +This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts). **Node JS:** - The UI is written in Node JS. To compile the UI, Node 14.18.0 to Node 16.0.0 is required. To install Node JS follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/). However, modify this line +The UI is written in Node JS. To compile the UI, Node 14.18.0 to Node 16.0.0 is required. To install Node JS follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/). However, modify this line ```bash nvm install 20 @@ -36,10 +39,7 @@ git clone https://github.com/PhotonVision/photonvision or alternatively download the source code from GitHub and extract the zip: -```{image} assets/git-download.png -:alt: Download source code from git -:width: 600 -``` +Download source code from git ### Install Necessary Node JS Dependencies @@ -53,59 +53,65 @@ npm install In the root directory: -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew buildAndCopyUI`` - - .. tab-item:: macOS - - ``./gradlew buildAndCopyUI`` - - .. tab-item:: Windows (cmd) - - ``gradlew buildAndCopyUI`` -``` + + + ```bash + ./gradlew buildAndCopyUI + ``` + + + ```bash + ./gradlew buildAndCopyUI + ``` + + + ```cmd + gradlew buildAndCopyUI + ``` + + ### Build and Run PhotonVision To compile and run the project, issue the following command in the root directory: -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew run`` - - .. tab-item:: macOS - - ``./gradlew run`` - - .. tab-item:: Windows (cmd) - - ``gradlew run`` -``` + + + ```bash + ./gradlew run + ``` + + + ```bash + ./gradlew run + ``` + + + ```cmd + gradlew run + ``` + + Running the following command under the root directory will build the jar under `photon-server/build/libs`: -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew shadowJar`` - - .. tab-item:: macOS - - ``./gradlew shadowJar`` - - .. tab-item:: Windows (cmd) - - ``gradlew shadowJar`` -``` + + + ```bash + ./gradlew shadowJar + ``` + + + ```bash + ./gradlew shadowJar + ``` + + + ```cmd + gradlew shadowJar + ``` + + ### Build and Run PhotonVision on a Raspberry Pi Coprocessor @@ -113,27 +119,23 @@ As a convenience, the build has a built-in `deploy` command which builds, deploy An architecture override is required to specify the deploy target's architecture. -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew clean`` - - ``./gradlew deploy -PArchOverride=linuxarm64`` - - .. tab-item:: macOS - - ``./gradlew clean`` - - ``./gradlew deploy -PArchOverride=linuxarm64`` - - .. tab-item:: Windows (cmd) - - ``gradlew clean`` - - ``gradlew deploy -PArchOverride=linuxarm64`` -``` + + + ```bash + ./gradlew deploy -PArchOverride=linuxarm64 + ``` + + + ```bash + ./gradlew deploy -PArchOverride=linuxarm64 + ``` + + + ```cmd + gradlew deploy -PArchOverride=linuxarm64 + ``` + + The `deploy` command is tested against Raspberry Pi coprocessors. Other similar coprocessors may work too. @@ -141,45 +143,48 @@ The `deploy` command is tested against Raspberry Pi coprocessors. Other similar The build process includes the following task: -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew generateVendorJson`` - - .. tab-item:: macOS - - ``./gradlew generateVendorJson`` - - .. tab-item:: Windows (cmd) - - ``gradlew generateVendorJson`` -``` + + + ```bash + ./gradlew generateVendorJson + ``` + + + ```bash + ./gradlew generateVendorJson + ``` + + + ```cmd + gradlew generateVendorJson + ``` + + This generates a vendordep JSON of your local build at `photon-lib/build/generated/vendordeps/photonlib.json`. The photonlib source can be published to your local maven repository after building: - -```{eval-rst} -.. tab-set:: - - .. tab-item:: Linux - - ``./gradlew publishToMavenLocal`` - - .. tab-item:: macOS - - ``./gradlew publishToMavenLocal`` - - .. tab-item:: Windows (cmd) - - ``gradlew publishToMavenLocal`` -``` + + +`bash + ./gradlew publishToMavenLocal + ` + + +`bash + ./gradlew publishToMavenLocal + ` + + +`cmd + gradlew publishToMavenLocal + ` + + After adding the generated vendordep to your project, add the following to your project's `build.gradle` under the `plugins {}` block. -```Java +```java repositories { mavenLocal() } @@ -187,7 +192,7 @@ repositories { ### Debugging PhotonVision Running Locally -One way is by running the program using gradle with the {code}`--debug-jvm` flag. Run the program with {code}`./gradlew run --debug-jvm`, and attach to it with VSCode by adding the following to {code}`launch.json`. Note args can be passed with {code}`--args="foobar"`. +One way is by running the program using gradle with the `--debug-jvm` flag. Run the program with `./gradlew run --debug-jvm`, and attach to it with VSCode by adding the following to `launch.json`. Note args can be passed with `--args="foobar"`. ``` { @@ -208,11 +213,11 @@ One way is by running the program using gradle with the {code}`--debug-jvm` flag } ``` -PhotonVision can also be run using the gradle tasks plugin with {code}`"args": "--debug-jvm"` added to launch.json. +PhotonVision can also be run using the gradle tasks plugin with `"args": "--debug-jvm"` added to launch.json. ### Debugging PhotonVision Running on a CoProcessor -Set up a VSCode configuration in {code}`launch.json` +Set up a VSCode configuration in `launch.json` ``` { @@ -235,7 +240,7 @@ Set up a VSCode configuration in {code}`launch.json` Stop any existing instance of PhotonVision. -Launch the program with the following additional argument to the JVM: {code}`java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar` +Launch the program with the following additional argument to the JVM: `java -jar -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5801 photonvision.jar` Once the program says it is listening on port 5801, launch the debug configuration in VSCode. @@ -246,14 +251,14 @@ The program will wait for the VSCode debugger to attach before proceeding. 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: - photonlib-java-examples: - - aimandrange:simulateJava - - aimattarget:simulateJava - - getinrange:simulateJava - - simaimandrange:simulateJava - - simposeest:simulateJava + - aimandrange:simulateJava + - aimattarget:simulateJava + - getinrange:simulateJava + - simaimandrange:simulateJava + - simposeest:simulateJava - photonlib-cpp-examples: - - aimandrange:simulateNative - - getinrange:simulateNative + - aimandrange:simulateNative + - getinrange:simulateNative To run them, use the commands listed below. PhotonLib must first be published to your local maven repository, then the copy PhotonLib 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. diff --git a/docs/source/docs/contributing/developer-docs/index.md b/docsu/docs/contributing/developer-docs/index.md similarity index 100% rename from docs/source/docs/contributing/developer-docs/index.md rename to docsu/docs/contributing/developer-docs/index.md diff --git a/docs/source/docs/contributing/developer-docs/photonlib-backups.md b/docsu/docs/contributing/developer-docs/photonlib-backups.md similarity index 100% rename from docs/source/docs/contributing/developer-docs/photonlib-backups.md rename to docsu/docs/contributing/developer-docs/photonlib-backups.md diff --git a/docs/source/docs/contributing/index.md b/docsu/docs/contributing/index.md similarity index 100% rename from docs/source/docs/contributing/index.md rename to docsu/docs/contributing/index.md diff --git a/docs/source/docs/description.md b/docsu/docs/description.md similarity index 100% rename from docs/source/docs/description.md rename to docsu/docs/description.md diff --git a/docs/source/docs/examples/aimandrange.md b/docsu/docs/examples/aimandrange.md similarity index 87% rename from docs/source/docs/examples/aimandrange.md rename to docsu/docs/examples/aimandrange.md index f50a711881..03dec1fa85 100644 --- a/docs/source/docs/examples/aimandrange.md +++ b/docsu/docs/examples/aimandrange.md @@ -4,7 +4,7 @@ The following example is from the PhotonLib example repository ([Java](https://g ## Knowledge and Equipment Needed -- Everything required in {ref}`Aiming at a Target ` and {ref}`Getting in Range of the Target `. +- Everything required in \{ref}`Aiming at a Target ` and \{ref}`Getting in Range of the Target `. ## Code diff --git a/docs/source/docs/examples/aimingatatarget.md b/docsu/docs/examples/aimingatatarget.md similarity index 81% rename from docs/source/docs/examples/aimingatatarget.md rename to docsu/docs/examples/aimingatatarget.md index d0d4bd3944..8045dc8a59 100644 --- a/docs/source/docs/examples/aimingatatarget.md +++ b/docsu/docs/examples/aimingatatarget.md @@ -10,11 +10,11 @@ The following example is from the PhotonLib example repository ([Java](https://g ## Code -Now that you have properly set up your vision system and have tuned a pipeline, you can now aim your robot/turret at the target using the data from PhotonVision. This data is reported over NetworkTables and includes: latency, whether there is a target detected or not, pitch, yaw, area, skew, and target pose relative to the robot. This data will be used/manipulated by our vendor dependency, PhotonLib. The documentation for the Network Tables API can be found {ref}`here ` and the documentation for PhotonLib {ref}`here `. +Now that you have properly set up your vision system and have tuned a pipeline, you can now aim your robot/turret at the target using the data from PhotonVision. This data is reported over NetworkTables and includes: latency, whether there is a target detected or not, pitch, yaw, area, skew, and target pose relative to the robot. This data will be used/manipulated by our vendor dependency, PhotonLib. The documentation for the Network Tables API can be found \{ref}`here ` and the documentation for PhotonLib \{ref}`here `. For this simple example, only yaw is needed. -In this example, while the operator holds a button down, the robot will turn towards the goal using the P term of a PID loop. To learn more about how PID loops work, how WPILib implements them, and more, visit [Advanced Controls (PID)](https://docs.wpilib.org/en/stable/docs/software/advanced-control/introduction/index.html) and [PID Control in WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html#pid-control-in-wpilib). +In this example, while the operator holds a button down, the robot will turn towards the goal using the P term of a PID loop. To learn more about how PID loops work, how WPILib implements them, and more, visit [Advanced Controls (PID)](https://docs.wpilib.org/en/stable/docs/software/advanced-control/introduction/index.html) and [PID Control in WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html#pid-control-in-wpilib). ```{eval-rst} .. tab-set:: diff --git a/docs/source/docs/examples/gettinginrangeofthetarget.md b/docsu/docs/examples/gettinginrangeofthetarget.md similarity index 87% rename from docs/source/docs/examples/gettinginrangeofthetarget.md rename to docsu/docs/examples/gettinginrangeofthetarget.md index c53b01c9b6..1d0e5476ee 100644 --- a/docs/source/docs/examples/gettinginrangeofthetarget.md +++ b/docsu/docs/examples/gettinginrangeofthetarget.md @@ -4,7 +4,7 @@ The following example is from the PhotonLib example repository ([Java](https://g ## Knowledge and Equipment Needed -- Everything required in {ref}`Aiming at a Target `. +- Everything required in \{ref}`Aiming at a Target `. - Large space where your robot can move around freely ## Code @@ -17,11 +17,11 @@ While the operator holds down a button, the robot will drive towards the target This example uses P term of the PID loop and PhotonLib and the distance function of PhotonUtils. -:::{warning} +:::warning The PhotonLib utility to calculate distance depends on the camera being at a different vertical height than the target. If this is not the case, a different method for estimating distance, such as target width or area, should be used. In general, this method becomes more accurate as range decreases and as the height difference increases. ::: -:::{note} +:::note There is no strict minimum delta-height necessary for this method to be applicable, just a requirement that a delta exists. ::: @@ -54,5 +54,5 @@ There is no strict minimum delta-height necessary for this method to be applicab ``` :::{hint} -The accuracy of the measurement of the camera's pitch ({code}`CAMERA_PITCH_RADIANS` in the above example), as well as the camera's FOV, will determine the overall accuracy of this method. +The accuracy of the measurement of the camera's pitch (`CAMERA_PITCH_RADIANS` in the above example), as well as the camera's FOV, will determine the overall accuracy of this method. ::: diff --git a/docs/source/docs/examples/index.md b/docsu/docs/examples/index.md similarity index 100% rename from docs/source/docs/examples/index.md rename to docsu/docs/examples/index.md diff --git a/docs/source/docs/examples/simaimandrange.md b/docsu/docs/examples/simaimandrange.md similarity index 85% rename from docs/source/docs/examples/simaimandrange.md rename to docsu/docs/examples/simaimandrange.md index 403c8d5370..e0c5d3889c 100644 --- a/docs/source/docs/examples/simaimandrange.md +++ b/docsu/docs/examples/simaimandrange.md @@ -4,13 +4,13 @@ The following example comes from the PhotonLib example repository ([Java](https: ## Knowledge and Equipment Needed -- Everything required in {ref}`Combining Aiming and Getting in Range `. +- Everything required in \{ref}`Combining Aiming and Getting in Range `. ## Background The previous examples show how to run PhotonVision on a real robot, with a physical robot drivetrain moving around and interacting with the software. -This example builds upon that, adding support for simulating robot motion and incorporating that motion into a {code}`SimVisionSystem`. This allows you to test control algorithms on your development computer, without requiring access to a real robot. +This example builds upon that, adding support for simulating robot motion and incorporating that motion into a `SimVisionSystem`. This allows you to test control algorithms on your development computer, without requiring access to a real robot. ```{raw} html ``` -The same area, aspect ratio, and target orientation/sort parameters from {ref}`reflective pipelines ` are also exposed in the object detection card. +The same area, aspect ratio, and target orientation/sort parameters from \{ref}`reflective pipelines ` are also exposed in the object detection card. ## Training Custom Models @@ -38,7 +39,7 @@ Coming soon! ## Uploading Custom Models -:::{warning} +:::warning PhotonVision currently ONLY supports YOLOv5 models trained and converted to `.rknn` format for RK3588 CPUs! Other models require different post-processing code and will NOT work. The model conversion process is also highly particular. Proceed with care. ::: diff --git a/docs/source/docs/objectDetection/images/notes-ui.png b/docsu/docs/objectDetection/images/notes-ui.png similarity index 100% rename from docs/source/docs/objectDetection/images/notes-ui.png rename to docsu/docs/objectDetection/images/notes-ui.png diff --git a/docs/source/docs/objectDetection/index.md b/docsu/docs/objectDetection/index.md similarity index 100% rename from docs/source/docs/objectDetection/index.md rename to docsu/docs/objectDetection/index.md diff --git a/docs/source/docs/pipelines/about-pipelines.md b/docsu/docs/pipelines/about-pipelines.md similarity index 96% rename from docs/source/docs/pipelines/about-pipelines.md rename to docsu/docs/pipelines/about-pipelines.md index 744a6b807d..74d850ba4c 100644 --- a/docs/source/docs/pipelines/about-pipelines.md +++ b/docsu/docs/pipelines/about-pipelines.md @@ -22,8 +22,8 @@ This pipeline type is based on detecting different shapes like circles, triangle This pipeline type is based on detecting AprilTag fiducial markers. More information about AprilTags can be found in the WPILib documentation. While being more performance intensive than the reflective and colored shape pipeline, it has the benefit of providing easy to use 3D pose information which allows localization. -:::{note} -In order to get 3D Pose data about AprilTags, you are required to {ref}`calibrate your camera`. +:::note +In order to get 3D Pose data about AprilTags, you are required to \{ref}`calibrate your camera`. ::: ## Note About Multiple Cameras and Pipelines diff --git a/docs/source/docs/pipelines/images/motionblur.gif b/docsu/docs/pipelines/images/motionblur.gif similarity index 100% rename from docs/source/docs/pipelines/images/motionblur.gif rename to docsu/docs/pipelines/images/motionblur.gif diff --git a/docs/source/docs/pipelines/images/pipelinetype.png b/docsu/docs/pipelines/images/pipelinetype.png similarity index 100% rename from docs/source/docs/pipelines/images/pipelinetype.png rename to docsu/docs/pipelines/images/pipelinetype.png diff --git a/docs/source/docs/pipelines/index.md b/docsu/docs/pipelines/index.md similarity index 100% rename from docs/source/docs/pipelines/index.md rename to docsu/docs/pipelines/index.md diff --git a/docs/source/docs/pipelines/input.md b/docsu/docs/pipelines/input.md similarity index 99% rename from docs/source/docs/pipelines/input.md rename to docsu/docs/pipelines/input.md index ec93c1218e..280aa38e89 100644 --- a/docs/source/docs/pipelines/input.md +++ b/docsu/docs/pipelines/input.md @@ -20,7 +20,7 @@ For all pipelines, exposure time should be set as low as possible while still al For reflective pipelines, after adjusting exposure and brightness, the target should be lit green (or the color of the vision tracking LEDs used). The more distinct the color of the target, the more likely it will be tracked reliably. -:::{note} +:::note Unlike with retroreflective tape, AprilTag tracking is not very dependent on lighting consistency. If you have trouble detecting tags due to low light, you may want to try increasing exposure, but this will likely decrease your achievable framerate. ::: diff --git a/docs/source/docs/pipelines/output.md b/docsu/docs/pipelines/output.md similarity index 91% rename from docs/source/docs/pipelines/output.md rename to docsu/docs/pipelines/output.md index 072cf1924e..ead08d9d30 100644 --- a/docs/source/docs/pipelines/output.md +++ b/docsu/docs/pipelines/output.md @@ -6,7 +6,7 @@ The output card contains sections for target manipulation and offset modes. In this section, the Target Offset Point changes where the "center" of the target is. This can be useful if the pitch/yaw of the middle of the top edge of the target is desired, rather than the center of mass of the target. The "top"/"bottom"/"left"/"right" of the target are defined by the Target Orientation selection. For example, a 400x200px target in landscape mode would have the "top" offset point located at the middle of the uppermost long edge of the target, while in portrait mode the "top" offset point would be located in the middle of the topmost short edge (in this case, either the left or right sides). -This section also includes a switch to enable processing and sending multiple targets, up to 5, simultaneously. This information is available through PhotonLib. Note that the {code}`GetPitch`/{code}`GetYaw` methods will report the pitch/yaw of the "best" (lowest indexed) target. +This section also includes a switch to enable processing and sending multiple targets, up to 5, simultaneously. This information is available through PhotonLib. Note that the `GetPitch`/`GetYaw` methods will report the pitch/yaw of the "best" (lowest indexed) target. ```{raw} html