Changes for new Location Tracking #64

cgpadwick · 2025-01-25T04:29:45Z

No description provided.

…files

…directories

cwosw · 2025-01-25T05:16:14Z

We still need to get the cuda code synced up to this.

cwosw · 2025-01-25T05:35:10Z

data/camlocations

+Module_YL20230518V0 TEMPLATE
+UC762 TEMPLATE
+UC7626 TEMPLATE
+UC762W TEMPLATE


These can all be changed, its just that TEMPLATE is the current file that has something in it, so that is where it will lie as a default.

cwosw · 2025-01-27T16:19:54Z

The code now does actually work. I used the wrong names.

Put AprilTags Stuff in Standard Conforming Directories

src/ws_server.cu

cwosw · 2025-01-28T02:57:17Z

Pardon the many many commits, this is what happens when you repeat confidence in a fix that does not work. Such is the life of a Bash dev. This works. It is tested on the Orin.

Fixed the kill handler

…s_cuda into betterLocations

cwosw · 2025-02-01T02:04:15Z

Installer/AprilTags/AprilTagsManager.sh

@@ -20,23 +20,20 @@ function killIfRunning() {
 }

 # set clocks to max frequency (jetson only)
-jetson_clocks || true
+jetson_clocks || true 1>&2 >> /dev/null


The weird Bash redirection things basically boil down to "Take the errors, put them into standard error, then throw the entire thing into /dev/null."

cgpadwick

overall looks really good, just address a few minor things and it's good to go. Also I can't approve since apparently it's my PR.

cgpadwick · 2025-02-05T03:14:25Z

Installer/AprilTags/AprilTagsManager.sh


        # ensure that the calibration file exists
-        if ! [[ -f /apps/AprilTags/data/calibration/calibrationmatrix_${camID}.json ]]; then
+        if ! [[ -f /opt/AprilTags/data/calibration/calibrationmatrix_${camID}.json ]]; then


nice error checking here, with clear, understandable error messages! Great job!

cgpadwick · 2025-02-05T03:18:52Z

Installer/install.sh

-# now onto the AprilTags specific items
-cp -R AprilTags/ /apps/
-cp -R  bin/* /apps/bin/
+systemctl enable AprilTagsPipeline.service # not now, since files might not be there


I'm confused by the comment. Can you remove it or modify it?

This is me being confused myself. I will better implement this.

Oh right. "systemctl enable --now" is what I was referencing. the not "now" comment was meant as a "enable the service, but do not start it now" type comment. Badly worded, I will fix that.

cgpadwick · 2025-02-05T03:21:58Z

data/calibration/calibrationmatrix_100.json

@@ -248,27 +248,5 @@
                36.73500062867949
            ]
        ]


how do you feel about deleting all these wrong calibration matrix files now that we fixed the calibration bug? It would force us to recalibrate the cameras and check in the files which is a good thing. I was going to put a separate PR for that but we could do it in this one if you wanted to. @cwosw let me know

I think it would be helpful to re calibrate, but I am hesitant to remove these files from this PR (I personally feel that it would be better for the new calibration data to either be put into this PR tomorrow or to make a new PR for it).

cgpadwick · 2025-02-05T03:24:47Z

data/camlocs/cam-left_back-offset.json

@@ -0,0 +1,24 @@
+{


confirmed rotation correct for back camera

To this and the ones below it, does that mean that these are working and good?

cgpadwick · 2025-02-05T03:25:11Z

data/camlocs/cam-TEMPLATE-offset.json

@@ -0,0 +1,24 @@
+{


confirmed rotation correct for front camera

cgpadwick · 2025-02-05T03:27:21Z

data/camlocs/cam-right_front-offset.json

@@ -0,0 +1,24 @@
+{


confirmed rotation correct for front cam

cgpadwick · 2025-02-05T03:28:17Z

src/ws_server.cu

@@ -125,11 +129,14 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
    });
  }

-  bool parsecal_file(const std::string& cal_filepath,
+  bool parsecal_file(const std::string& cal_filepath, // why specify this if it is not once touched?


the comment doesn't make sense, please remove. Was it referring to an intermediate version of the file?

This was a reference to the function not at all using the "cal_filepath" parameter when I was working with it. I made it use the passed argument since.

cgpadwick · 2025-02-05T03:30:37Z

src/ws_server.cu

  }

  if (FLAGS_camera_name.empty()) {
    LOG(ERROR) << "camera_name is required";
    return 1;
  }
-  gflags::ParseCommandLineFlags(&argc, &argv, true);
+  //gflags::ParseCommandLineFlags(&argc, &argv, true); // this is done once before


good catch, just remove this line

cgpadwick · 2025-02-05T03:30:56Z

src/ws_server.cu


  if (!std::filesystem::exists(FLAGS_cal_file)) {
    LOG(ERROR) << "calibration file does not exist: " << FLAGS_cal_file;
    return 1;
  }
+
+  if (!std::filesystem::exists(FLAGS_position_file)) {
+    LOG(ERROR) << "position files does not exist: " << FLAGS_position_file;


typo: files -> file

cgpadwick · 2025-02-05T03:31:26Z

src/ws_server.cu

                                    FLAGS_rotate_vertical,
                                    FLAGS_rotate_horizontal);
-    int port = 8080;
+    int port; // why reassign it?


stale comment, will make no sense to future viewers of the code, please remove it

cwosw · 2025-02-05T04:59:31Z

You made the PR, I can approve it once you say that it works good.

cgpadwick · 2025-02-08T02:13:24Z

data/calibration/calibrationmatrix_UC762W.json

@@ -1,14 +1,14 @@
 {
    "matrix": [
        [
-            911.4344011282251,
+            1289.5969133704853,


this doesn't look right to me. @cwosw can you recalibrate this one and see if the numbers change?

cgpadwick

3 cameras have incorrect calibration coeffs

cgpadwick · 2025-02-08T02:44:08Z

data/calibration/calibrationmatrix_UC762W.json

-            1298.2332221828685,
-            533.3445083443279
+            942.085983323447,
+            529.1941472556863


very suspicious

cgpadwick · 2025-02-08T02:44:38Z

data/calibration/calibrationmatrix_UC762.json

@@ -1,14 +1,14 @@
 {
    "matrix": [
        [
-            902.6757273943186,
+            5804.5438064798545,


no way this is right

cgpadwick · 2025-02-08T02:45:18Z

data/calibration/calibrationmatrix_199.json

@@ -1,14 +1,14 @@
 {
    "matrix": [
        [
-            959.8481551321847,
+            1121.9157012370742,


no way this is right

cgpadwick

looks good, let's merge!

cwosw

Works!

cwosw added 3 commits January 24, 2025 20:27

Bash changes for new Location Tracking

5784ce4

Added camera locations into config file and modified the calibration …

0ec9c3c

…files

Added new changes to allow for AprilTags to be run in standard Linux …

3a8f726

…directories

cwosw changed the title ~~Bash changes for new Location Tracking~~ Changes for new Location Tracking Jan 25, 2025

cwosw reviewed Jan 25, 2025

View reviewed changes

cwosw added 7 commits January 25, 2025 15:01

Added version stuffs

8fa0000

version change

d5552fe

current changes

85fa1f2

current changes

3cd5b58

fixed a small var issue

6cd32cf

Implemented cuda code for the locations tracking

8b468a8

offsets were already implemented

c6726c4

cwosw marked this pull request as ready for review January 27, 2025 02:17

cwosw self-assigned this Jan 27, 2025

Changed variable to use the actual flag name

e98a802

cwosw added 4 commits January 27, 2025 18:06

fixed things

c2fecf4

added offset files

4d044ea

completed the merge

054933a

Merge pull request #65 from Team766/betterAprilTagsFileLocations

86cca1a

Put AprilTags Stuff in Standard Conforming Directories

maxspier reviewed Jan 28, 2025

View reviewed changes

src/ws_server.cu Show resolved Hide resolved

cwosw added 4 commits January 27, 2025 18:39

fixes

770c585

more fixes

0f226ba

bad fixes, but its fine

96cec11

if it works, it works

41de844

cwosw added 3 commits January 29, 2025 18:33

Fixed libAprilTags killHandler and made it work

fb11567

Merge pull request #66 from Team766/crystal.fixedKillHandler

9f28df7

Fixed the kill handler

Fixed camlocations and reconfigured files

4b9bdb6

Merge branch 'betterLocations' of https://github.com/Team766/apriltag…

b71f757

…s_cuda into betterLocations

cwosw reviewed Feb 1, 2025

View reviewed changes

cwosw added 3 commits February 1, 2025 14:03

fixed tag size and corrected seasocks being broken

418f563

todo: make the macro work

68cb242

fixed the macro

a7a1ef3

cgpadwick commented Feb 5, 2025

View reviewed changes

cwosw added 2 commits February 4, 2025 21:08

Code touchups

63f8671

added recalibrated files for cams with serials 199 and UC762W

3708f4f

cgpadwick commented Feb 8, 2025

View reviewed changes

recalibrated the cameras

47d2e33

cgpadwick commented Feb 8, 2025

View reviewed changes

fixed problematic calibration files

5bc4a8f

cgpadwick commented Feb 8, 2025

View reviewed changes

cwosw approved these changes Feb 8, 2025

View reviewed changes

cwosw merged commit 436f81a into main Feb 8, 2025
1 check passed

cwosw deleted the betterLocations branch February 8, 2025 21:00

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Changes for new Location Tracking #64

Changes for new Location Tracking #64

cgpadwick commented Jan 25, 2025

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Changes for new Location Tracking #64

Changes for new Location Tracking #64

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