Merge "Switch to quaternions in target poses"
diff --git a/y2023/BUILD b/y2023/BUILD
index 60d218b..0c34ce8 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -16,8 +16,6 @@
":aos_config",
":message_bridge_client.sh",
"//y2022/www:www_files",
- "@ctre_phoenix_api_cpp_athena//:shared_libraries",
- "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
"//y2023/www:www_files",
@@ -29,11 +27,6 @@
"//aos/starter:irq_affinity",
"//y2023/vision:camera_reader",
"//aos/events/logging:logger_main",
- ":joystick_reader",
- "//y2023/autonomous:binaries",
- "//y2023/control_loops/drivetrain:drivetrain",
- "//y2023/control_loops/drivetrain:trajectory_generator",
- "//y2023/control_loops/superstructure:superstructure",
],
target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
target_type = "pi",
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 2dde9a4..2ddb735 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -69,9 +69,11 @@
visibility = ["//y2023:__subpackages__"],
deps = [
"//aos:init",
+ "//aos:json_to_flatbuffer",
"//aos/events:shm_event_loop",
"//frc971/vision:vision_fbs",
"//third_party:opencv",
+ "@com_google_absl//absl/strings",
],
)
diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index a69caf3..b604516 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -16,6 +16,7 @@
DEFINE_double(red, 1.252, "Red gain");
DEFINE_double(green, 1, "Green gain");
DEFINE_double(blue, 1.96, "Blue gain");
+DEFINE_double(exposure, 150, "Camera exposure");
namespace y2023 {
namespace vision {
@@ -62,8 +63,8 @@
media_device->FindEntity("rkisp1_resizer_selfpath");
rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(width, height,
MEDIA_BUS_FMT_YUYV8_2X8);
- rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(width, height,
- MEDIA_BUS_FMT_YUYV8_2X8);
+ rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(
+ width * 2 / 3, height * 2 / 3, MEDIA_BUS_FMT_YUYV8_2X8);
rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(width, height);
Entity *rkisp1_resizer_mainpath =
@@ -79,7 +80,7 @@
rkisp1_mainpath->SetFormat(width / 2, height / 2, V4L2_PIX_FMT_YUV422P);
Entity *rkisp1_selfpath = media_device->FindEntity("rkisp1_selfpath");
- rkisp1_selfpath->SetFormat(width, height, V4L2_PIX_FMT_YUYV);
+ rkisp1_selfpath->SetFormat(width * 2 / 3, height * 2 / 3, V4L2_PIX_FMT_YUYV);
media_device->Enable(
media_device->FindLink(camera_device_string, 0, "rkisp1_csi", 0));
@@ -104,7 +105,7 @@
if (FLAGS_lowlight_camera) {
v4l2_reader.SetGainExt(100);
v4l2_reader.SetVerticalBlanking(1000);
- v4l2_reader.SetExposure(150);
+ v4l2_reader.SetExposure(FLAGS_exposure);
} else {
v4l2_reader.SetGainExt(1000);
v4l2_reader.SetExposure(1000);
diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
index 990ad7a..08def5b 100644
--- a/y2023/vision/viewer.cc
+++ b/y2023/vision/viewer.cc
@@ -1,8 +1,10 @@
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include "absl/strings/match.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"
#include "frc971/vision/vision_generated.h"
@@ -36,7 +38,12 @@
cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
if (!FLAGS_capture.empty()) {
- cv::imwrite(FLAGS_capture, bgr_image);
+ if (absl::EndsWith(FLAGS_capture, ".bfbs")) {
+ aos::WriteFlatbufferToFile(FLAGS_capture, image_fetcher.CopyFlatBuffer());
+ } else {
+ cv::imwrite(FLAGS_capture, bgr_image);
+ }
+
return false;
}
diff --git a/y2023/y2023_pi_template.json b/y2023/y2023_pi_template.json
index 45ee066..592aa14 100644
--- a/y2023/y2023_pi_template.json
+++ b/y2023/y2023_pi_template.json
@@ -167,16 +167,7 @@
"max_size": 4200000,
"num_readers": 4,
"read_method": "PIN",
- "num_senders": 18,
- "logger": "NOT_LOGGED"
- },
- {
- "name": "/pi{{ NUM }}/camera/decimated",
- "type": "frc971.vision.CameraImage",
- "source_node": "pi{{ NUM }}",
- "frequency": 2,
- "max_size": 4200000,
- "num_senders": 2
+ "num_senders": 18
},
{
"name": "/pi{{ NUM }}/camera",