WPIcal: Field Calibration Tool

.github/workflows/comment-command.yml

@@ -87,8 +87,8 @@ jobs:
           python-version: '3.12'
       - name: Install jinja
         run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Install protobuf and perl dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler liblist-moreutils-perl && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Regenerate all
         run: ./.github/workflows/pregen_all.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Commit

.github/workflows/pregenerate.yml

@@ -39,4 +39,4 @@ jobs:
         with:
           name: pregenerated-files-fixes
           path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}
+        if: ${{ failure() }}

settings.gradle

@@ -62,6 +62,7 @@ include 'epilogue-processor'
 include 'epilogue-runtime'
 include 'thirdparty:googletest'
 include 'thirdparty:imgui_suite'
+include 'wpical'
 
 buildCache {
     def cred = {

shared/ceres.gradle

@@ -0,0 +1,13 @@
+nativeUtils {
+    nativeDependencyContainer {
+        ceres(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+            groupId = "edu.wpi.first.thirdparty.frc2024.ceres"
+            artifactId = "ceres-cpp"
+            headerClassifier = "headers"
+            sourceClassifier = "sources"
+            ext = "zip"
+            version = '2.2-2'
+            targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+        }
+    }
+}

shared/config.gradle

@@ -15,7 +15,7 @@ nativeUtils {
         configureDependencies {
             opencvYear = "frc2024"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.8.0-4"
+            opencvVersion = "4.8.0-5"
         }
     }
 }

shared/opencv.gradle

@@ -1,4 +1,4 @@
-def opencvVersion = '4.8.0-4'
+def opencvVersion = '4.8.0-5'
 
 if (project.hasProperty('useCpp') && project.useCpp) {
     model {

upstream_utils/libdogleg.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib, walk_cwd_and_copy_if
+
+
+def copy_upstream_src(wpilib_root):
+    wpical = os.path.join(wpilib_root, "wpical")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/libdogleg/src",
+        "src/main/native/thirdparty/libdogleg/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("dogleg.h"),
+        os.path.join(wpical, "src/main/native/thirdparty/libdogleg/include"),
+    )
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+        content = content.replace(
+            "#include <cholmod.h>", "#include <suitesparse/cholmod.h>"
+        )
+        with open(f, "w") as file:
+            file.write(content)
+
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("dogleg.c"),
+        os.path.join(wpical, "src/main/native/thirdparty/libdogleg/src"),
+    )
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+        content = content.replace("#warning", "// #warning")
+        content = content.replace(
+            "#include <cholmod_function.h>", "#include <suitesparse/cholmod_function.h>"
+        )
+        with open(f, "w") as file:
+            file.write(content)
+
+
+def main():
+    name = "libdogleg"
+    url = "https://github.com/dkogan/libdogleg"
+    tag = "c971ea43088d286a3683c1039b9a85f761f7df15"
+
+    libdogleg = Lib(name, url, tag, copy_upstream_src)
+    libdogleg.main()
+
+
+if __name__ == "__main__":
+    main()

upstream_utils/mrcal.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib, walk_cwd_and_copy_if
+
+
+def copy_upstream_src(wpilib_root):
+    wpical = os.path.join(wpilib_root, "wpical")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/mrcal/src",
+        "src/main/native/thirdparty/mrcal/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: (f.endswith(".h") or f.endswith(".hh"))
+        and not f.endswith("stereo-matching-libelas.h")
+        and not dp.startswith(os.path.join(".", "test")),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal/include"),
+    )
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: (f.endswith(".c") or f.endswith(".cc") or f.endswith(".pl"))
+        and not f.endswith("mrcal-pywrap.c")
+        and not f.endswith("image.c")
+        and not f.endswith("stereo-matching-libelas.cc")
+        and not f.endswith("uncertainty.c")
+        and not dp.startswith(os.path.join(".", "doc"))
+        and not dp.startswith(os.path.join(".", "test")),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal/src"),
+    )
+
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+        content = content.replace("#warning", "// #warning")
+        with open(f, "w") as file:
+            file.write(content)
+
+def main():
+    name = "mrcal"
+    url = "https://github.com/dkogan/mrcal"
+    tag = "71c89c4e9f268a0f4fb950325e7d551986a281ec"
+
+    mrcal = Lib(name, url, tag, copy_upstream_src)
+    mrcal.main()
+
+
+if __name__ == "__main__":
+    main()

upstream_utils/mrcal_java.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib, walk_cwd_and_copy_if
+
+def delete_lines_by_range(file_path, start_line, end_line):
+    # Read all lines from the file
+    with open(file_path, 'r') as file:
+        lines = file.readlines()
+
+    # Filter out lines that are within the specified range
+    filtered_lines = [line for i, line in enumerate(lines, start=1) if not (start_line <= i <= end_line)]
+
+    # Write the remaining lines back to the file
+    with open(file_path, 'w') as file:
+        file.writelines(filtered_lines)
+
+def copy_upstream_src(wpilib_root):
+    wpical = os.path.join(wpilib_root, "wpical")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/mrcal_java/src",
+        "src/main/native/thirdparty/mrcal_java/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    os.chdir("src")
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.h"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/include"),
+    )
+
+    for f in files:
+        delete_lines_by_range(f, 24, 29)
+
+    files = walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.cpp"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/src"),
+    )
+
+    for f in files:
+        delete_lines_by_range(f, 30, 41)
+
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+            content = content.replace("// mrcal_point3_t *c_observations_point_pool = observations_point;", "mrcal_point3_t *c_observations_point_pool = observations_point;")
+            content = content.replace("// mrcal_observation_point_triangulated_t *observations_point_triangulated =", "mrcal_observation_point_triangulated_t *observations_point_triangulated = NULL;")
+            content = content.replace("// observations_point_triangulated,", "observations_point_triangulated,")
+            content = content.replace("// 0, // hard-coded to 0", "0, // hard-coded to 0")
+            content = content.replace("// observations_point_triangulated, -1,", "observations_point_triangulated, -1,")
+            content = content.replace("c_observations_board_pool, &mrcal_lensmodel, c_imagersizes,", "c_observations_board_pool, c_observations_point_pool, &mrcal_lensmodel, c_imagersizes,")
+            content = content.replace("calobject_warp, stats.Noutliers);", "calobject_warp, stats.Noutliers_board);")
+        with open(f, "w") as file:
+            file.write(content)
+
+
+def main():
+    name = "mrcal-java"
+    url = "https://github.com/PhotonVision/mrcal-java"
+    tag = "d05b8ff0df95eafaf4321b5242882b28aaf23061"
+
+    mrcal_java = Lib(name, url, tag, copy_upstream_src)
+    mrcal_java.main()
+
+
+if __name__ == "__main__":
+    main()

wpical/.styleguide

@@ -0,0 +1,36 @@
+cppHeaderFileInclude {
+  \.h$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+generatedFileExclude {
+  src/main/native/resources/
+  src/main/native/thirdparty/
+  src/main/native/win/wpical.ico
+  src/main/native/mac/wpical.icns
+}
+
+repoRootNameOverride {
+  wpical
+}
+
+includeOtherLibs {
+  ^GLFW
+  ^ceres/
+  ^fmt/
+  ^frc/
+  ^gtest/
+  ^imgui
+  ^implot\.h$
+  ^mrcal_wrapper\.h$
+  ^opencv2\.h$
+  ^portable-file-dialogs\.h$
+  ^tagpose\.h$
+  ^wpi/
+  ^wpigui
+}

wpical/CMakeLists.txt

@@ -0,0 +1,45 @@
+project(wpical)
+
+include(CompileWarnings)
+include(GenResources)
+include(LinkMacOSGUI)
+include(AddTest)
+
+configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
+generate_resources(src/main/native/resources generated/main/cpp WPIcal wpical wpical_resources_src)
+
+file(GLOB wpical_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
+
+if(WIN32)
+    set(wpical_rc src/main/native/win/wpical.rc)
+elseif(APPLE)
+    set(MACOSX_BUNDLE_ICON_FILE wpical.icns)
+    set(APP_ICON_MACOSX src/main/native/mac/wpical.icns)
+    set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
+endif()
+
+add_executable(wpical ${wpical_src} ${wpical_resources_src} ${wpical_rc} ${APP_ICON_MACOSX})
+wpilib_link_macos_gui(wpical)
+wpilib_target_warnings(wpical)
+target_include_directories(wpical PRIVATE src/main/native/include)
+
+find_package(OpenCV REQUIRED)
+target_link_libraries(wpical apriltaglib ${OpenCV_LIBS})
+
+if(WIN32)
+    set_target_properties(wpical PROPERTIES WIN32_EXECUTABLE YES)
+elseif(APPLE)
+    set_target_properties(wpical PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "wpical")
+endif()
+
+if(WITH_TESTS)
+    wpilib_add_test(wpical src/test/native/cpp)
+    wpilib_link_macos_gui(wpical_test)
+    target_sources(wpical_test PRIVATE ${sysid_src})
+    target_compile_definitions(wpical_test PRIVATE RUNNING_WPICAL_TEST)
+    if(MSVC)
+        target_compile_options(wpical_test PRIVATE /utf-8)
+    endif()
+    target_include_directories(wpical_test PRIVATE src/main/native/cpp src/main/native/include)
+    target_link_libraries(wpical_test googletest)
+endif()

wpical/Info.plist

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleName</key>
+	<string>WPIcal</string>
+	<key>CFBundleExecutable</key>
+	<string>wpical</string>
+	<key>CFBundleDisplayName</key>
+	<string>WPIcal</string>
+	<key>CFBundleIdentifier</key>
+	<string>edu.wpi.first.tools.WPIcal</string>
+	<key>CFBundleIconFile</key>
+	<string>ov.icns</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleShortVersionString</key>
+	<string>2021</string>
+	<key>CFBundleVersion</key>
+	<string>2021</string>
+	<key>LSMinimumSystemVersion</key>
+	<string>10.11</string>
+	<key>NSHighResolutionCapable</key>
+	<true/>
+</dict>
+</plist>