fix image none bug (maybe)

Author: ds12a

.OutlineViewer/outlineviewer-window.json

@@ -156,12 +156,13 @@ def want_new_frames(self):
         self.new_data_index = (self.new_data_index + 1) % 2
 
     def _read_frame(self, identifier):
+        # eventlet.sleep(0.1) # FIXME cam returns None sometimes, delay could help???
+        # [ WARN:[email protected]] global cap_v4l.cpp:1048 tryIoctl VIDEOIO(V4L2 select() timeout.
         cam_info = self.info[identifier]
         ret, img = False, None
         before = time.perf_counter()
 
         try:
-            # with cam_info.setting_lock:
             ret, img = cam_info.cam.read()
         except Exception as e:
             Cameras.logger.error(f"Failed to read frame", exc_info=e)

.OutlineViewer/outlineviewer.json

@@ -7,7 +7,7 @@
 class TagProcessor:
     logger = logging.getLogger(__name__)
     MIN_TAG = 1
-    MAX_TAG = 16
+    MAX_TAG = 22
 
     # Create a pose estimator
     def __init__(self):
@@ -22,7 +22,6 @@ def __init__(self):
         aruco_params.cornerRefinementMethod = cv2.aruco.CORNER_REFINE_SUBPIX # Can use CORNER_REFINE_APRILTAG
         aruco_params.cornerRefinementMinAccuracy = 0.1
         aruco_params.cornerRefinementMaxIterations = 30
-        aruco_params.useAruco3Detection = True # FIXME TEST!!!
         self.aruco_detector.setDetectorParameters(aruco_params)
 
     def get_tags(self, img: np.ndarray, valid_tags: np.ndarray, draw: bool):
@@ -47,7 +46,7 @@ def get_tags(self, img: np.ndarray, valid_tags: np.ndarray, draw: bool):
         ids = ids[mask]
         corners = np.asarray(corners)[mask]
 
-        if len(corners.shape) == 5:
+        if len(corners.shape) == 5 and len(corners) > 0:
             corners = corners[0]
 
         if len(corners) > 0:

PiSideCode/camera/camera.py

@@ -3,7 +3,7 @@ Flask
 flask[async]
 flask-socketio
 eventlet
-numpy < 2 # wpimath segfaults with numpy 2
+numpy #< 2 # wpimath segfaults with numpy 2
 opencv-python >= 4.11.0
 matplotlib
 Pillow >= 10.3

PiSideCode/processing/tag_processing.py

@@ -162,18 +162,18 @@ def set_web_img_info(
                 identifier
             ] = f"Poses: \n\
                     T1: ({round(a.X(), 2)}, {round(a.Y(), 2)}, {round(a.Z(), 2)}) \n\
-                    R1: ({round(a.rotation().X(), 2)}, {round(a.rotation().Y(), 2)}\n\n\
-                    T2: {round(a.rotation().Z(), 2)})]\n({round(b.X(), 2)}, {round(b.Y(), 2)}, {round(b.Z(), 2)}) \n\
+                    R1: ({round(a.rotation().X(), 2)}, {round(a.rotation().Y(), 2)}, {round(a.rotation().Z(), 2)})\n\n\
+                    T2: ({round(b.X(), 2)}, {round(b.Y(), 2)}, {round(b.Z(), 2)}) \n\
                     R2: ({round(b.rotation().X(), 2)}, {round(b.rotation().Y(), 2)}, {round(b.rotation().Z(), 2)})"
 
         elif len(info) > 0:
             display = []
             corners = np.asarray(info[1]).tolist()
 
             for tag_id, c in zip(info[0], corners):
-                display.append(f"\n[{tag_id}]: {", ".join([str(round(cx, 2), round(cy, 2)) for (cx, cy) in c])}")
+                display.append(f"[{tag_id}]: {", ".join([str((round(cx, 3), round(cy, 3))) for (cx, cy) in c])}")
 
-            self.img_info[identifier] = f"Tag corners: {display}"
+            self.img_info[identifier] = f"Tag corners: \n{"\n".join(display)}"
 
     # Return the file path names for each camera
     def get_cal_file_paths(self):

PiSideCode/requirements.txt

@@ -32,7 +32,7 @@ def output(self):
                 b"--frame\r\n"
                 b"Content-Type: image/jpeg\r\n\r\n" + self.output_frame + b"\r\n"
             )
-            eventlet.sleep(0.3)
+            eventlet.sleep(0.1)
 
 
 class LivePlotBuffer(Buffer):

PiSideCode/state.py

@@ -1,15 +1,15 @@
 {
   "files": {
     "main.css": "/static/css/main.39e485e8.css",
-    "main.js": "/static/js/main.0302c7b1.js",
+    "main.js": "/static/js/main.6ace6947.js",
     "static/media/bootstrap-icons.woff?": "/static/media/bootstrap-icons.39795c0b4513de014cf8.woff",
     "static/media/bootstrap-icons.woff2?": "/static/media/bootstrap-icons.b7bcc075b395c14ce8c2.woff2",
     "index.html": "/index.html",
     "main.39e485e8.css.map": "/static/css/main.39e485e8.css.map",
-    "main.0302c7b1.js.map": "/static/js/main.0302c7b1.js.map"
+    "main.6ace6947.js.map": "/static/js/main.6ace6947.js.map"
   },
   "entrypoints": [
     "static/css/main.39e485e8.css",
-    "static/js/main.0302c7b1.js"
+    "static/js/main.6ace6947.js"
   ]
 }

PiSideCode/web_interface/image_streams.py

@@ -1 +1 @@
-<!doctype html><html lang="en"><head><meta charset="utf-8"/><link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png"><link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png"><link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png"><link rel="manifest" href="/site.webmanifest"><meta name="viewport" content="width=device-width,initial-scale=1"/><meta name="theme-color" content="#000000"/><meta name="description" content="WallEYE web interface"/><title>WallEYE</title><script defer="defer" src="/static/js/main.0302c7b1.js"></script><link href="/static/css/main.39e485e8.css" rel="stylesheet"></head><body><noscript>You need to enable JavaScript to run this app.</noscript><div id="root"></div></body></html>
+<!doctype html><html lang="en"><head><meta charset="utf-8"/><link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png"><link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png"><link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png"><link rel="manifest" href="/site.webmanifest"><meta name="viewport" content="width=device-width,initial-scale=1"/><meta name="theme-color" content="#000000"/><meta name="description" content="WallEYE web interface"/><title>WallEYE</title><script defer="defer" src="/static/js/main.6ace6947.js"></script><link href="/static/css/main.39e485e8.css" rel="stylesheet"></head><body><noscript>You need to enable JavaScript to run this app.</noscript><div id="root"></div></body></html>