Add mrcal, libdogleg, and mrcal-java

.github/workflows/comment-command.yml

@@ -87,8 +87,8 @@ jobs:
           python-version: 3.9
       - 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/pregen_all.py

@@ -18,6 +18,7 @@ def main(argv):
     args = parser.parse_args(argv)
     subprocess.run(["python", f"{REPO_ROOT}/hal/generate_usage_reporting.py"])
     subprocess.run(["python", f"{REPO_ROOT}/ntcore/generate_topics.py"])
+    subprocess.run(["python", f"{REPO_ROOT}/wpical/generate_mrcal.py"])
     subprocess.run(["python", f"{REPO_ROOT}/wpimath/generate_numbers.py"])
     subprocess.run(
         [

.github/workflows/pregenerate.yml

@@ -24,8 +24,8 @@ jobs:
           python-version: 3.9
       - 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: python ./.github/workflows/pregen_all.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Add untracked files to index so they count as changes

settings.gradle

@@ -39,6 +39,7 @@ include 'fieldImages'
 include 'glass'
 include 'outlineviewer'
 include 'roborioteamnumbersetter'
+include 'wpical'
 include 'datalogtool'
 include 'sysid'
 include 'simulation:halsim_ds_socket'

upstream_utils/libdogleg.py

@@ -0,0 +1,39 @@
+#!/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)
+
+    walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("dogleg.h"),
+        os.path.join(wpical, "src/main/native/thirdparty/libdogleg/include"),
+    )
+    walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("dogleg.c"),
+        os.path.join(wpical, "src/main/native/thirdparty/libdogleg/src"),
+    )
+
+
+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 +1,49 @@
+#!/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)
+
+    walk_cwd_and_copy_if(
+        lambda dp, f: (f.endswith(".h") or f.endswith(".hh"))
+        and not f.endswith("stereo.h")
+        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"),
+    )
+    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.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"),
+    )
+
+
+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 +1,40 @@
+#!/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_java/src",
+        "src/main/native/thirdparty/mrcal_java/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    os.chdir("src")
+    walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.h"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/include"),
+    )
+    walk_cwd_and_copy_if(
+        lambda dp, f: f.endswith("mrcal_wrapper.cpp"),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal_java/src"),
+    )
+
+
+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/assets/camera calibration.json

@@ -1,30 +1,30 @@
 {
-    "avg_reprojection_error": 0.4013144307258122,
-    "camera_matrix": [
-        1767.289258236593,
-        0.0,
-        989.375282791521,
-        0.0,
-        1762.888503314327,
-        540.8313845443114,
-        0.0,
-        0.0,
-        1.0
-    ],
-    "distortion_coefficients": [
-        0.3860266675089004,
-        -2.563775891333845,
-        -0.0011477914008921702,
-        0.0017287037946633974,
-        5.69767996193624,
-        0.03549071109208592,
-        0.11781261237320696,
-        -0.22713730056480883,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0,
-        0.0
-    ]
+  "avg_reprojection_error": 0.4013144307258122,
+  "camera_matrix": [
+    1767.289258236593,
+    0.0,
+    989.375282791521,
+    0.0,
+    1762.888503314327,
+    540.8313845443114,
+    0.0,
+    0.0,
+    1.0
+  ],
+  "distortion_coefficients": [
+    0.3860266675089004,
+    -2.563775891333845,
+    -0.0011477914008921702,
+    0.0017287037946633974,
+    5.69767996193624,
+    0.03549071109208592,
+    0.11781261237320696,
+    -0.22713730056480883,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ]
 }

wpical/build.gradle

@@ -6,6 +6,7 @@ if (project.hasProperty('onlylinuxathena')) {
 
 description = "Field Calibration Tool"
 
+apply plugin: 'c'
 apply plugin: 'cpp'
 apply plugin: 'visual-studio'
 apply plugin: 'edu.wpi.first.NativeUtils'
@@ -76,11 +77,20 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
+                        srcDirs 'src/main/native/cpp','src/main/native/thirdparty/mrcal/src','src/main/native/thirdparty/mrcal_java/src', "$buildDir/generated/main/cpp"
                         include '**/*.cpp'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include'
+                        srcDirs 'src/main/native/include', 'src/main/native/thirdparty/mrcal/include', 'src/main/native/thirdparty/mrcal_java/include'
+                    }
+                }
+                c {
+                    source {
+                        srcDirs 'src/main/native/thirdparty/libdogleg/src', 'src/main/native/thirdparty/mrcal/src'
+                        include '**/*.c'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', 'src/main/native/thirdparty/mrcal/include','src/main/native/thirdparty/mrcal/include/minimath', 'src/main/native/thirdparty/libdogleg/include'
                     }
                 }
                 if (OperatingSystem.current().isWindows()) {

wpical/generate_mrcal.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+import argparse
+import subprocess
+import sys
+from pathlib import Path
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/main/native/thirdparty/mrcal/generated/",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    args.output_directory.mkdir(parents=True, exist_ok=True)
+    result = subprocess.run(
+        f"{dirname}/src/main/native/thirdparty/mrcal/src/minimath/minimath_generate.pl",
+        capture_output=True,
+    )
+    (args.output_directory / "minimath_generated.h").write_text(
+        str(result.stdout, encoding="UTF8")
+    )
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])