Panoramic Photos (#366)

* Basic camera setup

* format

* Vector of frames

* Added servo

* Added initial rotation

* Hard coded parameters

* Added cardinal directions

* Added wait for camera

* Relative spin direction

* Stitching partially working

* Code cleanup, need to fix direction drawing

* Added ability to run locally

* Added untested cardinal directions

* Added scale to imaes

* Using camera grab frames as delay

* Added matcher

* Tuned parameters

---------

Co-authored-by: Husky Robotics <huskyrobotics@system76-pc.localdomain>
Co-authored-by: Isaac <isaacw1925@gmail.com>

Author: 3 people

src/CAN/FakeCANBoard.cpp

@@ -287,8 +287,9 @@ int main() {
 		} else if (testMode == TestMode::ScienceServos) {
 			int servo_no = prompt("Enter servo no");
 			int degrees = prompt("Enter degrees");
-			AssembleScienceServoPacket(&p, science_group, 0x0, (uint8_t)servo_no,
-									   (uint8_t)degrees);
+			// AssembleScienceServoPacket(&p, science_group, 0x0, (uint8_t)servo_no,
+			// 						   (uint8_t)degrees);
+			AssembleScienceStepperTurnAnglePacket(&p, science_group, 0x3, (uint8_t) servo_no, degrees, 0x3);
 			can::sendCANPacket(p);
 		}
 	}

src/CMakeLists.txt

@@ -94,7 +94,7 @@ find_package(nlohmann_json 3.2.0 REQUIRED)
 FetchContent_Declare(
     HindsightCAN
     GIT_REPOSITORY https://github.com/huskyroboticsteam/HindsightCAN.git
-    GIT_TAG e441ccf1026c0afadb0edd53cb50f048e3755216
+    GIT_TAG 6ae5db46856cd1f745ad5e1745a6983f4fc372c1
 )
 FetchContent_MakeAvailable(HindsightCAN)
 

src/camera/CMakeLists.txt

@@ -1,7 +1,23 @@
 find_package(OpenCV REQUIRED)
 find_package(Threads REQUIRED)
 
+# FetchContent_Declare(
+#     HindsightCAN
+#     GIT_REPOSITORY https://github.com/huskyroboticsteam/HindsightCAN.git
+#     GIT_TAG cae6622cf6e37889a75dd3fd63676a91a1eef98e
+# )
+
+# FetchContent_MakeAvailable(HindsightCAN)
+
 add_executable(calibration
   calibration.cpp)
 
+add_executable(panoramic
+  ./CameraParams.cpp
+  ./Camera.cpp
+  ./CameraConfig.cpp
+  PanoramicCamera.cpp)
+
 target_link_libraries(calibration ${OpenCV_LIBS})
+target_link_libraries(panoramic ${OpenCV_LIBS} can_interface real_world_interface)
+