Finish task 1 UI

.gitignore

@@ -10,3 +10,5 @@
 projects/web-backend/src/db.sqlite3-journal
 /.idea
 *.rdb
+
+*/.venv

.pre-commit-config.yaml

@@ -1,37 +1,37 @@
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.5.0
     hooks:
-    -   id: end-of-file-fixer
-    -   id: trailing-whitespace
-    -   id: check-added-large-files
-        args: ['--maxkb=500']
-    -   id: check-merge-conflict
-    -   id: debug-statements
-    -   id: check-case-conflict
--   repo: https://github.com/astral-sh/ruff-pre-commit
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+        args: ["--maxkb=500"]
+      - id: check-merge-conflict
+      - id: debug-statements
+      - id: check-case-conflict
+  - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.8.4
     hooks:
-    -   id: ruff
-        args: [ --fix ]
-    -   id: ruff-format
--   repo: local
+      - id: ruff
+        args: [--fix]
+      - id: ruff-format
+  - repo: local
     hooks:
-    -   id: eslint
+      - id: eslint
         name: eslint
         entry: bash -c 'cd projects/web-frontend && npm run lint'
         language: system
         files: projects/web-frontend/.*\.[jt]sx?$
         pass_filenames: false
-    -   id: generate-web-backend-api-spec
+      - id: generate-web-backend-api-spec
         name: Generate Web Backend API Spec
-        entry: bash -c 'cd projects/web-backend && venv/bin/python src/manage.py spectacular --file api_spec.yaml --validate'
+        entry: bash -c 'cd projects/web-backend && .venv/bin/python src/manage.py spectacular --file api_spec.yaml --validate'
         language: system
         files: ^projects/web-backend/
         pass_filenames: false
-    -   id: generate-mp-api-spec
+      - id: generate-mp-api-spec
         name: Generate Mission Planner API Spec
-        entry: bash -c 'cd projects/mission-planner && venv/bin/python generate_spec.py'
+        entry: bash -c 'cd projects/mission-planner && .venv/bin/python generate_spec.py'
         language: system
         files: ^projects/mission-planner/
         pass_filenames: false

guide/2026 Startup Guide.md

@@ -0,0 +1,37 @@
+# Software Preflight Setup
+
+## DRONE
+
+- [ ] Insert LTE Board into miniPCIe module
+- [ ] Insert SIM Card into LTE Board
+  - Hold it upside down to let gravity help you insert
+- [ ] Attach antenna to LTE board
+  - > **TODO:** UPDATE HERE ABOUT CORRECT PORTS
+- [ ] Attach Jetson to drone
+- [ ] Attach camera to mount
+- [ ] Connect power to Jetson
+- [ ] Connect camera to Jetson
+
+---
+
+## GCOM / PC
+
+- [ ] Connect radio transmitter to thinkpad computer
+  - Remember to put arrow to 1 (bottom pin row) on wire
+- [ ] Create 2 Terminal tabs for GCOM and Mavproxy
+- [ ] Start `mavproxy.py` with port forwarding for Mission Planner and GCOM
+  - > **TODO:** Add command here
+- [ ] Start Mission Planner and connect to mavproxy
+- [ ] Start GCOM with startup script for all 3 services
+  - **CHECK:** Ensure all three tmux windows have no errors
+- [ ] Start WebRTC signalling server with script + ngrok
+  - Potentially update to new IP on server
+- [ ] Check GCOM frontend to see if drone made connection
+
+---
+
+## JETSON
+
+- [ ] SSH onto system
+- [ ] Run `docker compose up -d` in `hawkeye-os` repo to start ROS container
+  - **CHECK:** Check logs to see if container is running properly

projects/mission-planner/.gitignore

@@ -1,6 +1,5 @@
 __pycache__
 *.pyc
-venv
 src.egg-info
 src/fence_test.py
 poetry.lock

projects/web-backend/.gitignore

@@ -2,7 +2,7 @@
 *.pyc
 /.idea
 files/
-oldc_sessions/
+odlc_sessions/
 
 dump.rdb
 **/.DS_Store

projects/web-backend/src/vision/projection.py

@@ -0,0 +1,56 @@
+# This is chosen by me (mercury), might need to change.
+FLT_EPSILON = 1e-6
+
+# Fixed camera intrinsics (Brown-Conrady / plumb_bob model)
+# Values from: ros2 topic echo /camera/camera/color/camera_info (1280x720)
+CAMERA_INTRINSICS = {
+    'fx': 643.2360229492188,
+    'fy': 642.1893920898438,
+    'ppx': 661.8545532226562,
+    'ppy': 365.9696044921875,
+}
+
+# Brown-Conrady distortion coefficients [k1, k2, p1, p2, k3]
+# Values from: ros2 topic echo /camera/camera/color/camera_info (1280x720)
+DISTORTION_COEFFS = [
+    -0.05651168152689934,
+    0.06660270690917969,
+    -0.00015544862253591418,
+    0.0008432056056335568,
+    -0.02149238809943199,
+]
+
+
+def _is_distortion_zero(coeffs: list[float]) -> bool:
+    return all(abs(c) < FLT_EPSILON for c in coeffs)
+
+
+def deproject_pixel_to_point(
+    pixel: list[float], depth: float) -> list[float]:
+    """Deproject a 2D pixel coordinate to a 3D point using Brown-Conrady distortion model.
+
+    Re-implemented from https://github.com/realsenseai/librealsense/blob/78cb605b11f5ba80176e7b8d70292f76ba625565/src/rs.cpp#L4273
+    """
+    fx = CAMERA_INTRINSICS["fx"]
+    fy = CAMERA_INTRINSICS["fy"]
+    ppx = CAMERA_INTRINSICS["ppx"]
+    ppy = CAMERA_INTRINSICS["ppy"]
+    coeffs = DISTORTION_COEFFS
+
+    x = (pixel[0] - ppx) / fx
+    y = (pixel[1] - ppy) / fy
+
+    xo = x
+    yo = y
+
+    if not _is_distortion_zero(coeffs):
+        for _ in range(10):
+            r2 = x * x + y * y
+            icdist = 1.0 / (
+                1 + ((coeffs[4] * r2 + coeffs[1]) * r2 + coeffs[0]) * r2)
+            delta_x = 2 * coeffs[2] * x * y + coeffs[3] * (r2 + 2 * x * x)
+            delta_y = 2 * coeffs[3] * x * y + coeffs[2] * (r2 + 2 * y * y)
+            x = (xo - delta_x) * icdist
+            y = (yo - delta_y) * icdist
+
+    return [depth * x, depth * y, depth]

projects/web-backend/src/vision/urls.py

@@ -1,13 +1,19 @@
 from django.urls import include, path
 from rest_framework.routers import DefaultRouter
 
-from .views import GroundObjectViewset, ImageViewset, save_oldc_session
+from .views import (
+    GroundObjectViewset,
+    ImageViewset,
+    deproject_pixel,
+    save_odlc_session,
+)
 
 router = DefaultRouter()
 router.register(r"image", ImageViewset, basename="image")
 router.register(r"groundobject", GroundObjectViewset, basename="groundobject")
 
 urlpatterns = [
     path("", include(router.urls)),
-    path("oldc-session/save/", save_oldc_session, name="save_oldc_session"),
+    path("odlc-session/save/", save_odlc_session, name="save_odlc_session"),
+    path("deproject-pixel/", deproject_pixel, name="deproject_pixel"),
 ]

projects/web-backend/src/vision/views.py

@@ -8,14 +8,48 @@
 from rest_framework import viewsets
 
 from .models import GroundObject, Image
+from .projection import deproject_pixel_to_point
 from .serializers import GroundObjectSerializer, ImageSerializer
 
-OLDC_SESSIONS_DIR = Path(__file__).resolve().parent.parent.parent / "oldc_sessions"
+ODLC_SESSIONS_DIR = Path(__file__).resolve().parent.parent.parent / "odlc_sessions"
 
 
 @csrf_exempt
 @require_http_methods(["POST"])
-def save_oldc_session(request):
+def deproject_pixel(request):
+    try:
+        data = json.loads(request.body)
+        pixel = data.get("pixel")
+        depth = data.get("depth")
+
+        if not isinstance(pixel, list) or len(pixel) != 2:
+            return JsonResponse(
+                {"error": "Invalid input: pixel must be a list of 2 floats"}, status=400
+            )
+
+        if not isinstance(depth, (int, float)):
+            return JsonResponse(
+                {"error": "Invalid input: depth must be a float"}, status=400
+            )
+
+        point = deproject_pixel_to_point(
+            pixel=pixel, depth=float(depth)
+        )
+
+        return JsonResponse({"point": point})
+    except (ValueError, NotImplementedError) as e:
+        return JsonResponse({"error": str(e)}, status=400)
+    except (KeyError, TypeError) as e:
+        return JsonResponse({"error": "Invalid input", "details": str(e)}, status=400)
+    except Exception as e:
+        return JsonResponse(
+            {"error": "Internal server error", "details": str(e)}, status=500
+        )
+
+
+@csrf_exempt
+@require_http_methods(["POST"])
+def save_odlc_session(request):
     try:
         data = json.loads(request.body)
         session_id = data.get("sessionId")
@@ -24,14 +58,15 @@ def save_oldc_session(request):
         if not session_id or not isinstance(images, list):
             return JsonResponse({"error": "Invalid input"}, status=400)
 
-        OLDC_SESSIONS_DIR.mkdir(exist_ok=True)
-        session_file = OLDC_SESSIONS_DIR / f"{session_id}.json"
+        ODLC_SESSIONS_DIR.mkdir(exist_ok=True)
+        session_file = ODLC_SESSIONS_DIR / f"{session_id}.json"
         session_file.write_text(json.dumps({"sessionId": session_id, "images": images}))
 
         return HttpResponse(status=200)
     except (KeyError, ValueError, TypeError) as e:
         return JsonResponse({"error": "Invalid input", "details": str(e)}, status=400)
     except Exception as e:
+        print(f"Error saving ODLC session: {e}")
         return JsonResponse(
             {"error": "Internal server error", "details": str(e)}, status=500
         )