Add Camera-Stream Crosshairs

[EmeraldWither]

Resolves #226.

Allows users to create a crosshair with an x, y, thickness, height, width, and color.

Todo:

• add relevant options in widget properties window to allow user to customize
• save options
• double check all tests and write new ones
• double check any possible performance impacts

[codecov]

Codecov Report

❌ Patch coverage is 64.70588% with 48 lines in your changes missing coverage. Please review.
✅ Project coverage is 78.12%. Comparing base (3c934b8) to head (b932bcf).
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
.../widgets/nt_widgets/multi_topic/camera_stream.dart	64.70%	48 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #260      +/-   ##
==========================================
- Coverage   78.30%   78.12%   -0.18%     
==========================================
  Files          93       93              
  Lines        9439     9570     +131     
==========================================
+ Hits         7391     7477      +86     
- Misses       2048     2093      +45     

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[EmeraldWither]

I am not going to lie, I am not quite sure how to test custom painters. From what I have seen online, the main way to do it is to have an image that has the specific overlay from the CustomPainter already done, and to then compare it pixel by pixel during the test.

[EmeraldWither]

Updated settings page

[Gold872]

Thanks for the PR!

I can see where this feature would be useful, however I'm not sure whether it makes sense for the dashboard to implement positioning and highly detailed controls over thickness and appearance. For most scenarios, this would already be done by a camera coprocessor.

I'd like to hear your thoughts on this, it's not a matter of complexity, but a matter of whether it fits within the needs of a driver dashboard

[EmeraldWither]

I think that it should be a feature on the dashboard for a few reasons
A) Most vision system crosshairs are about putting a crosshair on the target, or to offset data from the target, not as much about putting a crosshair around an image (for example, the crosshair feature on photonvision only puts a thin green crosshair in the center that can't be changed at all)
B) As an example from my team, we used a lifecam as a camera to align our donut climber to the cage. Since it was directly connected to the RoboRIO, the only way to add a crosshair would be to manually code it in, whereas a dashboard can let us customize it easily. Plus, for us, it would be good to have a crosshair off-centered so we knew where to align our robot to the cage before committing to the climb
C) In most cases, if you are needing a crosshair, its probably because you dont have an auto-align or super-advanced vision, so in that case you will most likely not be using a co-processer

Just my thoughts.

[Gold856]

however I'm not sure whether it makes sense for the dashboard to implement positioning and highly detailed controls over thickness and appearance. For most scenarios, this would already be done by a camera coprocessor.

I've always wanted a dashboard that handled crosshairs, even before becoming a PV maintainer and having substantial reason to not want to implement customizable crosshairs ;)

On the technical side, crosshairs that are embedded in the camera stream itself kinda suck. They're a lossy operation on the image (meaning you can't feed the image back into an AprilTag detector and get the same results), and at low resolutions (which are common due to bandwidth limitations), the crosshair is both barely visible and takes up way more space than it deserves to. Moving the crosshair to the dashboard side would allow greater flexibility than having it embedded in the video stream.

[EmeraldWither]

I give up on trying to get the formatting to work 😭.

[EmeraldWither]

Any idea if this feature will be included or any changes should be made?