Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Allow opencv8 distortion model in PhotonCamera (#1317)

Browse Source 
We previously assumed only OpenCV5 but mrcal uses opencv8
This commit is contained in:
Matt
2024-05-29 17:28:35 -04:00
committed by GitHub
parent fcca858a37
commit 19b4802094
17 changed files with 172 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -46,6 +46,7 @@ import edu.wpi.first.networktables.StringSubscriber;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import java.util.Arrays;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
@@ -313,10 +314,19 @@ public class PhotonCamera implements AutoCloseable {
} else return Optional.empty();
}
public Optional<Matrix<N5, N1>> getDistCoeffs() {
/**
* The camera calibration's distortion coefficients, in OPENCV8 form. Higher-order terms are set
* to 0
*/
public Optional<Matrix<N8, N1>> getDistCoeffs() {
var distCoeffs = cameraDistortionSubscriber.get();
if (distCoeffs != null && distCoeffs.length == 5) {
return Optional.of(MatBuilder.fill(Nat.N5(), Nat.N1(), distCoeffs));
if (distCoeffs != null && distCoeffs.length <= 8) {
// Copy into array of length 8, and explicitly null higher order terms out
double[] data = new double[8];
Arrays.fill(data, 0);
System.arraycopy(distCoeffs, 0, data, 0, distCoeffs.length);
return Optional.of(MatBuilder.fill(Nat.N8(), Nat.N1(), data));
} else return Optional.empty();
}