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Allow opencv8 distortion model in PhotonCamera (#1317)

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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
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20
photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
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@@ -213,8 +213,8 @@ class PhotonPoseEstimator {
*/
std::optional<EstimatedRobotPose> Update(
const PhotonPipelineResult& result,
std::optional<cv::Mat> cameraMatrixData,
std::optional<cv::Mat> coeffsData);
std::optional<PhotonCamera::CameraMatrix> cameraMatrixData,
std::optional<PhotonCamera::DistortionMatrix> coeffsData);
inline std::shared_ptr<PhotonCamera> GetCamera() { return camera; }
@@ -236,8 +236,10 @@ class PhotonPoseEstimator {
inline void InvalidatePoseCache() { poseCacheTimestamp = -1_s; }
std::optional<EstimatedRobotPose> Update(
PhotonPipelineResult result, std::optional<cv::Mat> cameraMatrixData,
std::optional<cv::Mat> coeffsData, PoseStrategy strategy);
const PhotonPipelineResult& result,
std::optional<PhotonCamera::CameraMatrix> cameraMatrixData,
std::optional<PhotonCamera::DistortionMatrix> coeffsData,
PoseStrategy strategy);
/**
* Return the estimated position of the robot with the lowest position
@@ -278,8 +280,9 @@ class PhotonPoseEstimator {
* @return the estimated position of the robot in the FCS
*/
std::optional<EstimatedRobotPose> MultiTagOnCoprocStrategy(
PhotonPipelineResult result, std::optional<cv::Mat> camMat,
std::optional<cv::Mat> distCoeffs);
PhotonPipelineResult result,
std::optional<PhotonCamera::CameraMatrix> camMat,
std::optional<PhotonCamera::DistortionMatrix> distCoeffs);
/**
* Return the pose calculation using all targets in view in the same PNP()
@@ -289,8 +292,9 @@ class PhotonPoseEstimator {
timestamp of this estimation.
*/
std::optional<EstimatedRobotPose> MultiTagOnRioStrategy(
PhotonPipelineResult result, std::optional<cv::Mat> camMat,
std::optional<cv::Mat> distCoeffs);
PhotonPipelineResult result,
std::optional<PhotonCamera::CameraMatrix> camMat,
std::optional<PhotonCamera::DistortionMatrix> distCoeffs);
/**
* Return the average of the best target poses using ambiguity as weight.