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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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30
photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h
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@@ -60,8 +60,8 @@ class SimCameraProperties {
frc::Rotation2d fovHeight{
units::radian_t{std::atan(diagRatio * (height / resDiag)) * 2}};
Eigen::Matrix<double, 5, 1> newDistCoeffs;
newDistCoeffs << 0, 0, 0, 0, 0;
Eigen::Matrix<double, 8, 1> newDistCoeffs =
Eigen::Matrix<double, 8, 1>::Zero();
double cx = width / 2.0 - 0.5;
double cy = height / 2.0 - 0.5;
@@ -76,7 +76,7 @@ class SimCameraProperties {
void SetCalibration(int width, int height,
const Eigen::Matrix<double, 3, 3>& newCamIntrinsics,
const Eigen::Matrix<double, 5, 1>& newDistCoeffs) {
const Eigen::Matrix<double, 8, 1>& newDistCoeffs) {
resWidth = width;
resHeight = height;
camIntrinsics = newCamIntrinsics;
@@ -151,7 +151,7 @@ class SimCameraProperties {
Eigen::Matrix<double, 3, 3> GetIntrinsics() const { return camIntrinsics; }
Eigen::Matrix<double, 5, 1> GetDistCoeffs() const { return distCoeffs; }
Eigen::Matrix<double, 8, 1> GetDistCoeffs() const { return distCoeffs; }
units::hertz_t GetFPS() const { return 1 / frameSpeed; }
@@ -377,9 +377,9 @@ class SimCameraProperties {
(Eigen::MatrixXd(3, 3) << 328.2733242048587, 0.0, 164.8190261141906,
0.0, 318.0609794305216, 123.8633838438093, 0.0, 0.0, 1.0)
.finished(),
Eigen::Matrix<double, 5, 1>{
Eigen::Matrix<double, 8, 1>{
0.09957946553445934, -0.9166265114485799, 0.0019519890627236526,
-0.0036071725380870333, 1.5627234622420942});
-0.0036071725380870333, 1.5627234622420942, 0, 0, 0});
prop.SetCalibError(0.21, 0.0124);
prop.SetFPS(30_Hz);
prop.SetAvgLatency(30_ms);
@@ -394,9 +394,9 @@ class SimCameraProperties {
(Eigen::MatrixXd(3, 3) << 669.1428078983059, 0.0, 322.53377249329213,
0.0, 646.9843137061716, 241.26567383784163, 0.0, 0.0, 1.0)
.finished(),
Eigen::Matrix<double, 5, 1>{
Eigen::Matrix<double, 8, 1>{
0.12788470750464645, -1.2350335805796528, 0.0024990767286192732,
-0.0026958287600230705, 2.2951386729115537});
-0.0026958287600230705, 2.2951386729115537, 0, 0, 0});
prop.SetCalibError(0.26, 0.046);
prop.SetFPS(15_Hz);
prop.SetAvgLatency(65_ms);
@@ -411,9 +411,9 @@ class SimCameraProperties {
(Eigen::MatrixXd(3, 3) << 511.22843367007755, 0.0, 323.62049380211096,
0.0, 514.5452336723849, 261.8827920543568, 0.0, 0.0, 1.0)
.finished(),
Eigen::Matrix<double, 5, 1>{0.1917469998873756, -0.5142936883324216,
Eigen::Matrix<double, 8, 1>{0.1917469998873756, -0.5142936883324216,
0.012461562046896614, 0.0014084973492408186,
0.35160648971214437});
0.35160648971214437, 0, 0, 0});
prop.SetCalibError(0.25, 0.05);
prop.SetFPS(15_Hz);
prop.SetAvgLatency(35_ms);
@@ -428,9 +428,9 @@ class SimCameraProperties {
(Eigen::MatrixXd(3, 3) << 769.6873145148892, 0.0, 486.1096609458122,
0.0, 773.8164483705323, 384.66071662358354, 0.0, 0.0, 1.0)
.finished(),
Eigen::Matrix<double, 5, 1>{0.189462064814501, -0.49903003669627627,
Eigen::Matrix<double, 8, 1>{0.189462064814501, -0.49903003669627627,
0.007468423590519429, 0.002496885298683693,
0.3443122090208624});
0.3443122090208624, 0, 0, 0});
prop.SetCalibError(0.35, 0.10);
prop.SetFPS(10_Hz);
prop.SetAvgLatency(50_ms);
@@ -445,9 +445,9 @@ class SimCameraProperties {
(Eigen::MatrixXd(3, 3) << 1011.3749416937393, 0.0, 645.4955139388737,
0.0, 1008.5391755084075, 508.32877656020196, 0.0, 0.0, 1.0)
.finished(),
Eigen::Matrix<double, 5, 1>{0.13730101577061535, -0.2904345656989261,
Eigen::Matrix<double, 8, 1>{0.13730101577061535, -0.2904345656989261,
8.32475714507539E-4, -3.694397782014239E-4,
0.09487962227027584});
0.09487962227027584, 0, 0, 0});
prop.SetCalibError(0.37, 0.06);
prop.SetFPS(7_Hz);
prop.SetAvgLatency(60_ms);
@@ -463,7 +463,7 @@ class SimCameraProperties {
int resWidth;
int resHeight;
Eigen::Matrix<double, 3, 3> camIntrinsics;
Eigen::Matrix<double, 5, 1> distCoeffs;
Eigen::Matrix<double, 8, 1> distCoeffs;
double avgErrorPx;
double errorStdDevPx;
units::second_t frameSpeed{0};