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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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11
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
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@@ -22,6 +22,9 @@
* SOFTWARE.
*/
#include <chrono>
#include <thread>
#include "gtest/gtest.h"
#include "photon/PhotonUtils.h"
#include "photon/simulation/VisionSystemSim.h"
@@ -251,6 +254,7 @@ TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
frc::Translation3d{},
frc::Rotation3d{0_rad, units::degree_t{GetParam()}, 0_rad}});
visionSysSim.Update(robotPose);
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
ASSERT_NEAR(GetParam().to<double>(),
camera.GetLatestResult().GetBestTarget().GetPitch(), 0.25);
@@ -418,11 +422,8 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
{photon::VisionTargetSim{tagList[0].pose, photon::kAprilTag16h5, 0}});
visionSysSim.Update(robotPose);
Eigen::Matrix<double, 3, 3> camEigen;
cv::cv2eigen(camera.GetCameraMatrix().value(), camEigen);
Eigen::Matrix<double, 5, 1> distEigen;
cv::cv2eigen(camera.GetDistCoeffs().value(), distEigen);
Eigen::Matrix<double, 3, 3> camEigen = camera.GetCameraMatrix().value();
Eigen::Matrix<double, 8, 1> distEigen = camera.GetDistCoeffs().value();
auto camResults = camera.GetLatestResult();
auto targetSpan = camResults.GetTargets();