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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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8
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
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@@ -263,7 +263,7 @@ public final class OpenCVHelp {
*/
public static Point[] projectPoints(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
Matrix<N8, N1> distCoeffs,
RotTrlTransform3d camRt,
List<Translation3d> objectTranslations) {
// translate to opencv classes
@@ -302,7 +302,7 @@ public final class OpenCVHelp {
* @return The undistorted image points
*/
public static Point[] undistortPoints(
Matrix<N3, N3> cameraMatrix, Matrix<N5, N1> distCoeffs, Point[] points) {
Matrix<N3, N3> cameraMatrix, Matrix<N8, N1> distCoeffs, Point[] points) {
var distMat = new MatOfPoint2f(points);
var undistMat = new MatOfPoint2f();
var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
@@ -404,7 +404,7 @@ public final class OpenCVHelp {
*/
public static PNPResult solvePNP_SQUARE(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
Matrix<N8, N1> distCoeffs,
List<Translation3d> modelTrls,
Point[] imagePoints) {
// solvepnp inputs
@@ -511,7 +511,7 @@ public final class OpenCVHelp {
*/
public static PNPResult solvePNP_SQPNP(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
Matrix<N8, N1> distCoeffs,
List<Translation3d> objectTrls,
Point[] imagePoints) {
try {