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[Calibration] Fix iterator bound while creating object points (#188)

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Fixes mismatched iterator bounds while creating object points. This addresses calibration failing for non square boards.
This commit is contained in:
Matt
2020-12-23 09:05:27 -08:00
committed by GitHub
parent f2f32da2f9
commit 7a032cce6e
2 changed files with 6 additions and 1 deletions
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2
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
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@@ -88,7 +88,7 @@ public class FindBoardCornersPipe
if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
// Here we can create an NxN grid since a chessboard is rectangular
for (int heightIdx = 0; heightIdx < patternSize.height; heightIdx++) {
for (int widthIdx = 0; widthIdx < patternSize.height; widthIdx++) {
for (int widthIdx = 0; widthIdx < patternSize.width; widthIdx++) {
double boardYCoord = heightIdx * params.gridSize;
double boardXCoord = widthIdx * params.gridSize;
objectPoints.push_back(new MatOfPoint3f(new Point3(boardXCoord, boardYCoord, 0.0)));

5
photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
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@@ -21,6 +21,7 @@ import static org.junit.jupiter.api.Assertions.assertNotNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.util.Units;
import java.io.File;
import java.nio.file.Path;
import java.util.ArrayList;
@@ -182,6 +183,10 @@ public class Calibrate3dPipeTest {
calibration3dPipeline.getSettings().boardType = UICalibrationData.BoardType.CHESSBOARD;
calibration3dPipeline.getSettings().resolution = imgRes;
calibration3dPipeline.getSettings().boardWidth = 8;
calibration3dPipeline.getSettings().boardHeight = 8;
calibration3dPipeline.getSettings().gridSize = Units.inchesToMeters(1);
for (var file : directoryListing) {
if (file.isFile()) {
calibration3dPipeline.takeSnapshot();