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Removed CalibDB (#1396)

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This commit is contained in:
Mohammad Durrani
2024-08-31 12:31:49 -04:00
committed by GitHub
parent 738e3646f7
commit c19d54c633
5 changed files with 3 additions and 144 deletions
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46
photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
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@@ -22,7 +22,6 @@ import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.fasterxml.jackson.databind.JsonNode;
import java.util.Arrays;
import java.util.List;
import org.opencv.core.Mat;
@@ -138,51 +137,6 @@ public class CameraCalibrationCoefficients implements Releasable {
distCoeffs.release();
}
public static CameraCalibrationCoefficients parseFromCalibdbJson(JsonNode json) {
// camera_matrix is a row major, array of arrays
var cam_matrix = json.get("camera_matrix");
double[] cam_arr =
new double[] {
cam_matrix.get(0).get(0).doubleValue(),
cam_matrix.get(0).get(1).doubleValue(),
cam_matrix.get(0).get(2).doubleValue(),
cam_matrix.get(1).get(0).doubleValue(),
cam_matrix.get(1).get(1).doubleValue(),
cam_matrix.get(1).get(2).doubleValue(),
cam_matrix.get(2).get(0).doubleValue(),
cam_matrix.get(2).get(1).doubleValue(),
cam_matrix.get(2).get(2).doubleValue()
};
var dist_coefs = json.get("distortion_coefficients");
double[] dist_array =
new double[] {
dist_coefs.get(0).doubleValue(),
dist_coefs.get(1).doubleValue(),
dist_coefs.get(2).doubleValue(),
dist_coefs.get(3).doubleValue(),
dist_coefs.get(4).doubleValue(),
};
var cam_jsonmat = new JsonMatOfDouble(3, 3, cam_arr);
var distortion_jsonmat = new JsonMatOfDouble(1, 5, dist_array);
var width = json.get("img_size").get(0).doubleValue();
var height = json.get("img_size").get(1).doubleValue();
return new CameraCalibrationCoefficients(
new Size(width, height),
cam_jsonmat,
distortion_jsonmat,
new double[0],
List.of(),
new Size(0, 0),
0,
CameraLensModel.LENSMODEL_OPENCV);
}
@Override
public String toString() {
return "CameraCalibrationCoefficients [resolution="