Changes to camera extrinsic calibration to improve accuracy
Adds Outlier Rejection
Do proper rotation (Quaternion) averaging
When camera sees two targets at once, store that, and store
a single observation to match with other cameras. This leads
to a lot more good connections
Removed dead code, and refactored a couple pieces, e.g., writing extrinsic file
Also refactored some of the utilities to use quaternion averaging from utils,
and move other utility functions to vision_utils_lib
Change-Id: I918ce9c937d80717daa6659abbb139006506d4cc
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2024_swerve/vision/target_mapping.cc b/y2024_swerve/vision/target_mapping.cc
index b8b1f62..dd33f11 100644
--- a/y2024_swerve/vision/target_mapping.cc
+++ b/y2024_swerve/vision/target_mapping.cc
@@ -268,7 +268,7 @@
}
const TargetMapper::TargetPose target_pose =
- PoseUtils::TargetPoseFromFbs(*target_pose_fbs);
+ TargetMapper::TargetPoseFromFbs(*target_pose_fbs);
Eigen::Affine3d H_camera_target =
Eigen::Translation3d(target_pose.pose.p) * target_pose.pose.q;