Running global_calibration updates constants.cc.
Change-Id: I1663987d6906f7899a90a95d694bd1db825afeef
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index e92ae56..d5f0d4e 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -42,17 +42,34 @@
return new T(std::move(t));
}
-std::array<double, 3> GetError(const double *const extrinsics,
+std::array<double, 3> GetError(const DatasetInfo &info,
+ const double *const extrinsics,
const double *const geometry, int i) {
- auto ex = ExtrinsicParams::get(extrinsics);
+ auto extrinsic_params = ExtrinsicParams::get(extrinsics);
+ auto geo = CameraGeometry::get(geometry);
- double s = sin(geometry[2] + ex.r2);
- double c = cos(geometry[2] + ex.r2);
+ const double s = sin(geo.heading + extrinsic_params.r2);
+ const double c = cos(geo.heading + extrinsic_params.r2);
- // TODO: Generalize this from being just for a single calibration.
- double dx = 12.5 + 26.0 + i - (geometry[0] + c * ex.z) / kInchesToMeters;
- double dy = 12.0 - (geometry[1] + s * ex.z) / kInchesToMeters;
- double dz = 28.5 - (geometry[3] + ex.y) / kInchesToMeters;
+ // Take the tape measure starting point (this will be at the perimeter of the
+ // robot), add the offset to the first sample, and then add the per sample
+ // offset.
+ const double dx =
+ (info.to_tape_measure_start[0] +
+ (info.beginning_tape_measure_reading + i) *
+ info.tape_measure_direction[0]) /
+ kInchesToMeters -
+ (geo.location[0] + c * extrinsic_params.z) / kInchesToMeters;
+ const double dy =
+ (info.to_tape_measure_start[1] +
+ (info.beginning_tape_measure_reading + i) *
+ info.tape_measure_direction[1]) /
+ kInchesToMeters -
+ (geo.location[1] + s * extrinsic_params.z) / kInchesToMeters;
+
+ constexpr double kCalibrationTargetHeight = 28.5;
+ const double dz = kCalibrationTargetHeight -
+ (geo.location[2] + extrinsic_params.y) / kInchesToMeters;
return {{dx, dy, dz}};
}
@@ -61,6 +78,19 @@
(void)argv;
using namespace y2019::vision;
// gflags::ParseCommandLineFlags(&argc, &argv, false);
+
+ int camera_id = 5;
+ const char *base_directory = "/home/parker/data/frc/2019_calibration/";
+
+ DatasetInfo info = {
+ camera_id,
+ {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+ {{kInchesToMeters, 0.0}},
+ 26,
+ "cam5_0/debug_viewer_jpeg_",
+ 59,
+ };
+
::aos::logging::Init();
::aos::logging::AddImplementation(
new ::aos::logging::StreamLogImplementation(stderr));
@@ -77,9 +107,8 @@
double intrinsics[IntrinsicParams::kNumParams];
IntrinsicParams().set(&intrinsics[0]);
- // To know the meaning, see the printout below...
- constexpr size_t GeometrykNumParams = 4;
- double geometry[GeometrykNumParams] = {0, 0, 0, 0};
+ double geometry[CameraGeometry::kNumParams];
+ CameraGeometry().set(&geometry[0]);
Solver::Options options;
options.minimizer_progress_to_stdout = false;
@@ -91,11 +120,10 @@
std::cout << "fl = " << intrinsics_.focal_length << ";\n";
std::cout << "error = " << summary.final_cost << ";\n";
- int nimgs = 56;
- for (int i = 0; i < nimgs; ++i) {
- auto frame = aos::vision::LoadFile(
- "/home/parker/data/frc/2019_calibration/cam4_0/debug_viewer_jpeg_" +
- std::to_string(i) + ".yuyv");
+ for (int i = 0; i < info.num_images; ++i) {
+ auto frame = aos::vision::LoadFile(std::string(base_directory) +
+ info.filename_prefix +
+ std::to_string(i) + ".yuyv");
aos::vision::ImageFormat fmt{640, 480};
aos::vision::BlobList imgs = aos::vision::FindBlobs(
@@ -138,8 +166,8 @@
const double *const extrinsics,
double *residual) {
auto in = IntrinsicParams::get(intrinsics);
- auto ex = ExtrinsicParams::get(extrinsics);
- auto pt = targ - Project(temp, in, ex);
+ auto extrinsic_params = ExtrinsicParams::get(extrinsics);
+ auto pt = targ - Project(temp, in, extrinsic_params);
residual[0] = pt.x();
residual[1] = pt.y();
return true;
@@ -152,9 +180,9 @@
NULL, &intrinsics[0], extrinsics);
}
- auto ftor = [i](const double *const extrinsics,
- const double *const geometry, double *residual) {
- auto err = GetError(extrinsics, geometry, i);
+ auto ftor = [&info, i](const double *const extrinsics,
+ const double *const geometry, double *residual) {
+ auto err = GetError(info, extrinsics, geometry, i);
residual[0] = 32.0 * err[0];
residual[1] = 32.0 * err[1];
residual[2] = 32.0 * err[2];
@@ -164,7 +192,7 @@
problem.AddResidualBlock(
new NumericDiffCostFunction<decltype(ftor), CENTRAL, 3,
ExtrinsicParams::kNumParams,
- GeometrykNumParams>(
+ CameraGeometry::kNumParams>(
new decltype(ftor)(std::move(ftor))),
NULL, extrinsics, &geometry[0]);
}
@@ -177,14 +205,18 @@
{
std::cout << summary.BriefReport() << "\n";
auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
+ auto geometry_ = CameraGeometry::get(&geometry[0]);
std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
std::cout << "fl = " << intrinsics_.focal_length << ";\n";
std::cout << "error = " << summary.final_cost << ";\n";
- std::cout << "camera_height = " << geometry[3] / kInchesToMeters << "\n";
- std::cout << "camera_angle = " << geometry[2] * 180 / M_PI << "\n";
- std::cout << "camera_x = " << geometry[0] / kInchesToMeters << "\n";
- std::cout << "camera_y = " << geometry[1] / kInchesToMeters << "\n";
+ std::cout << "camera_angle = " << geometry_.heading * 180 / M_PI << "\n";
+ std::cout << "camera_x = " << geometry_.location[0] / kInchesToMeters
+ << "\n";
+ std::cout << "camera_y = " << geometry_.location[1] / kInchesToMeters
+ << "\n";
+ std::cout << "camera_z = " << geometry_.location[2] / kInchesToMeters
+ << "\n";
std::cout << "camera_barrel = " << intrinsics_.barrel_mount * 180.0 / M_PI
<< "\n";
@@ -194,7 +226,7 @@
auto extn = ExtrinsicParams::get(data);
- auto err = GetError(data, &geometry[0], i);
+ auto err = GetError(info, data, &geometry[0], i);
std::cout << i << ", ";
std::cout << extn.z / kInchesToMeters << ", ";
@@ -208,6 +240,12 @@
std::cout << err[2] << "\n";
}
}
+
+ CameraCalibration results;
+ results.dataset = info;
+ results.intrinsics = IntrinsicParams::get(&intrinsics[0]);
+ results.geometry = CameraGeometry::get(&geometry[0]);
+ DumpCameraConstants(camera_id, results);
}
} // namespace y2019