Solver with turret fixes and visualization
Converges generally well, but still has sensitivity to some parameters
In addition to turret and visualization, significant changes include:
-- Added quaternion parameterization for pivot_to_imu
-- Filtering out of bad gyro readings
-- Scaling of rotation error (residual)
Visualization tool is really just a set of helper routines to plot axes
in 3D space in a projected 2D virtual image
Change-Id: I03a6939b6b12df4b8116c30c617a1595781fe635
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
index e4f9c8a..cb5609b 100644
--- a/frc971/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -56,7 +56,9 @@
size_t camera_samples_size() const { return rot_trans_points_.size(); }
- size_t turret_samples() const { return turret_points_.size(); }
+ size_t imu_samples_size() const { return imu_points_.size(); }
+
+ size_t turret_samples_size() const { return turret_points_.size(); }
private:
std::vector<std::pair<aos::distributed_clock::time_point,