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/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
index b24f13f..eb35482 100644
--- a/frc971/vision/extrinsics_calibration.h
+++ b/frc971/vision/extrinsics_calibration.h
@@ -42,6 +42,11 @@
void Plot(const CalibrationData &data,
const CalibrationParameters &calibration_parameters);
+// Shows the evolution of the calibration over time by visualizing relevant
+// coordinate frames in a virtual camera view
+void Visualize(const CalibrationData &data,
+ const CalibrationParameters &calibration_parameters);
+
} // namespace vision
} // namespace frc971