Update cal card to new data format

PhotonVision · Dec 20, 2023 · 98e3381 · 98e3381
1 parent fba44db
commit 98e3381
Show file tree

Hide file tree

Showing 5 changed files with 53 additions and 13 deletions.
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -31,17 +31,22 @@ const getUniqueVideoResolutions = (): VideoFormat[] => {
 
       const calib = getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
-        format.mean = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
-        format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.intrinsics[0]) * (180 / Math.PI);
-        format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.intrinsics[4]) * (180 / Math.PI);
+        console.log(calib)
+
+        // Is this the right formula for RMS error? who knows! not me!
+        const perViewSumSquareReprojectionError = calib.observations.flatMap(it=>it.reprojectionErrors.flatMap(it2=>[it2.x, it2.y]))
+        format.mean = Math.sqrt(perViewSumSquareReprojectionError.reduce((a, b) => a + b, 0))
+
+        format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
+        format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
         format.diagonalFOV =
           2 *
           Math.atan2(
             Math.sqrt(
               format.resolution.width ** 2 +
-                (format.resolution.height / (calib.intrinsics[4] / calib.intrinsics[0])) ** 2
+                (format.resolution.height / (calib.cameraIntrinsics.data[4] / calib.cameraIntrinsics.data[0])) ** 2
             ) / 2,
-            calib.intrinsics[0]
+            calib.cameraIntrinsics.data[0]
           ) *
           (180 / Math.PI);
       }
@@ -492,12 +497,12 @@ const reprojectionErrorSeries = () => {
           </v-col>
         </v-row>
 
-        <LineChart
+        <!-- <LineChart
           :chartData="reprojectionErrorSeries"
           min="0"
           max="3500"
           ref="loadCell"
-        />
+        /> -->
 
       </div>
     </v-card>

diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -1,7 +1,6 @@
 import { defineStore } from "pinia";
 import type {
   CalibrationBoardTypes,
-  CameraCalibrationResult,
   CameraSettings,
   ConfigurableCameraSettings,
   RobotOffsetType,

diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
@@ -76,14 +76,44 @@ export interface VideoFormat {
   diagonalFOV?: number;
   horizontalFOV?: number;
   verticalFOV?: number;
-  standardDeviation?: number;
   mean?: number;
 }
 
+export interface JsonMat {
+  rows: number
+  cols: number
+  type: number
+  data: number[]
+}
+
+export interface Point3 {
+  x: number
+  y: number
+  z: number
+}
+export interface Point2 {
+  x: number
+  y: number
+}
+
+export interface Pose3d {
+  translation: { x: number, y: number, z: number }
+  rotation: { quaternion: { W: number, X: number, Y: number, Z: number } }
+}
+
+export interface BoardObservation {
+  locationInObjectSpace: Point3[]
+  locationInImageSpace: Point2[]
+  reprojectionErrors: Point2[]
+  optimisedCameraToObject: Pose3d[]  
+}
+
 export interface CameraCalibrationResult {
   resolution: Resolution;
-  distCoeffs: number[];
-  intrinsics: number[];
+  cameraIntrinsics: JsonMat;
+  // TODO rename to be Right
+  cameraExtrinsics: JsonMat;
+  observations: BoardObservation[]
 }
 
 export interface ConfigurableCameraSettings {

diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
@@ -1,4 +1,4 @@
-import type { GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
+import type { CameraCalibrationResult, GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
 
@@ -46,7 +46,7 @@ export type WebsocketVideoFormat = Record<
 >;
 
 export interface WebsocketCameraSettingsUpdate {
-  calibrations: WebsocketCompleteCalib[];
+  calibrations: CameraCalibrationResult[];
   currentPipelineIndex: number;
   currentPipelineSettings: ActivePipelineSettings;
   fov: number;

diff --git a/...core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/...core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -20,6 +20,7 @@
 import com.fasterxml.jackson.annotation.JsonAlias;
 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;
 
@@ -35,6 +36,7 @@
 import org.opencv.core.Size;
 import org.photonvision.vision.opencv.Releasable;
 
+@JsonIgnoreProperties(ignoreUnknown = true)
 public class CameraCalibrationCoefficients implements Releasable {
     public static final class BoardObservation {
         @JsonProperty("locationInObjectSpace")
@@ -88,6 +90,10 @@ public CameraCalibrationCoefficients(
         this.cameraIntrinsics = cameraIntrinsics;
         this.distCoeffs = distCoeffs;
 
+        // Legacy migration just to make sure that observations is at worst empty and never null
+        if (observations == null) {
+            observations = List.of();
+        }
         this.observations = observations;
 
         // do this once so gets are quick