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Integrate Java pose_calib #1066

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Integrate Java pose_calib #1066

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0b1d5a9
Copy in pose_calib code
mcm001 Dec 23, 2023
8ebd2aa
Run lint
mcm001 Dec 23, 2023
a1f89f1
Hacking into calibrate pipeline
mcm001 Dec 23, 2023
bae2b28
Update Calibrate3dPipeline.java
mcm001 Dec 23, 2023
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373 changes: 373 additions & 0 deletions photon-core/src/main/java/org/photonvision/calibrator/ArrayUtils.java
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303 changes: 303 additions & 0 deletions photon-core/src/main/java/org/photonvision/calibrator/BoardPreview.java
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506 changes: 506 additions & 0 deletions photon-core/src/main/java/org/photonvision/calibrator/Calibrator.java
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147 changes: 147 additions & 0 deletions photon-core/src/main/java/org/photonvision/calibrator/Cfg.java
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/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/

// This project and file are derived in part from the "Pose Calib" project by
// @author Pavel Rojtberg
// It is subject to his license terms in the PoseCalibLICENSE file.

package org.photonvision.calibrator;

import edu.wpi.first.cscore.VideoMode.PixelFormat;
import org.opencv.core.Scalar;
import org.opencv.core.TermCriteria;
import org.opencv.objdetect.Objdetect;

/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
/* */
/* Cfg class */
/* Cfg class */
/* Cfg class */
/* */
/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
public class Cfg {
/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
/* */
/* Cfg constructor */
/* Cfg constructor */
/* Cfg constructor */
/* */
/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
// SHOULD BE USER SPECIFIED
static final boolean writeBoard = true;
static final String boardFile = "ChArUcoBoard";
static boolean logDetectedCorners = false; // save to files captured images and detected corners
static String cornersLog = "corners.vnl";
static int resXDPM = 9843; // board printing pixels per meter 9843 = 250 DPI
static int resYDPM = 9843; // board printing pixels per meter 9843 = 250 DPI
///////////////////////////

// SHOULD COME FROM PV CAMERA
// Checks for the specified camera - laptop internal or USB external and uses it if present.
// 0 internal if no external or if external connected after boot-up
// 0 external if connected at boot-up
// 1 internal if external connected at boot-up
// 1 is external if connected after boot-up
static int camId = 0;
static PixelFormat pixelFormat = PixelFormat.kYUYV;
static final int displayPort = 1185;
static int fps = 10;
static final int exposureManual = 70;
static final int brightness = 70;

// a few icky int-float-double conversion scattered throughout the program.
// camera image size and thus user display screen size
public static int image_width = 1280;
public static int image_height = 720;
/////////////////////////////

// ALL THE FOLLOWING STUFF MIGHT NEVER NEED TO BE CHANGED
static final int garbageCollectionFrames =
500; // camera frames - periodically do garbage collection because Java doesn't know there are
// big Mats to be released
static final double initialFocalLength = 1000.; // fx and fy, aspect ratio = 1 (fy/fx)
// ChArUco Board pixels = (board_x*square_len, board_y*square_len)
static final int board_x = 9;
static final int board_y = 6;
static final int square_len = 280;
static final int marker_len = 182;
static final int dictionary = 0;
// intensity of the green guidance board
// suggest "white" [-100]; (dull) -128 to -1 (bright)
// suggest "black" [1]; (somewhat transparent) 1 to 64 (more obscuring)
static final byte guidanceWhite =
-50; // green actually; (black) 0 to 127 (medium), (medium) -128 to -1 (bright)
static final byte guidanceBlack =
1; // ; (dark) 1 to 127, -128 to -1 (bright); must be much less than guidanceWhite and NOT 0
static final Scalar progressInsertCameraGrey = new Scalar(170.);
static final Scalar progressInsertGuidanceGrey = new Scalar(105.);

// config for convergence criteria
static final int pt_min_markers = 1;
static final boolean tryRefineMarkers = true;
static final int cornerRefinementMaxIterations = 2000;
static final int cornerRefinementMethod = Objdetect.CORNER_REFINE_CONTOUR;
static final boolean checkAllOrders = true;
static final float errorCorrectionRate = 3.0f;
static final float minRepDistance = 10.0f;

static final double mean_flow_max = 3.; // exclusive, larger is more movement allowed
static final double pose_close_to_tgt_min =
0.85; // exclusive, - minimum Jaccard score between shadow and actual img for auto capture;
// larger is less deviation allowed
static final double MAX_OVERLAP =
0.9; // maximum fraction of distortion mask overlapping with this pose before pose considered
// not contributing enough to help fill distortion mask
static final double minCorners =
6; // min for solvePnP (original needed 4 (or 5 w/o solvePnP)) but another place requires many
// more
public static final double var_terminate =
0.1; // min variance to terminate an intrinsic's iterations [mm is whatever unit of measure?]

static final double DBL_EPSILON = Math.ulp(1.);
static final TermCriteria calibrateCameraCriteria =
new TermCriteria(TermCriteria.COUNT + TermCriteria.EPS, 30, DBL_EPSILON);

static final float FLT_EPSILON = Math.ulp(1.f);
static final TermCriteria solvePnPRefineVVSCriteria =
new TermCriteria(TermCriteria.COUNT + TermCriteria.EPS, 20, FLT_EPSILON);
static final double solvePnPRefineVVSLambda = 1.;

static final TermCriteria undistortPointsIterCriteria =
new TermCriteria(
TermCriteria.COUNT + TermCriteria.EPS,
20,
FLT_EPSILON); // default cv::TermCriteria(cv::TermCriteria::COUNT, 5, 0.01)

/////////////////////////////////////////////////////////
private Cfg() {
throw new UnsupportedOperationException("This is a utility class");
}
}
/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
/* */
/* End Cfg class */
/* End Cfg class */
/* End Cfg class */
/* */
/*-------------------------------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------------------------------*/
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