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[photon-lib] Fix camera/distortion matrix mixup in C++ #909

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merged 2 commits into from
Sep 12, 2023
Merged

[photon-lib] Fix camera/distortion matrix mixup in C++ #909

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ba878f2
[photon-lib] Fix camera/distortion matrix mixup in C++
mcm001 Sep 8, 2023
cf05213
Remove print
mcm001 Sep 8, 2023
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12 changes: 6 additions & 6 deletions photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(

std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
const PhotonPipelineResult& result, std::optional<cv::Mat> cameraMatrixData,
std::optional<cv::Mat> coeffsData) {
std::optional<cv::Mat> cameraDistCoeffs) {
// Time in the past -- give up, since the following if expects times > 0
if (result.GetTimestamp() < 0_s) {
return std::nullopt;
Expand All @@ -136,12 +136,12 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
return std::nullopt;
}

return Update(result, cameraMatrixData, coeffsData, this->strategy);
return Update(result, cameraMatrixData, cameraDistCoeffs, this->strategy);
}

std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
PhotonPipelineResult result, std::optional<cv::Mat> cameraMatrixData,
std::optional<cv::Mat> coeffsData, PoseStrategy strategy) {
std::optional<cv::Mat> cameraDistCoeffs, PoseStrategy strategy) {
std::optional<EstimatedRobotPose> ret = std::nullopt;

switch (strategy) {
Expand All @@ -162,7 +162,7 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
ret = AverageBestTargetsStrategy(result);
break;
case ::photonlib::MULTI_TAG_PNP:
ret = MultiTagPnpStrategy(result, coeffsData, cameraMatrixData);
ret = MultiTagPnpStrategy(result, cameraMatrixData, cameraDistCoeffs);
break;
default:
FRC_ReportError(frc::warn::Warning, "Invalid Pose Strategy selected!",
Expand Down Expand Up @@ -396,14 +396,14 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
return Update(result, camMat, distCoeffs, this->multiTagFallbackStrategy);
}

// Use OpenCV ITERATIVE solver
// Output mats for results
cv::Mat const rvec(3, 1, cv::DataType<double>::type);
cv::Mat const tvec(3, 1, cv::DataType<double>::type);

cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(),
rvec, tvec, false, cv::SOLVEPNP_SQPNP);

Pose3d const pose = detail::ToPose3d(tvec, rvec);
const Pose3d pose = detail::ToPose3d(tvec, rvec);

return photonlib::EstimatedRobotPose(
pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp(),
Expand Down