diff --git a/README.md b/README.md
index 556043437a..bd62fb6acd 100644
--- a/README.md
+++ b/README.md
@@ -82,3 +82,11 @@ Our meeting notes can be found in the wiki section of this repository.
* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
+
+## Additional packages
+
+For now, using mrcal requires installing these additional packages on Linux systems:
+
+```
+sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
+```
diff --git a/build.gradle b/build.gradle
index f772c89e32..04860f7312 100644
--- a/build.gradle
+++ b/build.gradle
@@ -11,6 +11,7 @@ allprojects {
mavenCentral()
mavenLocal()
maven { url = "https://maven.photonvision.org/repository/internal/" }
+ maven { url = "https://maven.photonvision.org/repository/snapshots/" }
}
wpilibRepositories.addAllReleaseRepositories(it)
wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -26,18 +27,21 @@ ext {
joglVersion = "2.4.0-rc-20200307"
javalinVersion = "5.6.2"
frcYear = "2024"
+ mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
pubVersion = versionString
isDev = pubVersion.startsWith("dev")
// A list, for legacy reasons, with only the current platform contained
- String nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
- if (nativeName == "linuxx64") nativeName = "linuxx86-64";
- if (nativeName == "winx64") nativeName = "windowsx86-64";
- if (nativeName == "macx64") nativeName = "osxx86-64";
- if (nativeName == "macarm64") nativeName = "osxarm64";
+ wpilibNativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+ def nativeName = wpilibNativeName
+ if (wpilibNativeName == "linuxx64") nativeName = "linuxx86-64";
+ if (wpilibNativeName == "winx64") nativeName = "windowsx86-64";
+ if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
+ if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
jniPlatform = nativeName
- println("Building for platform: " + jniPlatform)
+
+ println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
println("Using Wpilib: " + wpilibVersion)
println("Using OpenCV: " + openCVversion)
}
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index d5de014915..aea308cd47 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -13,6 +13,9 @@ dependencies {
implementation 'org.zeroturnaround:zt-zip:1.14'
implementation "org.xerial:sqlite-jdbc:3.41.0.0"
+
+ implementation "org.photonvision:photon-mrcal-java:$mrcalVersion"
+ implementation "org.photonvision:photon-mrcal-jni:$mrcalVersion:$wpilibNativeName"
}
task writeCurrentVersion {
diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
index 1c500ab722..00b55af584 100644
--- a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -17,6 +17,7 @@
package org.photonvision.common.hardware;
+import com.jogamp.common.os.Platform.OSType;
import edu.wpi.first.util.RuntimeDetector;
import java.io.BufferedReader;
import java.io.IOException;
@@ -27,23 +28,32 @@
@SuppressWarnings("unused")
public enum Platform {
// WPILib Supported (JNI)
- WINDOWS_64("Windows x64", false, OSType.WINDOWS, true),
- LINUX_32("Linux x86", false, OSType.LINUX, true),
- LINUX_64("Linux x64", false, OSType.LINUX, true),
+ WINDOWS_64("Windows x64", "winx64", false, OSType.WINDOWS, true),
+ LINUX_32("Linux x86", "linuxx64", false, OSType.LINUX, true),
+ LINUX_64("Linux x64", "linuxx64", false, OSType.LINUX, true),
LINUX_RASPBIAN32(
- "Linux Raspbian 32-bit", true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 32-bit image
+ "Linux Raspbian 32-bit",
+ "linuxarm32",
+ true,
+ OSType.LINUX,
+ true), // Raspberry Pi 3/4 with a 32-bit image
LINUX_RASPBIAN64(
- "Linux Raspbian 64-bit", true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 64-bit image
- LINUX_AARCH64("Linux AARCH64", false, OSType.LINUX, true), // Jetson Nano, Jetson TX2
+ "Linux Raspbian 64-bit",
+ "linuxarm64",
+ true,
+ OSType.LINUX,
+ true), // Raspberry Pi 3/4 with a 64-bit image
+ LINUX_AARCH64(
+ "Linux AARCH64", "linuxarm64", false, OSType.LINUX, true), // Jetson Nano, Jetson TX2
// PhotonVision Supported (Manual build/install)
- LINUX_ARM32("Linux ARM32", false, OSType.LINUX, true), // ODROID XU4, C1+
- LINUX_ARM64("Linux ARM64", false, OSType.LINUX, true), // ODROID C2, N2
+ LINUX_ARM32("Linux ARM32", "linuxarm32", false, OSType.LINUX, true), // ODROID XU4, C1+
+ LINUX_ARM64("Linux ARM64", "linuxarm64", false, OSType.LINUX, true), // ODROID C2, N2
// Completely unsupported
- WINDOWS_32("Windows x86", false, OSType.WINDOWS, false),
- MACOS("Mac OS", false, OSType.MACOS, false),
- UNKNOWN("Unsupported Platform", false, OSType.UNKNOWN, false);
+ WINDOWS_32("Windows x86", "windowsx64", false, OSType.WINDOWS, false),
+ MACOS("Mac OS", "osxuniversal", false, OSType.MACOS, false),
+ UNKNOWN("Unsupported Platform", "", false, OSType.UNKNOWN, false);
private enum OSType {
WINDOWS,
@@ -54,6 +64,7 @@ private enum OSType {
private static final ShellExec shell = new ShellExec(true, false);
public final String description;
+ public final String nativeLibraryFolderName;
public final boolean isPi;
public final OSType osType;
public final boolean isSupported;
@@ -62,11 +73,17 @@ private enum OSType {
private static final Platform currentPlatform = getCurrentPlatform();
private static final boolean isRoot = checkForRoot();
- Platform(String description, boolean isPi, OSType osType, boolean isSupported) {
+ Platform(
+ String description,
+ String nativeLibFolderName,
+ boolean isPi,
+ OSType osType,
+ boolean isSupported) {
this.description = description;
this.isPi = isPi;
this.osType = osType;
this.isSupported = isSupported;
+ this.nativeLibraryFolderName = nativeLibFolderName;
}
//////////////////////////////////////////////////////
@@ -89,6 +106,10 @@ public static String getPlatformName() {
}
}
+ public static final String getNativeLibraryFolderName() {
+ return currentPlatform.nativeLibraryFolderName;
+ }
+
public static boolean isRoot() {
return isRoot;
}
@@ -212,4 +233,9 @@ private static boolean fileHasText(String filename, String text) {
return false;
}
}
+
+ public static boolean isWindows() {
+ var p = getCurrentPlatform();
+ return (p == WINDOWS_32 || p == WINDOWS_64);
+ }
}
diff --git a/photon-core/src/main/java/org/photonvision/jni/PhotonJniCommon.java b/photon-core/src/main/java/org/photonvision/jni/PhotonJniCommon.java
new file mode 100644
index 0000000000..e099e422de
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/jni/PhotonJniCommon.java
@@ -0,0 +1,83 @@
+/*
+ * 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 .
+ */
+
+package org.photonvision.jni;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.util.List;
+import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public abstract class PhotonJniCommon {
+ static boolean libraryLoaded = false;
+ protected static Logger logger = null;
+
+ protected static synchronized void forceLoad(Class clazz, List libraries)
+ throws IOException {
+ if (libraryLoaded) return;
+ if (logger == null) logger = new Logger(clazz, LogGroup.Camera);
+
+ for (var libraryName : libraries) {
+ try {
+ // We always extract the shared object (we could hash each so, but that's a lot of work)
+ var arch_name = Platform.getNativeLibraryFolderName();
+ var nativeLibName = System.mapLibraryName(libraryName);
+ var in = clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName);
+
+ if (in == null) {
+ libraryLoaded = false;
+ return;
+ }
+
+ // It's important that we don't mangle the names of these files on Windows at least
+ File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+ FileOutputStream fos = new FileOutputStream(temp);
+
+ int read = -1;
+ byte[] buffer = new byte[1024];
+ while ((read = in.read(buffer)) != -1) {
+ fos.write(buffer, 0, read);
+ }
+ fos.close();
+ in.close();
+
+ System.load(temp.getAbsolutePath());
+
+ logger.info("Successfully loaded shared object " + temp.getName());
+
+ } catch (UnsatisfiedLinkError e) {
+ logger.error("Couldn't load shared object " + libraryName, e);
+ e.printStackTrace();
+ // logger.error(System.getProperty("java.library.path"));
+ break;
+ }
+ }
+ libraryLoaded = true;
+ }
+
+ protected static synchronized void forceLoad(Class clazz, String libraryName)
+ throws IOException {
+ forceLoad(clazz, List.of(libraryName));
+ }
+
+ public static boolean isWorking() {
+ return libraryLoaded;
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/mrcal/MrCal.java b/photon-core/src/main/java/org/photonvision/mrcal/MrCal.java
new file mode 100644
index 0000000000..5a61e621c3
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/mrcal/MrCal.java
@@ -0,0 +1,60 @@
+/*
+ * 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 .
+ */
+
+package org.photonvision.mrcal;
+
+import java.io.IOException;
+import java.util.List;
+import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.jni.PhotonJniCommon;
+
+public class MrCal extends PhotonJniCommon {
+ public static synchronized void forceLoad() throws IOException {
+ // Force load opencv
+ TestUtils.loadLibraries();
+
+ // Library naming is dumb and has "lib" appended for Windows when it ought not to
+ if (Platform.isWindows()) {
+ // Order is correct to match dependencies of libraries
+ forceLoad(
+ MrCal.class,
+ List.of(
+ "libamd",
+ "libcamd",
+ "libcolamd",
+ "libccolamd",
+ "openblas",
+ "libgcc_s_seh-1",
+ "libgfortran-5",
+ "liblapack",
+ "libcholmod",
+ "mrcal_jni"));
+ } else {
+ // Nothing else to do on linux
+ forceLoad(MrCal.class, List.of("mrcal_jni"));
+ }
+
+ if (!MrCal.isWorking()) {
+ throw new IOException("Can't load mrcal?");
+ }
+ }
+
+ public static void main(String[] args) throws IOException, InterruptedException {
+ MrCal.forceLoad();
+ }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
index 4b4ae5a8cc..71f6f2ff24 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -22,6 +22,7 @@
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.fasterxml.jackson.databind.JsonNode;
+import java.util.Arrays;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
import org.opencv.core.Size;
@@ -140,4 +141,23 @@ public static CameraCalibrationCoefficients parseFromCalibdbJson(JsonNode json)
return new CameraCalibrationCoefficients(
new Size(width, height), cam_jsonmat, distortion_jsonmat, new double[] {error}, 0);
}
+
+ @Override
+ public String toString() {
+ return "CameraCalibrationCoefficients [resolution="
+ + resolution
+ + ", cameraIntrinsics="
+ + cameraIntrinsics
+ + ", distCoeffs="
+ + distCoeffs
+ + ", perViewErrors="
+ + Arrays.toString(perViewErrors)
+ + ", standardDeviation="
+ + standardDeviation
+ + ", intrinsicsArr="
+ + Arrays.toString(intrinsicsArr)
+ + ", extrinsicsArr="
+ + Arrays.toString(extrinsicsArr)
+ + "]";
+ }
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
index 15a6d0b9e0..7f0f61b27f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
@@ -126,4 +126,23 @@ public Packet populatePacket(Packet packet) {
packet.encode(this.data);
return packet;
}
+
+ @Override
+ public String toString() {
+ return "JsonMat [rows="
+ + rows
+ + ", cols="
+ + cols
+ + ", type="
+ + type
+ + ", data="
+ + Arrays.toString(data)
+ + ", wrappedMat="
+ + wrappedMat
+ + ", wpilibMat="
+ + wpilibMat
+ + ", wrappedMatOfDouble="
+ + wrappedMatOfDouble
+ + "]";
+ }
}
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
index bfca09d6fd..420829e331 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -20,15 +20,20 @@
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import java.util.ArrayList;
+import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
import org.apache.commons.lang3.tuple.Triple;
import org.opencv.calib3d.Calib3d;
+import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
+import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Size;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
+import org.photonvision.mrcal.MrCalJNI;
+import org.photonvision.mrcal.MrCalJNI.MrCalResult;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.calibration.JsonMat;
import org.photonvision.vision.pipe.CVPipe;
@@ -68,8 +73,51 @@ public class Calibrate3dPipe
* @param in Input for pipe processing. In the format (Input image, object points, image points)
* @return Result of processing.
*/
- @Override
protected CameraCalibrationCoefficients process(List> in) {
+ return process_mrcal(in);
+ }
+
+ protected CameraCalibrationCoefficients process_mrcal(List> in) {
+ List corner_locations =
+ in.stream().map(Triple::getRight).map(MatOfPoint2f::new).collect(Collectors.toList());
+
+ var start = System.nanoTime();
+ MrCalResult result = MrCalJNI.calibrateCamera(corner_locations, 7, 7, 0.0254, 640, 480, 1200);
+ var dt = System.nanoTime() - start;
+ System.out.printf("Calibrated in %f ms!\n", dt / 1e6);
+ System.out.printf("stats:\n" + result + "\n");
+
+ // intrinsics are fx fy cx cy from mrcal
+ JsonMat cameraMatrixMat =
+ new JsonMat(
+ 3,
+ 3,
+ CvType.CV_64FC1,
+ new double[] {
+ // fx 0 cx
+ result.intrinsics[0],
+ 0,
+ result.intrinsics[2],
+ // 0 fy cy
+ result.intrinsics[1],
+ 0,
+ result.intrinsics[3],
+ // 0 0 1
+ 0,
+ 0,
+ 1
+ });
+ JsonMat distortionCoefficientsMat =
+ new JsonMat(1, 8, CvType.CV_64FC1, Arrays.copyOfRange(result.intrinsics, 4, 12));
+
+ double[] perViewErrorsArray = new double[0];
+ double stdDev = 0;
+
+ return new CameraCalibrationCoefficients(
+ params.resolution, cameraMatrixMat, distortionCoefficientsMat, perViewErrorsArray, stdDev);
+ }
+
+ protected CameraCalibrationCoefficients process_opencv(List> in) {
in =
in.stream()
.filter(
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index e1a3bc8aae..3d8682b470 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -59,7 +59,7 @@ public class Calibrate3dPipeline
private boolean takeSnapshot = false;
// Output of the corners
- final List> foundCornersList;
+ public final List> foundCornersList;
/// Output of the calibration, getter method is set for this.
private CVPipeResult calibrationOutput;
diff --git a/photon-core/src/test/java/org/photonvision/mrcal/MrCalTest.java b/photon-core/src/test/java/org/photonvision/mrcal/MrCalTest.java
new file mode 100644
index 0000000000..6ecacec672
--- /dev/null
+++ b/photon-core/src/test/java/org/photonvision/mrcal/MrCalTest.java
@@ -0,0 +1,1315 @@
+/*
+ * 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 .
+ */
+
+package org.photonvision.mrcal;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.math.util.Units;
+import java.io.File;
+import java.nio.file.Path;
+import java.util.List;
+import java.util.stream.Collectors;
+import org.apache.commons.lang3.tuple.Triple;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Test;
+import org.opencv.core.MatOfPoint2f;
+import org.opencv.core.Size;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.camera.QuirkyCamera;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameDivisor;
+import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipeline.Calibrate3dPipeTest;
+import org.photonvision.vision.pipeline.Calibrate3dPipeline;
+import org.photonvision.vision.pipeline.UICalibrationData;
+
+public class MrCalTest {
+ @BeforeAll
+ public static void load() {
+ assertDoesNotThrow(MrCal::forceLoad);
+ assertDoesNotThrow(TestUtils::loadLibraries);
+ }
+
+ @Test
+ public void smokeTest() {}
+
+ @Test
+ public void calibrateSquares640x480_pi() {
+ // Pi3 and V1.3 camera
+ String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+ File rootFolder = Path.of(base, "piCam", "640_480_1").toFile();
+ Size imgRes = new Size(640, 480);
+ Calibrate3dPipeTest.calibrateSquaresCommon(imgRes, rootFolder);
+ }
+
+ @Test
+ public void calibrateSquares640x480_pi_ld() {
+ // Pi3 and V1.3 camera
+ String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+ File rootFolder = Path.of(base, "piCam", "640_480_1").toFile();
+ Size imgRes = new Size(640, 480);
+ var boardGridSize_m = Units.inchesToMeters(1);
+ var boardDim = new Size(8, 8);
+
+ File[] directoryListing = rootFolder.listFiles();
+
+ assertTrue(directoryListing.length >= 10);
+
+ Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline(10);
+ calibration3dPipeline.getSettings().boardType = UICalibrationData.BoardType.CHESSBOARD;
+ calibration3dPipeline.getSettings().resolution = imgRes;
+ calibration3dPipeline.getSettings().boardHeight = (int) Math.round(boardDim.height);
+ calibration3dPipeline.getSettings().boardWidth = (int) Math.round(boardDim.width);
+ calibration3dPipeline.getSettings().gridSize = boardGridSize_m;
+ calibration3dPipeline.getSettings().streamingFrameDivisor = FrameDivisor.NONE;
+
+ for (var file : directoryListing) {
+ if (file.isFile()) {
+ calibration3dPipeline.takeSnapshot();
+ var frame =
+ new Frame(
+ new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
+ new CVMat(),
+ FrameThresholdType.NONE,
+ new FrameStaticProperties((int) imgRes.width, (int) imgRes.height, 67, null));
+ var output = calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera);
+
+ // TestUtils.showImage(output.inputAndOutputFrame.processedImage.getMat(), file.getName(),
+ // 1);
+ output.release();
+ frame.release();
+ }
+ }
+
+ assertTrue(
+ calibration3dPipeline.foundCornersList.stream()
+ .map(Triple::getRight)
+ .allMatch(it -> it.width() > 0 && it.height() > 0));
+
+ // return Triple.of(inFrame.size(), objPts, outBoardCorners);
+ List corner_locations =
+ calibration3dPipeline.foundCornersList.stream()
+ .map(Triple::getRight)
+ .map(MatOfPoint2f::new)
+ .collect(Collectors.toList());
+
+ var start = System.nanoTime();
+ var result = MrCalJNI.calibrateCamera(corner_locations, 7, 7, 0.0254, 640, 480, 1200);
+ var dt = System.nanoTime() - start;
+ System.out.printf("Calibrated in %f ms!\n", dt / 1e6);
+ System.out.printf("stats:\n" + result + "\n");
+ }
+
+ @Test
+ public void calibrate_lifecam_640() {
+ // Order should be: observations[board idx, board width, board height] = (x, y, level)
+ // Not positive if I've switched width and height here, tho
+ double[] observations = {
+ 325.516,
+ 132.934,
+ 1.0,
+ 371.214,
+ 134.351,
+ 1.0,
+ 415.623,
+ 135.342,
+ 1.0,
+ 460.354,
+ 136.823,
+ 1.0,
+ 504.145,
+ 138.109,
+ 1.0,
+ 547.712,
+ 139.65,
+ 1.0,
+ 594.0,
+ 148.683,
+ 1.0,
+ 324.871,
+ 176.873,
+ 1.0,
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+ 251.929631,
+ 1.0,
+ 440.831715,
+ 251.885293,
+ 1.0,
+ 488.336721,
+ 252.191396,
+ 1.0,
+ 163.791281,
+ 309.386063,
+ 1.0,
+ 224.929397,
+ 307.232453,
+ 1.0,
+ 282.176961,
+ 305.725654,
+ 1.0,
+ 335.984449,
+ 304.607775,
+ 1.0,
+ 387.27907,
+ 303.196963,
+ 1.0,
+ 437.747368,
+ 302.540835,
+ 1.0,
+ 485.297854,
+ 301.494266,
+ 1.0,
+ 163.968029,
+ 365.050099,
+ 1.0,
+ 223.201096,
+ 362.148888,
+ 1.0,
+ 280.445895,
+ 359.3519,
+ 1.0,
+ 333.640557,
+ 356.491297,
+ 1.0,
+ 385.61138,
+ 354.094168,
+ 1.0,
+ 435.165143,
+ 352.729433,
+ 1.0,
+ 482.091338,
+ 350.966958,
+ 1.0,
+ 163.221401,
+ 419.674165,
+ 1.0,
+ 221.857647,
+ 415.074118,
+ 1.0,
+ 277.713041,
+ 411.798257,
+ 1.0,
+ 331.76678,
+ 407.068828,
+ 1.0,
+ 382.058162,
+ 404.138822,
+ 1.0,
+ 431.852815,
+ 401.145043,
+ 1.0,
+ 478.272757,
+ 398.091691,
+ 1.0
+ };
+
+ try {
+ var start = System.nanoTime();
+ var result = MrCalJNI.mrcal_calibrate_camera(observations, 7, 7, 0.0254, 640, 480, 1200);
+ var dt = System.nanoTime() - start;
+ System.out.printf("Calibrated in %f ms!\n", dt / 1e6);
+ System.out.printf("stats:\n" + result + "\n");
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+}
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
index 72547829f1..b3cbc1be5a 100644
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -232,22 +232,22 @@ public void calibrateSquares_1920_1080_gloworm() {
calibrateSquaresCommon(sz, dir, boardDim, 1311, 540);
}
- public void calibrateSquaresCommon(Size imgRes, File rootFolder) {
+ public static void calibrateSquaresCommon(Size imgRes, File rootFolder) {
calibrateSquaresCommon(imgRes, rootFolder, new Size(8, 8));
}
- public void calibrateSquaresCommon(Size imgRes, File rootFolder, Size boardDim) {
+ public static void calibrateSquaresCommon(Size imgRes, File rootFolder, Size boardDim) {
calibrateSquaresCommon(
imgRes, rootFolder, boardDim, Units.inchesToMeters(1), imgRes.width / 2, imgRes.height / 2);
}
- public void calibrateSquaresCommon(
+ public static void calibrateSquaresCommon(
Size imgRes, File rootFolder, Size boardDim, double expectedXCenter, double expectedYCenter) {
calibrateSquaresCommon(
imgRes, rootFolder, boardDim, Units.inchesToMeters(1), expectedXCenter, expectedYCenter);
}
- public void calibrateSquaresCommon(
+ public static void calibrateSquaresCommon(
Size imgRes,
File rootFolder,
Size boardDim,
@@ -311,7 +311,7 @@ public void calibrateSquaresCommon(
assertTrue(centerYErrPct < 10.0);
System.out.println("Per View Errors: " + Arrays.toString(cal.perViewErrors));
- System.out.println("Camera Intrinsics: " + cal.cameraIntrinsics);
+ System.out.println("Camera Intrinsics: " + cal.cameraIntrinsics.toString());
System.out.println("Dist Coeffs: " + cal.distCoeffs.toString());
System.out.println("Standard Deviation: " + cal.standardDeviation);
System.out.println(
diff --git a/test-resources/calibrationSquaresImg/piCam/640_480_1/corners.vnl b/test-resources/calibrationSquaresImg/piCam/640_480_1/corners.vnl
new file mode 100644
index 0000000000..20703efa71
--- /dev/null
+++ b/test-resources/calibrationSquaresImg/piCam/640_480_1/corners.vnl
@@ -0,0 +1,411 @@
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