3131using namespace cv ;
3232
3333extern " C"
34- #include < vnlog-parser.h>
34+ #include " vnlog-parser.h"
3535} // extern "C"
3636
3737struct cmpByFilename {
@@ -44,16 +44,14 @@ struct cmpByFilename {
4444};
4545
4646int homography_test () {
47- Size boardSize = {7 , 7 };
48- Size imagerSize = {640 , 480 };
47+ Size boardSize = {18 , 13 };
48+ Size imagerSize = {1600 , 1200 };
4949 // std::FILE *fp =
5050 // std::fopen("/home/matt/github/photon_640_480/corners.vnl", "r");
5151 // Size boardSize = {10, 10};
5252 // Size imagerSize = {1600, 896};
5353 std::FILE *fp =
54- std::fopen (" /home/matt/Documents/GitHub/photonvision/test-resources/"
55- " calibrationSquaresImg/piCam/640_480_1/corners.vnl"
56- " r"
54+ std::fopen (" /home/matt/mrcal_will_debug/imgs/corners.vnl" " r"
5755
5856 if (fp == NULL )
5957 return -1 ;
@@ -106,26 +104,36 @@ int homography_test() {
106104 observations_board.reserve (total_points);
107105 frames_rt_toref.reserve (points.size ());
108106
107+ std::chrono::steady_clock::time_point begin =
108+ std::chrono::steady_clock::now ();
109+
109110 for (const auto &[key, value] : points) {
110111 if (value.size ()) {
111- auto ret = getSeedPose (value.data (), boardSize, imagerSize, 0.0254 , 800 );
112+ auto ret = getSeedPose (value.data (), boardSize, imagerSize, 0.03 , 1200 );
112113
113- if (0 )
114- std::printf (" Seed pose %s: r %f %f %f t %f %f %f\n " c_str (),
115- ret.r .x , ret.r .y , ret.r .z , ret.t .x , ret.t .y , ret.t .z );
114+ if (1 )
115+ // std::printf("Seed pose %s: r %f %f %f t %f %f %f\n", key.c_str(),
116+ // ret.r.x, ret.r.y, ret.r.z, ret.t.x, ret.t.y, ret.t.z);
116117
117- // Append to the Big List of board corners/levels
118- observations_board.insert (observations_board.end (), value.begin (),
119- value.end ());
118+ // Append to the Big List of board corners/levels
119+ observations_board.insert (observations_board.end (), value.begin (),
120+ value.end ());
120121 // And list of pose seeds
121122 frames_rt_toref.push_back (ret);
122123 } else {
123124 std::printf (" No points for %s\n " c_str ());
124125 }
125126 }
126127
128+ std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now ();
129+ std::cout << " Seed took: "
130+ << std::chrono::duration_cast<std::chrono::milliseconds>(end -
131+ begin)
132+ .count ()
133+ << " [ms]"
134+
127135 auto cal_result = mrcal_main (observations_board, frames_rt_toref, boardSize,
128- 0.0254 , imagerSize);
136+ 0.030 , imagerSize, 1200 );
129137
130138 auto dt = std::chrono::steady_clock::now () - start;
131139 int dt_ms = dt.count ();
@@ -135,7 +143,7 @@ int homography_test() {
135143 double max_error =
136144 *std::max_element (stats.residuals .begin (), stats.residuals .end ());
137145
138- if (0 ) {
146+ if (1 ) {
139147 std::printf (" \n ===============================\n\n "
140148 std::printf (" RMS Reprojection Error: %.2f pixels\n " rms_error );
141149 std::printf (" Worst residual (by measurement): %.1f pixels\n "
@@ -145,33 +153,37 @@ int homography_test() {
145153 std::printf (" calobject_warp: [%f, %f]\n " calobject_warp .x2 ,
146154 stats.calobject_warp .y2 );
147155 std::printf (" dt, seeding + solve: %f ms\n " 1e6 );
148- std::printf (" Intrinsics [%lu]:\n " intrinsics .size ());
156+ std::printf (" Intrinsics [%lu]: " intrinsics .size ());
149157 for (auto i : stats.intrinsics )
150158 std::printf (" %f "
151159 std::printf (" \n "
152160 }
153161
154- double fx = 100 , fy = 100 , cx = 50 , cy = 20 ;
155- cv::Mat1d camMat = (Mat_<double >(3 ,3 ) << fx, 0 , cx, 0 , fy, cy, 0 , 0 , 1 );
156- cv::Mat1d distCoeffs = (Mat_<double >(1 ,5 ) << 0.17802570252202954 ,-1.461379065131586 ,0.001019661566461145 ,0.0003215220840230439 ,2.7249642067580533 );
162+ // double fx = 100, fy = 100, cx = 50, cy = 20;
163+ // cv::Mat1d camMat = (Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1);
164+ // cv::Mat1d distCoeffs =
165+ // (Mat_<double>(1, 5) << 0.17802570252202954, -1.461379065131586,
166+ // 0.001019661566461145, 0.0003215220840230439, 2.7249642067580533);
157167
158- undistort_mrcal (&inputs, &outputs, &camMat, &distCoeffs, CameraLensModel::LENSMODEL_OPENCV5, 0 , 0 , 0 , 0 );
168+ // undistort_mrcal(&inputs, &outputs, &camMat, &distCoeffs,
169+ // CameraLensModel::LENSMODEL_OPENCV5, 0, 0, 0, 0);
159170
160- cv::Mat2d outputs_opencv = cv::Mat2d::zeros (inputs.size ());
161- cv::undistortImagePoints (inputs, outputs_opencv, camMat, distCoeffs,
162- TermCriteria (TermCriteria::MAX_ITER + TermCriteria::EPS, 50 ,
163- 1e-4 ));
171+ // cv::Mat2d outputs_opencv = cv::Mat2d::zeros(inputs.size());
172+ // cv::undistortImagePoints(
173+ // inputs, outputs_opencv, camMat, distCoeffs ,
174+ // TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 50, 1e-4));
164175
165- std::cout << " cam mat\n "
166- std::cout << " dist\n "
167- std::cout << " Inputs\n "
168- std::cout << " Outputs (mrcal)\n "
169- std::cout << " Outputs (opencv)\n "
176+ // std::cout << "cam mat\n" << camMat << std::endl;
177+ // std::cout << "dist\n" << distCoeffs << std::endl;
178+ // std::cout << "Inputs\n" << inputs << std::endl;
179+ // std::cout << "Outputs (mrcal)\n" << outputs << std::endl;
180+ // std::cout << "Outputs (opencv)\n" << outputs_opencv << std::endl;
181+
182+ return 0 ;
170183}
171184
172185int main () {
173186 // for (int i = 0; i < 1e6; i++) {
174- homography_test ();
187+ homography_test ();
175188 // }
176-
177189}
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