[draft] switch wpical backend to gtsam #7606
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| it.cppCompiler.args.add("-Wno-deprecated-copy") | ||
| it.cppCompiler.args.add("-Wno-redundant-move") |
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we should probably fix these upstream instead
| inline cameracalibration::CameraModel load_camera_model(wpi::json json_data) { | ||
| inline CameraModel load_camera_model(wpi::json json_data) { |
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This function feels like it doesn't belong in fieldcalibration code?
| struct Pose3WithVariance { | ||
| frc::Pose3d pose; | ||
| // in order rx ry rz tx ty tz. Units are SI units | ||
| std::array<double, 6> covariance; |
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member is named covariance but holds variance? swap to cov
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| struct TagDetection { | ||
| int32_t id; | ||
| std::vector<TargetCorner> corners; |
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always 4 corners - consider an array
| return worldTtags; | ||
| } | ||
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| static std::vector<Point3> MakeTagModel(double width) { |
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consider templating this
| // cv::Mat R; | ||
| // cv::Rodrigues(rvec, R); // R is 3x3 | ||
| // R = R.t(); // rotation of inverse | ||
| // cv::Mat tvecI = -R * tvec; // translation of inverse |
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I was trying to keep the diff small, but now that wpical is in main im less scared about merge conflicts unless @ElliotScher is planning a similar refactor already? |
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I wasn't planning on it yet, but I can if it would help. |
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I don't think it would - I think it makes more sense here to swap out the bones and fight the build system, then we can think about other plans? The wpical docs PR going in and getting some user feedback post kickoff seem like plenty of work to me |
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Signed-off-by: Jade Turner <[email protected]>
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Draft MR switching the wpical backend from ceres to GTSAM via the photonvision thirdparty repo.