Semi-Automatic Camera Calibration by paudar · Pull Request #1707 · HULKs/hulk

paudar · 2025-03-13T09:26:32Z

Why? What?

Implement a new Twix-Panel for semi-automatic camera calibration.
Workflow:

Start calibration mode of the nao
move the head in desired position
use the new panel to draw the field-lines
- primary click to set the start point of a line
- primary click to set the end point of a line
- a pop-up appears to select the drawn line (goal-line, penalty-front, penalty-left, ...)
repeat the process for at least two lines (in best case for all visual lines)
A keypoint of a line can be moved by clicking it again
while moving a line, pressing esc removes it
if you are satisfied, click "next"
- all lines are saved with den current camera_matrix and the lines disappear
- an optimizer is called and provides the new calibration
- in an image panel the overlay "penalty boxes" can provide a base to judge how well the calibration already is
move the head in a new position and repeat the process

Fixes #123

Ideas for Next Iterations (Not This PR)

rotate the text label of a line with the line
impl navigation with arrow keys in the pop-up
be able to accept detected lines
don't rely on ground-to-field

How to Test

Take a nao and try to follow the workflow described above.

implement optimization in twix add Calibration to recorded states set recording frequencies use explicit state enum calibration in twix --wip-- fix camera matrix calculator impl reset implement first iteration of ScribbleCalibrationPanel second iteration of ScribbleCameraCalibration add a single panel to work with optimization add clear button for measurements and counter improve ux by remove buttons some qol add save to head button fix saving location fix saving path reset on save and allow to draw duplicate lines remove unneeded files resolve clippy remarks fix popup wont close with click and some other smal changes fix some review comments fix optimize function temp fix for fielddimensions default (add a todo - discussion is needed) remove outdated todo clear a vector instead of replacing it with a new one make the member stroke a constant improve drawing experience revert changes to the default implementation of FieldDimensions remove unused import impl getter function for FieldDiemensions can't use constant in Testmode always compile constant SPL_2025

knoellle

LGTM

* implement line fitting implement optimization in twix add Calibration to recorded states set recording frequencies use explicit state enum calibration in twix --wip-- fix camera matrix calculator impl reset implement first iteration of ScribbleCalibrationPanel second iteration of ScribbleCameraCalibration add a single panel to work with optimization add clear button for measurements and counter improve ux by remove buttons some qol add save to head button fix saving location fix saving path reset on save and allow to draw duplicate lines remove unneeded files resolve clippy remarks fix popup wont close with click and some other smal changes fix some review comments fix optimize function temp fix for fielddimensions default (add a todo - discussion is needed) remove outdated todo clear a vector instead of replacing it with a new one make the member stroke a constant improve drawing experience revert changes to the default implementation of FieldDimensions remove unused import impl getter function for FieldDiemensions can't use constant in Testmode always compile constant SPL_2025 * clippy --------- Co-authored-by: okiwi6 <45100017+oleflb@users.noreply.github.com> Co-authored-by: schluis <luis.scheuch@posteo.de> Co-authored-by: knoellle <33729490+knoellle@users.noreply.github.com>

github-project-automation Bot added this to Development Mar 13, 2025

github-project-automation Bot moved this to Request for Review in Development Mar 13, 2025