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Calculate average reprojection error when loading SimCameraProperties #1673

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Calculate average reprojection error when loading SimCameraProperties #1673

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81d6a3b
replicate the way reprojection error is calculated in the UI for sim …
jlmcmchl Jan 2, 2025
1c5a7b0
Treat X and Y pixel noise variance independently
jlmcmchl Jan 2, 2025
cb3e9be
cleanup constructor a little bit, support fallback to perViewErrors a…
jlmcmchl Jan 2, 2025
886dbc5
deprecate loading from config file, remove avgErrorPx, revert estPixe…
jlmcmchl Jan 2, 2025
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88 changes: 34 additions & 54 deletions photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,6 @@ public class SimCameraProperties {
private int resHeight;
private Matrix<N3, N3> camIntrinsics;
private Matrix<N8, N1> distCoeffs;
private double avgErrorPx;
private double errorStdDevPx;
// performance
private double frameSpeedMs = 0;
Expand All @@ -92,72 +91,36 @@ public SimCameraProperties() {
* Reads camera properties from a photonvision <code>config.json</code> file. This is only the
* resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error.
* Other camera properties must be set.
*
* @deprecated Support for loading camera calibration has been deprecated. Please use a prebuilt camera config or the default constructor.
*
* @param path Path to the <code>config.json</code> file
* @param width The width of the desired resolution in the JSON
* @param height The height of the desired resolution in the JSON
* @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid
* calibrated resolution.
*/
@Deprecated
public SimCameraProperties(String path, int width, int height) throws IOException {
this(Path.of(path), width, height);
this();
}

/**
* Reads camera properties from a photonvision <code>config.json</code> file. This is only the
* resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error.
* Other camera properties must be set.
*
* @deprecated Support for loading camera calibration has been deprecated. Please use a prebuilt camera config or the default constructor.
*
* @param path Path to the <code>config.json</code> file
* @param width The width of the desired resolution in the JSON
* @param height The height of the desired resolution in the JSON
* @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid
* calibrated resolution.
*/
@Deprecated
public SimCameraProperties(Path path, int width, int height) throws IOException {
var mapper = new ObjectMapper();
var json = mapper.readTree(path.toFile());
json = json.get("calibrations");
boolean success = false;
try {
for (int i = 0; i < json.size() && !success; i++) {
// check if this calibration entry is our desired resolution
var calib = json.get(i);
int jsonWidth = calib.get("resolution").get("width").asInt();
int jsonHeight = calib.get("resolution").get("height").asInt();
if (jsonWidth != width || jsonHeight != height) continue;
// get the relevant calibration values
var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data");
double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()];
for (int j = 0; j < jsonIntrinsicsNode.size(); j++) {
jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble();
}
var jsonDistortNode = calib.get("distCoeffs").get("data");
double[] jsonDistortion = new double[8];
Arrays.fill(jsonDistortion, 0);
for (int j = 0; j < jsonDistortNode.size(); j++) {
jsonDistortion[j] = jsonDistortNode.get(j).asDouble();
}
var jsonViewErrors = calib.get("perViewErrors");
double jsonAvgError = 0;
for (int j = 0; j < jsonViewErrors.size(); j++) {
jsonAvgError += jsonViewErrors.get(j).asDouble();
}
jsonAvgError /= jsonViewErrors.size();
double jsonErrorStdDev = calib.get("standardDeviation").asDouble();
// assign the read JSON values to this CameraProperties
setCalibration(
jsonWidth,
jsonHeight,
MatBuilder.fill(Nat.N3(), Nat.N3(), jsonIntrinsics),
MatBuilder.fill(Nat.N8(), Nat.N1(), jsonDistortion));
setCalibError(jsonAvgError, jsonErrorStdDev);
success = true;
}
} catch (Exception e) {
throw new IOException("Invalid calibration JSON");
}
if (!success) throw new IOException("Requested resolution not found in calibration");
this();
}

public void setRandomSeed(long seed) {
Expand Down Expand Up @@ -224,8 +187,25 @@ public void setCalibration(
}
}

/**
* Assigns calibration error properties of the simulated camera.
*
* @deprecated avgErrorPx is unused and can be removed from the argument list.
*
* @param avgErrorPx Average pixel error
* @param errorStdDevPx Pixel error standard deviation
*/
@Deprecated
public void setCalibError(double avgErrorPx, double errorStdDevPx) {
this.avgErrorPx = avgErrorPx;
this.errorStdDevPx = errorStdDevPx;
}

/**
* Assigns calibration error properties of the simulated camera.
*
* @param errorStdDevPx Pixel error standard deviation
*/
public void setCalibError(double errorStdDevPx) {
this.errorStdDevPx = errorStdDevPx;
}

Expand Down Expand Up @@ -309,7 +289,7 @@ public double getLatencyStdDevMs() {
public SimCameraProperties copy() {
var newProp = new SimCameraProperties();
newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs);
newProp.setCalibError(avgErrorPx, errorStdDevPx);
newProp.setCalibError(errorStdDevPx);
newProp.setFPS(getFPS());
newProp.setExposureTimeMs(exposureTimeMs);
newProp.setAvgLatencyMs(avgLatencyMs);
Expand Down Expand Up @@ -559,13 +539,13 @@ else if (!Double.isNaN(inter1)) {

/** Returns these points after applying this camera's estimated noise. */
public Point[] estPixelNoise(Point[] points) {
if (avgErrorPx == 0 && errorStdDevPx == 0) return points;
if (errorStdDevPx == 0) return points;

Point[] noisyPts = new Point[points.length];
for (int i = 0; i < points.length; i++) {
var p = points[i];
// error pixels in random direction
double error = avgErrorPx + rand.nextGaussian() * errorStdDevPx;
double error = rand.nextGaussian() * errorStdDevPx;
double errorAngle = rand.nextDouble() * 2 * Math.PI - Math.PI;
noisyPts[i] =
new Point(p.x + error * Math.cos(errorAngle), p.y + error * Math.sin(errorAngle));
Expand Down Expand Up @@ -622,7 +602,7 @@ public static SimCameraProperties PI4_LIFECAM_320_240() {
0,
0,
0));
prop.setCalibError(0.21, 0.0124);
prop.setCalibError(0.0124);
prop.setFPS(30);
prop.setAvgLatencyMs(30);
prop.setLatencyStdDevMs(10);
Expand Down Expand Up @@ -656,7 +636,7 @@ public static SimCameraProperties PI4_LIFECAM_640_480() {
0,
0,
0));
prop.setCalibError(0.26, 0.046);
prop.setCalibError(0.046);
prop.setFPS(15);
prop.setAvgLatencyMs(65);
prop.setLatencyStdDevMs(15);
Expand Down Expand Up @@ -689,7 +669,7 @@ public static SimCameraProperties LL2_640_480() {
0,
0,
0));
prop.setCalibError(0.25, 0.05);
prop.setCalibError(0.05);
prop.setFPS(15);
prop.setAvgLatencyMs(35);
prop.setLatencyStdDevMs(8);
Expand Down Expand Up @@ -723,7 +703,7 @@ public static SimCameraProperties LL2_960_720() {
0,
0,
0));
prop.setCalibError(0.35, 0.10);
prop.setCalibError(0.10);
prop.setFPS(10);
prop.setAvgLatencyMs(50);
prop.setLatencyStdDevMs(15);
Expand Down Expand Up @@ -757,7 +737,7 @@ public static SimCameraProperties LL2_1280_720() {
0,
0,
0));
prop.setCalibError(0.37, 0.06);
prop.setCalibError(0.06);
prop.setFPS(7);
prop.setAvgLatencyMs(60);
prop.setLatencyStdDevMs(20);
Expand Down
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