DEV: Accuracy and Repeatability Testers (#79)

* DEV: Accuracy and Repeatability Testers, Data Collection

---------

Co-authored-by: Zhou <[email protected]>
Co-authored-by: Thomas Vaughan <[email protected]>

Author: 3 people

data/slicer_test_config_1.json

@@ -0,0 +1,128 @@
+{
+  "startup_mode": "detecting_and_solving",
+  "detectors": [
+    {
+      "label": "d101",
+      "ip_address": "192.168.0.101",
+      "port": 8001,
+      "camera_parameters": [
+        {
+          "key": "FramesPerSecond",
+          "value": 30.0
+        },
+        {
+          "key": "Gain",
+          "value": 16.0
+        },
+        {
+          "key": "AutoExposureGain",
+          "value": false
+        },
+        {
+          "key": "Exposure (us)",
+          "value": 2000
+        },
+        {
+          "key": "Brightness",
+          "value": 0.1
+        },
+        {
+          "key": "Contrast",
+          "value": 1.0
+        },
+        {
+          "key": "Sharpness",
+          "value": 1.0
+        }
+      ],
+      "marker_parameters": [
+        {
+          "key": "cornerRefinementMethod",
+          "value": "SUBPIX"
+        }
+      ],
+      "fixed_transform_to_reference":
+      {
+        "values": [
+          -0.17424811713221883,
+          -0.5384339232294528,
+          0.8244552771324932,
+          647.8448669433594,
+          0.9793105594802856,
+          -0.007264050200192773,
+          0.20223269188016801,
+          319.42423782348635,
+          -0.10290005717338768,
+          0.8426364244977953,
+          0.528559773671138,
+          374.32372589111327,
+          0.0,
+          0.0,
+          0.0,
+          1.0
+      ]
+      }
+    },
+    {
+      "label": "d102",
+      "ip_address": "192.168.0.102",
+      "port": 8001,
+      "camera_parameters": [
+        {
+          "key": "FramesPerSecond",
+          "value": 30.0
+        },
+        {
+          "key": "Gain",
+          "value": 16.0
+        },
+        {
+          "key": "AutoExposureGain",
+          "value": false
+        },
+        {
+          "key": "Exposure (us)",
+          "value": 2000
+        },
+        {
+          "key": "Brightness",
+          "value": 0.1
+        },
+        {
+          "key": "Contrast",
+          "value": 1.0
+        },
+        {
+          "key": "Sharpness",
+          "value": 1.0
+        }
+      ],
+      "marker_parameters": [
+        {
+          "key": "cornerRefinementMethod",
+          "value": "SUBPIX"
+        }
+      ],
+      "fixed_transform_to_reference": {
+        "values": [
+          0.1808964725570389,
+          -0.520314593131516,
+          0.8345952254780791,
+          635.3875076293946,
+          0.9716493259091376,
+          -0.03680026542350834,
+          -0.23354513038185565,
+          -145.30454483032227,
+          0.1522302653112682,
+          0.8531813785117115,
+          0.49890628547264915,
+          346.73107986450196,
+          0.0,
+          0.0,
+          0.0,
+          1.0
+      ]
+      }
+    }
+  ]
+}

src/board_builder/README_data_files.txt

@@ -0,0 +1,14 @@
+Here is an organisation of where all the collected data is stored:
+
+board_builder/data_recording.json:
+This is where all the data_recording is collected. It is refreshed for each new run i.e. when a new BoardBuilder() is created.
+self._write_detector_data_to_recording_file in BoardBuilder does that, but it is commented out for now as it slows down the GUI writing to the file each frame
+
+board_builder/test/accuracy/accuracy_test_results:
+Stores information related to the accuracy tester such as RMS, parameters, projected frames, etc.
+
+board_builder/test/repeatability/collected_data:
+Data about the predicted board collected during in-lab experiment that will be used for repeatability testing
+
+board_builder/test/repeatability/repeatability_test_results:
+Stores information related to the repeatability tester such as mean, standard deviation, mean/reference corners, etc.

src/board_builder/__init__.py

@@ -1,3 +1 @@
 from .board_builder import BoardBuilder
-from .structures.pose_location import PoseLocation
-from .utils.board_builder_pose_solver import BoardBuilderPoseSolver