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closed form constrained solvepnp #1826

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@mcm001 mcm001 commented Mar 20, 2025 •
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To test this:

./gradlew photon-lib:test -i --tests=*meme  --debug-jvm

Will produce some prints in stdout like:

PhotonPoseEstimatorTest > meme() STANDARD_OUT
    {"cameraCal":[599.375,599.1666666666669,479.5,359.5],"field2points":{"data":[3.6576,3.6576,3.6576,3.6576,4.002415602917594,4.145396397082404,4.145396397082404,4.002415602917594,6.070092,5.904991999999999,5.904991999999999,6.070092,4.145396397082404,4.002415602917594,4.002415602917594,4.145396397082404,8.313547,8.313547,8.230996999999999,8.230996999999999,8.313547,8.313547,8.230996999999999,8.230996999999999,12.227305999999999,12.227305999999999,12.227305999999999,12.227305999999999,4.10845,3.94335,3.94335,4.10845,3.347593,3.2650429999999995,3.2650429999999995,3.347593,-0.0038099999999999996,-0.0038099999999999996,-0.0038099999999999996,-0.0038099999999999996,4.786757,4.704207,4.704207,4.786757,1.997456,1.832356,1.832356,1.997456,6.220206,6.055105999999999,6.055105999999999,6.220206,4.10845,3.94335,3.94335,4.10845,0.22555199999999997,0.22555199999999997,0.390652,0.390652,0.22555199999999997,0.22555199999999997,0.390652,0.390652,1.2191999999999998,1.2191999999999998,1.3843,1.3843,0.22555199999999997,0.22555199999999997,0.390652,0.390652,1.7964256029175947,1.7964256029175947,1.9394063970824056,1.9394063970824056,1.7964256029175947,1.7964256029175947,1.9394063970824056,1.9394063970824056,0.22555199999999997,0.22555199999999997,0.390652,0.390652,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0],"numRows":4,"numCols":28,"type":"DDRM","2DData":[[3.6576,3.6576,3.6576,3.6576,4.002415602917594,4.145396397082404,4.145396397082404,4.002415602917594,6.070092,5.904991999999999,5.904991999999999,6.070092,4.145396397082404,4.002415602917594,4.002415602917594,4.145396397082404,8.313547,8.313547,8.230996999999999,8.230996999999999,8.313547,8.313547,8.230996999999999,8.230996999999999,12.227305999999999,12.227305999999999,12.227305999999999,12.227305999999999],[4.10845,3.94335,3.94335,4.10845,3.347593,3.2650429999999995,3.2650429999999995,3.347593,-0.0038099999999999996,-0.0038099999999999996,-0.0038099999999999996,-0.0038099999999999996,4.786757,4.704207,4.704207,4.786757,1.997456,1.832356,1.832356,1.997456,6.220206,6.055105999999999,6.055105999999999,6.220206,4.10845,3.94335,3.94335,4.10845],[0.22555199999999997,0.22555199999999997,0.390652,0.390652,0.22555199999999997,0.22555199999999997,0.390652,0.390652,1.2191999999999998,1.2191999999999998,1.3843,1.3843,0.22555199999999997,0.22555199999999997,0.390652,0.390652,1.7964256029175947,1.7964256029175947,1.9394063970824056,1.9394063970824056,1.7964256029175947,1.7964256029175947,1.9394063970824056,1.9394063970824056,0.22555199999999997,0.22555199999999997,0.390652,0.390652],[1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0]],"numElements":112},"point_observations":{"data":[401.3559265136719,434.6202697753906,434.3583984375,400.89996337890625,546.8855590820312,558.4163818359375,558.81201171875,547.2379150390625,903.0679931640625,916.6886596679688,918.1712646484375,904.4595336914062,294.8089599609375,301.8063659667969,300.87725830078125,293.8831481933594,618.2979736328125,631.5966186523438,633.6064453125,620.1320190429688,278.15863037109375,291.457275390625,288.9725036621094,275.49810791015625,459.28125,467.887939453125,467.8704833984375,459.2508544921875,352.1061096191406,352.1061096191406,318.7993469238281,318.7993469238281,346.3612365722656,344.3131103515625,315.6606140136719,316.48504638671875,214.31024169921875,211.6664581298828,191.83242797851562,195.1048583984375,344.3131103515625,346.3612365722656,316.48504638671875,315.6606140136719,191.5602264404297,191.5602264404297,178.44384765625,178.44384765625,191.5602264404297,191.5602264404297,178.44384765625,178.44384765625,310.9059143066406,310.9059143066406,302.263427734375,302.263427734375],"numRows":2,"numCols":28,"type":"DDRM","2DData":[[401.3559265136719,434.6202697753906,434.3583984375,400.89996337890625,546.8855590820312,558.4163818359375,558.81201171875,547.2379150390625,903.0679931640625,916.6886596679688,918.1712646484375,904.4595336914062,294.8089599609375,301.8063659667969,300.87725830078125,293.8831481933594,618.2979736328125,631.5966186523438,633.6064453125,620.1320190429688,278.15863037109375,291.457275390625,288.9725036621094,275.49810791015625,459.28125,467.887939453125,467.8704833984375,459.2508544921875],[352.1061096191406,352.1061096191406,318.7993469238281,318.7993469238281,346.3612365722656,344.3131103515625,315.6606140136719,316.48504638671875,214.31024169921875,211.6664581298828,191.83242797851562,195.1048583984375,344.3131103515625,346.3612365722656,316.48504638671875,315.6606140136719,191.5602264404297,191.5602264404297,178.44384765625,178.44384765625,191.5602264404297,191.5602264404297,178.44384765625,178.44384765625,310.9059143066406,310.9059143066406,302.263427734375,302.263427734375]],"numElements":56}}
    DebugData [cameraCal=[599.375, 599.1666666666669, 479.5, 359.5], field2points=Type = DDRM , rows = 4 , cols = 28
     3.6576E+00  3.6576E+00  3.6576E+00  3.6576E+00  4.0024E+00  4.1454E+00  4.1454E+00  4.0024E+00  6.0701E+00  5.9050E+00  5.9050E+00  6.0701E+00  4.1454E+00  4.0024E+00  4.0024E+00  4.1454E+00  8.3135E+00  8.3135E+00  8.2310E+00  8.2310E+00  8.3135E+00  8.3135E+00  8.2310E+00  8.2310E+00  1.2227E+01  1.2227E+01  1.2227E+01  1.2227E+01 
     4.1085E+00  3.9434E+00  3.9434E+00  4.1085E+00  3.3476E+00  3.2650E+00  3.2650E+00  3.3476E+00 -3.8100E-03 -3.8100E-03 -3.8100E-03 -3.8100E-03  4.7868E+00  4.7042E+00  4.7042E+00  4.7868E+00  1.9975E+00  1.8324E+00  1.8324E+00  1.9975E+00  6.2202E+00  6.0551E+00  6.0551E+00  6.2202E+00  4.1085E+00  3.9434E+00  3.9434E+00  4.1085E+00 
     2.2555E-01  2.2555E-01  3.9065E-01  3.9065E-01  2.2555E-01  2.2555E-01  3.9065E-01  3.9065E-01  1.2192E+00  1.2192E+00  1.3843E+00  1.3843E+00  2.2555E-01  2.2555E-01  3.9065E-01  3.9065E-01  1.7964E+00  1.7964E+00  1.9394E+00  1.9394E+00  1.7964E+00  1.7964E+00  1.9394E+00  1.9394E+00  2.2555E-01  2.2555E-01  3.9065E-01  3.9065E-01 
     1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00  1.0000E+00 
    , point_observations=Type = DDRM , rows = 2 , cols = 28
     4.0136E+02  4.3462E+02  4.3436E+02  4.0090E+02  5.4689E+02  5.5842E+02  5.5881E+02  5.4724E+02  9.0307E+02  9.1669E+02  9.1817E+02  9.0446E+02  2.9481E+02  3.0181E+02  3.0088E+02  2.9388E+02  6.1830E+02  6.3160E+02  6.3361E+02  6.2013E+02  2.7816E+02  2.9146E+02  2.8897E+02  2.7550E+02  4.5928E+02  4.6789E+02  4.6787E+02  4.5925E+02 
     3.5211E+02  3.5211E+02  3.1880E+02  3.1880E+02  3.4636E+02  3.4431E+02  3.1566E+02  3.1649E+02  2.1431E+02  2.1167E+02  1.9183E+02  1.9510E+02  3.4431E+02  3.4636E+02  3.1649E+02  3.1566E+02  1.9156E+02  1.9156E+02  1.7844E+02  1.7844E+02  1.9156E+02  1.9156E+02  1.7844E+02  1.7844E+02  3.1091E+02  3.1091E+02  3.0226E+02  3.0226E+02 
    ]
    Ground truth field2robot:
    {"data":[1.0,0.0,0.0,1.0,0.0,1.0,0.0,4.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0],"numRows":4,"numCols":4,"type":"DDRM","2DData":[[1.0,0.0,0.0,1.0],[0.0,1.0,0.0,4.0],[0.0,0.0,1.0,0.0],[0.0,0.0,0.0,1.0]],"numElements":16}
    Ground truth robot2camera:
    {"data":[0.9945218953682733,0.0,0.10452846326765347,-0.30479999999999996,0.0,1.0,0.0,-0.2794,-0.10452846326765347,0.0,0.9945218953682733,0.5,0.0,0.0,0.0,1.0],"numRows":4,"numCols":4,"type":"DDRM","2DData":[[0.9945218953682733,0.0,0.10452846326765347,-0.30479999999999996],[0.0,1.0,0.0,-0.2794],[-0.10452846326765347,0.0,0.9945218953682733,0.5],[0.0,0.0,0.0,1.0]],"numElements":16}

Description

Meta

Merge checklist:

  • Pull Request title is short, imperative summary of proposed changes
  • The description documents the what and why
  • If this PR changes behavior or adds a feature, user documentation is updated
  • If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
  • If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
  • If this PR addresses a bug, a regression test for it is added

@mcm001 mcm001 requested a review from a team as a code owner March 20, 2025 02:44
@mcm001 mcm001 marked this pull request as draft March 20, 2025 02:44
@mcm001 mcm001 force-pushed the closed-form-constrained-solvepnp branch from 5cd181f to 01eca84 Compare April 1, 2025 04:05
@mcm001 mcm001 force-pushed the closed-form-constrained-solvepnp branch from 01eca84 to fb61381 Compare April 1, 2025 04:05
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