Implement Storage of Field Coordinates in Binary File per Pixel

[DXM123]

Description

The objective is to enhance the binary file structure used in our calibration process to include the storage of Field.X and Field.Y coordinates for each pixel. Additionally, the inclusion of angle and elevation data is required. This enhancement aims to improve the accuracy and usability of the calibration data for more complex processing tasks.

Tasks

• Modifying the Binary File Structure: Update the binary file structure to accommodate the storage of X, Y coordinates, angle, and elevation for each pixel.
• Implementing Coordinate Calculation: Develop a method to calculate and assign the correct Field coordinates to each pixel during the calibration process. This involves mathematical models to translate camera coordinates to field coordinates.
• Ensuring Data Integrity: Ensure that the new data structure maintains integrity and does not adversely affect the existing functionality of the tool.
• Add Testing Capabilities: Implement testing procedures to validate the integrity and correctness of the binary file structure and its contents.

Expected Outcomes

• The binary file structure is successfully enhanced to include Field.X and Field.Y coordinates, along with angle and elevation data for each pixel.
• The updated structure maintains compatibility with existing systems that rely on binary file outputs.
• Implementation does not result in any loss of performance or accuracy.
• Comprehensive tests confirm the accuracy of the stored data and the performance of the updated tool.

Acceptance Criteria

• Field Coordinates: Field.X and Field.Y coordinates are correctly calculated and stored in the binary file.
• Orientation Data: Angle and Elevation for each pixel are correctly calculated and stored.
• Compatibility and Integrity: The updated binary file structure is fully compatible with existing systems and maintains data integrity.
• Performance: There is no discernible loss in performance or accuracy due to the implementation of the new data structure.

Implementation Steps

1. Design Phase: Define the new binary file format, detailing the addition of Field.X, Field.Y, angle, and elevation data.
2. Development Phase: Implement the changes in the file structure and the coordinate calculation methodology.
3. Testing Phase: Develop and run tests to ensure that the new structure works as expected and integrates seamlessly with existing functionalities.
4. Documentation: Update the system documentation to reflect changes in the binary file format and provide guidelines on how to handle the new format.

Additional Notes

• Attention should be given to the efficiency of the data storage format to avoid unnecessary bloat or performance degradation.
• Vision Team feedback should be sought throughout the development process to ensure the changes meet all user and system requirements.

Questions & Discussion Points

• Are there specific performance benchmarks we need to meet with the new binary file format?
• How can we ensure that the new format will be seamlessly integrated?

Your participation and feedback are crucial for the successful enhancement of our binary file structure. Please share your thoughts, concerns, or any additional ideas regarding this proposal.

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By enhancing the binary file structure to include comprehensive coordinate and orientation data, we aim to significantly improve the precision and utility of our calibration tool, aligning with advanced processing and analysis needs.

[DXM123]

Hints: FloorMaps and FrontMaps

https://git.falcons-robocup.nl/falcons/code/-/blob/master/tools/multiCamCalibrate/src/optiCal.cpp?ref_type=heads

[DXM123]

Giriraj is looking at this

[DXM123]

Added a basic Lookup Table (LUT) and queryLUT test script to query the .bin file generated. Still rough and needs fine tuning

[DXM123]

The LUT is now working for X, Y. Verify functions is showing the correct warped coordinates.

Angle and Elevation needs to be added