mzxwww
19ac43da6f
- pose_test: verify the geometry chain (4 corners -> distance/yaw/pitch)
before any detector exists; modes: camera + mouse clicks, --image,
--corners (headless), --selftest (synthetic round-trip, no camera needed)
- solvePose: undistort corners first, then solvePnPGeneric(IPPE) and pick
the best candidate; reject solutions behind the camera (z<=0) or with
reprojection error > 8px
- fixes IPPE + distortion + in-plane rotation returning garbage
- 4 coplanar points: cyclic/mirrored orderings give the same quad and
the same pose (harmless); crossing orderings blow up reprojection
and are rejected
- camera_set: implement setAeState/setExposureTime/setAnalogGain(+-Times)/
setWbMode/setFrameSpeed; configs/camera_runtime.yaml drives them
- selftest passes all 6 synthetic cases; verified on 6 real photos
(chessboard outer rect 180x120mm): distance 0.44-0.69m, reproj <2.5px
56 lines
2.1 KiB
Lua
56 lines
2.1 KiB
Lua
add_rules("mode.debug", "mode.release")
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set_policy("generator.compile_commands", true)
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set_languages("c++17")
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-- 公共依赖：OpenCV + MindVision 相机 SDK
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local ROOT = os.scriptdir()
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rule("rm_deps")
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on_load(function (target)
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target:add("includedirs", ROOT .. "/inc")
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target:add("includedirs", "/usr/local/include/opencv4")
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target:add("includedirs", "/home/mzxiang/MindVisionSDK/include")
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target:add("linkdirs", "/usr/local/lib")
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target:add("linkdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
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target:add("rpathdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
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target:add("links", "opencv_core", "opencv_imgproc", "opencv_highgui",
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"opencv_imgcodecs", "opencv_videoio", "opencv_calib3d",
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"MVSDK")
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end)
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rule_end()
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-- 主程序（自瞄本体）
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target("27RM")
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add_rules("rm_deps")
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set_kind("binary")
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-- 各工具有自己的 main 函数，从主程序中排除
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add_files("src/*.cpp")
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remove_files("src/capture_calib.cpp")
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remove_files("src/calibrate.cpp")
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remove_files("src/pose_test.cpp")
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-- 标定图采集工具
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-- ./build/linux/x86_64/debug/capture_calib （MindVision 相机）
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-- ./build/linux/x86_64/debug/capture_calib --usb 0 （USB 摄像头）
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target("capture_calib")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/capture_calib.cpp", "src/camera_set.cpp")
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-- 标定计算工具（读 calib_images/ 算出内参，存 camera_calib.yml）
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target("calibrate")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/calibrate.cpp")
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-- 几何链路验证工具（4 角点 → PnP → 距离/yaw/pitch）
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-- ./build/linux/x86_64/debug/pose_test （相机 + 鼠标点角）
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-- ./build/linux/x86_64/debug/pose_test --selftest （合成自检，无需相机）
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-- ./build/linux/x86_64/debug/pose_test --image x.jpg --corners x1,y1 x2,y2 x3,y3 x4,y4
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target("pose_test")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/pose_test.cpp", "src/camera_calib.cpp", "src/camera_set.cpp")
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