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OpenGolfSim integration and Camera Saturation changes #174

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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -98,3 +98,4 @@ Software/GroundTruthAnnotator/yolo/labels/*.cache
# Dev scripts cache
Dev/scripts/__pycache__
packaging/pitrac
*.save
162 changes: 28 additions & 134 deletions Software/LMSourceCode/ImageProcessing/golf_sim_config.json
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@
"kUseBestCircleRefinement": "0",
"kUseCLAHEProcessing": "1",
"kUseDynamicRadiiAdjustment": "0",
"kImageTypeToProcessWithYOLO": "1"
"kImageTypeToProcessWithYOLO": "1"
},
"ball_position": {
"kExpectedBallRadiusPixelsAt40cm": "87",
Expand Down Expand Up @@ -173,37 +173,17 @@
"0.481"
],
"kCalibrationRigType": "1",
"kCustomCalibrationRigPositionFromCamera1": [
-0.12,
-0.28,
0.44
],
"kCustomCalibrationRigPositionFromCamera2": [
"0.00",
"0.095",
"0.435"
],
"kCustomCalibrationRigPositionFromCamera1": [-0.12, -0.28, 0.44],
"kCustomCalibrationRigPositionFromCamera2": ["0.00", "0.095", "0.435"],
"kNumberOfCalibrationFailuresToTolerate": "4",
"kNumberPicturesForFocalLengthAverage": "6",
"kTestAutoCalibrationFileName": "/usr/share/pitrac/calibration/checkerboard.png"
},
"cameras": {
"3_6Lens_kCamera1CalibrationMatrix": [
[
"1748.506644661262953",
"0.0",
"632.5374407393054526"
],
[
"0.0",
"1743.341748687922745",
"407.5677927449370941"
],
[
"0.0",
"0.0",
"1.0"
]
["1748.506644661262953", "0.0", "632.5374407393054526"],
["0.0", "1743.341748687922745", "407.5677927449370941"],
["0.0", "0.0", "1.0"]
],
"3_6Lens_kCamera1DistortionVector": [
"-0.5323350228082535107",
Expand All @@ -213,21 +193,9 @@
"0.0"
],
"3_6Lens_kCamera2CalibrationMatrix": [
[
"1065.366451276604266",
"0.0",
"715.3187116996945178"
],
[
"0.0",
"1068.642040947899886",
"509.4612905764302582"
],
[
"0.0",
"0.0",
"1.0"
]
["1065.366451276604266", "0.0", "715.3187116996945178"],
["0.0", "1068.642040947899886", "509.4612905764302582"],
["0.0", "0.0", "1.0"]
],
"3_6Lens_kCamera2DistortionVector": [
"-0.4854175692996230418",
Expand All @@ -246,26 +214,11 @@
"0.095",
"0.435"
],
"kCamera1Angles": [
18.7191101,
-24.17996647
],
"kCamera1Angles": [18.7191101, -24.17996647],
"kCamera1CalibrationMatrix": [
[
"1833.5291988027575",
"0.0",
"697.2791579239232"
],
[
"0.0",
"1832.2499845181273",
"513.0904087097207"
],
[
"0.0",
"0.0",
"1.0"
]
["1833.5291988027575", "0.0", "697.2791579239232"],
["0.0", "1832.2499845181273", "513.0904087097207"],
["0.0", "0.0", "1.0"]
],
"kCamera1Contrast": "1.0",
"kCamera1DistortionVector": [
Expand All @@ -279,35 +232,16 @@
"kCamera1Gain": "2",
"kCamera1Saturation": "1",
"kCamera1HighFPSGain": "15.0",
"kCamera1PositionsFromExpectedBallMeters": [
"-0.200",
"-0.234",
"0.54"
],
"kCamera1PositionsFromExpectedBallMeters": ["-0.200", "-0.234", "0.54"],
"kCamera1StillShutterTimeuS": "40000",
"kCamera1XOffsetForTilt": "0",
"kCamera1YOffsetForTilt": "0",
"kCamera2Angles": [
-2.063732969,
3.830271852
],
"kCamera2Angles": [-2.063732969, 3.830271852],
"kCamera2CalibrateOrLocationGain": "1.0",
"kCamera2CalibrationMatrix": [
[
"2340.2520648903665",
"0.0",
"698.4611375636877"
],
[
"0.0",
"2318.2676880118993",
"462.7245851119162"
],
[
"0.0",
"0.0",
"1.0"
]
["2340.2520648903665", "0.0", "698.4611375636877"],
["0.0", "2318.2676880118993", "462.7245851119162"],
["0.0", "0.0", "1.0"]
],
"kCamera2ComparisonGain": "0.8",
"kCamera2Contrast": "1.2",
Expand All @@ -321,16 +255,8 @@
"kCamera2FocalLength": "5.903208539",
"kCamera2Gain": "6.0",
"kCamera2Saturation": "1",
"kCamera2OffsetFromCamera1OriginMeters": [
"0.00",
"-0.19",
"0.0"
],
"kCamera2PositionsFromExpectedBallMeters": [
"0.0",
"-0.051",
"0.45"
],
"kCamera2OffsetFromCamera1OriginMeters": ["0.00", "-0.19", "0.0"],
"kCamera2PositionsFromExpectedBallMeters": ["0.0", "-0.051", "0.45"],
"kCamera2PuttingContrast": "1.2",
"kCamera2PuttingGain": "4.0",
"kCamera2StillShutterTimeuS": "15000",
Expand All @@ -355,6 +281,10 @@
"GSPro": {
"kGSProConnectPort": "921"
},
"OpenGolfSim": {
"kOGSConnectAddress": "",
"kOGSConnectPort": "3111"
},
"kLaunchMonitorIdString": "PiTrac LM 0.1",
"kSkipSpinCalculation": "0",
"kWriteSpinAnalysisCsvFiles": "1"
Expand Down Expand Up @@ -412,24 +342,10 @@
"kCam2SetupPeriodMilliseconds": "2000",
"kConnectionBoardVersion": "2",
"kEnclosureVersion": "2",
"kDynamicFollowOnPulseVectorPutter": [
444.0
],
"kDynamicFollowOnPulseVectorPutter": [444.0],
"kLastPulsePutterRepeats": "0",
"kLongerStrobePulseVectorDriver": [
0.175,
0.7,
1.4,
2.45,
1.26,
2.8,
2.1,
3.15,
3.85,
3.85,
10.4,
3.5,
0
0.175, 0.7, 1.4, 2.45, 1.26, 2.8, 2.1, 3.15, 3.85, 3.85, 10.4, 3.5, 0
],
"kNumberPrimingPulses": "12",
"kPauseAfterSendingPreImageTriggerMs": "2000",
Expand All @@ -443,31 +359,9 @@
"kPuttingBallSpeedSlowdownPercentage": "5.2",
"kPuttingStrobeDelayMs": "50",
"kStandardBallSpeedSlowdownPercentage": "0.1",
"kStrobePulseVectorDriver": [
0.7,
1.8,
3.0,
2.2,
3.0,
7.1,
4.0,
4.0,
0
],
"kStrobePulseVectorDriver": [0.7, 1.8, 3.0, 2.2, 3.0, 7.1, 4.0, 4.0, 0],
"kStrobePulseVectorPutter": [
2.5,
5.0,
8.0,
10.5,
8.5,
21.0,
21.0,
21.0,
21.0,
21.0,
21.0,
21.0,
0
2.5, 5.0, 8.0, 10.5, 8.5, 21.0, 21.0, 21.0, 21.0, 21.0, 21.0, 21.0, 0
],
"number_bits_for_fast_on_pulse_": "2",
"number_bits_for_slow_on_pulse_": "8"
Expand Down
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