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Wip/bundle adjustment #76

Merged
merged 51 commits into from
Aug 1, 2024
Merged

Wip/bundle adjustment #76

merged 51 commits into from
Aug 1, 2024

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hannalee2
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Major Updates:

  1. Bundle Adjustment implemented using optimization from the SciPy library (TODO: Increase precision).
    • usage: python -m parallax -b
  2. Reticle detection now uses tick marks from -10 to 10 (previously: -15 to 15) for better reticle detection.
  3. Bug Fix:
    • Problem: Selecting the positive x-axis gave an incorrect reprojection point.
    • Fix: Updated the camera intrinsic model after accepting the positive x-axis input from the user.

hannalee2 added 30 commits May 31, 2024 11:50
@hannalee2
Add bundle adjustment option as an argument and register to the model
7f2bef8
@hannalee2
impletmented all probe detection for bundle adjustment
13483ce
@hannalee2
Merge remote-tracking branch 'origin/main' into wip/bundle-adjustment
2e31756
@hannalee2
update the release version
776873e
@hannalee2
Save the camera position (all pairs) in the log.
a941312
@hannalee2
Add debug msg
aa4fb11
@hannalee2
Merge branch 'main' into wip/bundle-adjustment
1ff5b16
@hannalee2
Save filtered points in csv file
d6925c8
@hannalee2
Change the function name
0620714
@hannalee2
Changed the function names
fbd1220
@hannalee2
pyceres library included on dependency
4039445
@hannalee2
Added Bundle Adjustment class
10adec2
@hannalee2
Add bundle adjust call function for camera calibration
e382aeb
@hannalee2
Merge branch 'main' into wip/bundle-adjustment
5f02752
@hannalee2
Update release version
1c8ffc7
@hannalee2
Reticle Detection uses 10 tick marks
b45fd92
@hannalee2
Change the tip color to red
fe15f7b
@hannalee2
Implemented tip detection offset (not used)
ebcaa14
@hannalee2
Detect probe tip when probe is not moving
c8a27f6
@hannalee2
update intrinsic matrix for test
494e096
@hannalee2
Update probe calib data when it is stopped
471a9a1
@hannalee2
Update the comments
d7a0e24
@hannalee2
Update probe calib info when it is stopped. During the probe calib, s…
fb36a77 
…et the low freq to high freq.
@hannalee2
Resolve conflicts
bebe4bc
@hannalee2
Change the filename for the screenshot for debug
9f33371
@hannalee2
Change to low freq mode in probe detection 0.3 secs later after there…
a3048ad 
… is no movement.
@hannalee2
Detect probe tips on multiple cameras when the bundle adjustment feat…
ebbf674 
…ure is on
@hannalee2
Update camera intrinsic
c95c000
@hannalee2
Remove not used debug msg
975bc46
@hannalee2
Send the rvecs tvecs of camera as instrinsic parameters.
aba144d
hannalee2 added 19 commits July 22, 2024 12:58
@hannalee2
Add scaling factor in x, y, z axis of local coordinates during the tr…
f7f16bb 
…ansformation.
@hannalee2
bugfix: updated probe calib info on switching stages
e110c7b
@hannalee2
Success criteria (travelled z axis) in the probe calibration is tight…
fb1a285 
…ened since it uses scale factor
@hannalee2
Change the remove_noise() criteria.
984c4f0
@hannalee2
Cahnge the removing noise criteria
0b92b37
@hannalee2
Change the log level to Warning
b661787
@hannalee2
Change debug msg
053aaea
@hannalee2
Bugfix: probe calib disconnected on default status
2d8bbc3
@hannalee2
Implemented basic class for the BAL problem and opmizer
5b8a0ed
@hannalee2
Debug level changed
a2c93fa
@hannalee2
Bugfix BA. Set camera intrinsic from model. Remove hard-coded test code.
c4361ab
@hannalee2
Save optimized 3D points in csv
f26a307
@hannalee2
Bugfix) Enable sorting of reticle points only when run_axis_filter mode
69b646a
@hannalee2
Change logger level
d30f4d0
@hannalee2
BugFix) Select pos-x axis gave incorrect reprojection point. Fix) Upd…
5bcd953 
…ated camera intrinsic into model after acceptingpos-x from the user
@hannalee2
Remove duplicate info before saving to csv. Reason: If stage stops at…
f396e20 
… the certain location, this point have large weights.
@hannalee2
Remove debug print msg
f9b78e1
@hannalee2
Duplicate check added camera pair info for the multi camera implement…
7cb195e 
…ation.
@hannalee2
Save transM into CSV file. BA process changed
29ff585
jsiegle
jsiegle reviewed Jul 31, 2024
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parallax/bundle_adjustmnet.py Outdated
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Fix typo in file name

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Fixed typo.
Thanks for catching this!

pyproject.toml Outdated
@@ -26,7 +26,8 @@ dependencies = [
"pandas",
"scikit-image",
"requests",
"scikit-learn"
"scikit-learn",
"pyceres"
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Is pyceres dependency still needed?

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Removed pyceres from the dependencies.

@jsiegle jsiegle merged commit eb2e117 into main Aug 1, 2024
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2 participants
@hannalee2 @jsiegle