Semi-Automatic Camera Calibration

[paudar]

Why? What?

Implement a new Twix-Panel for semi-automatic camera calibration.
Workflow:

• Start calibration mode of the nao
• move the head in desired position
• use the new panel to draw the field-lines
  • primary click to set the start point of a line
  • primary click to set the end point of a line
  • a pop-up appears to select the drawn line (goal-line, penalty-front, penalty-left, ...)
• repeat the process for at least two lines (in best case for all visual lines)
• A keypoint of a line can be moved by clicking it again
• while moving a line, pressing esc removes it
• if you are satisfied, click "next"
  • all lines are saved with den current camera_matrix and the lines disappear
  • an optimizer is called and provides the new calibration
  • in an image panel the overlay "penalty boxes" can provide a base to judge how well the calibration already is
• move the head in a new position and repeat the process

Ideas for Next Iterations (Not This PR)

• rotate the text label of a line with the line
• impl navigation with arrow keys in the pop-up
• be able to accept detected lines
• don't rely on ground-to-field

How to Test

Take a nao and try to follow the workflow described above.

[knoellle]

This may be good for your test, but I'm not sure we want this.
People may be tempted to use this default instead of acquiring the actual values from the configuration file.
What do you think?

[oleflb]

added #[cfg(test)] since that's what I need it for. What do you think of this?

[paudar]

Now we can't definde the default for SimulatorFieldDimensions, that is used some times in the bevyhavior simulator.

[knoellle]

I was arguing for keeping the derived Default impl which just fills all the values with 0.
It may still be misused this way, but its much more likely to be noticed than if the implementation returns the standard SPL field dimensions.