feat: field map calibration stage 1 - #241
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Admin page at /admin/field-map-calibration walks through a 4-click corner calibration, derives a pure-TS homography, and renders a 1-metre grid, coordinate axes, and a fixed robot pose at (2, 2, 0 deg) as a visual sanity check. - homography.ts: 4-point DLT solver with Gaussian elimination (no deps); includes isCalibrationWellFormed to reject colinear/too-close/bowtie quads before feeding the solver. - fieldConstants.ts, FieldCalibration type, and rb.ts helpers (getFieldCalibration returns null on 404; saveFieldCalibration throws on non-OK). - FieldCalibrationOverlay renders the field image + normalized 0..1 SVG overlay; clicks land in normalized image coords directly. - Calibration page with state machine, Reset/Save/Verify buttons. Verify button prints round-trip deltas in mm so numerical issues surface before Stage 2 telemetry playback hits them. - Colour-blind-friendly palette (Paul Tol Bright), dual-encoded with shape and stroke width; dark-mode overrides. - Admin-menu entry and docs/field-map-calibration.md design doc.
The corner-click workflow was unclear — the first-corner instruction
only appeared once the user pressed Start, and driver-station-relative
language was missing.
- Persistent 4-row corner table above the overlay shows all four
corners with alliance badges, driver-station-relative headings, and
plain-language hints ("bottom-left of the field image"), visible
from the moment the page loads.
- Each row shows its status: a green check after it's been clicked,
an accent-highlighted arrow for the row you're expected to click
next, a dot otherwise.
- phaseHint now leads with the next corner's description in both
idle and picking phases, so the admin always knows what corner A is
before pressing Start.
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Admin page at
/admin/field-map-calibrationwalks through a 4-click corner calibration, derives a pure-TS homography, and renders a 1-metre grid, coordinate axes, and a fixed robot pose at (2, 2, 0°) as a visual sanity check.What's included
app/common/field/homography.ts): 4-point DLT solver with Gaussian elimination (no external deps).isCalibrationWellFormedrejects colinear/too-close/bowtie click orders before they reach the solver.app/types/FieldCalibration.ts,app/common/field/fieldConstants.ts,app/common/storage/rb.ts):getFieldCalibrationreturnsnullon 404 (intentional divergence from the default idiom — first load legitimately has no record);saveFieldCalibrationfollows the standard throw-on-non-OK idiom.FieldCalibrationOverlay.tsx): field image + normalized 0..1 SVG overlay, pinned to the same rect viaaspect-ratio+ absolute positioning. Clicks produce normalized image coords directly.calibration-page.tsx): state machine (idle → picking-corner-0..3 → ready), Reset/Save/Verify buttons, admin-menu entry, route wiring. Verify button prints round-trip deltas in mm so numerical issues surface before Stage 2 telemetry playback hits them.global.css): Paul Tol "Bright" set, dual-encoded (shape + stroke width + letter labels), with dark-mode overrides.docs/field-map-calibration.md) covering conventions, flow, math, data model, API, palette rationale, and Stage 2 roadmap.docs/plans/2026-04-17-001-feat-field-map-calibration-stage-1-plan.md) included for traceability.Verification
npm run typecheck— cleannpm run build— clean/admin/field-map-calibrationreturns 200 and renders the page component with the expected CSS classes.Manual testing still needed (requires running RavenBrain + login)
Pairs with the RavenBrain PR on the same branch (REST API + V27 migration + 11 API tests, all green).