Support more charuco boards (#1348)

Add support for the old opencv charuco board like calibio. 

Add support for other tag families while calibrating.

Fix calibration issue index out of range with charuco missing points.

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -1,7 +1,7 @@
 <script setup lang="ts">
 import { computed, ref } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { CalibrationBoardTypes, type VideoFormat } from "@/types/SettingTypes";
+import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
 import JsPDF from "jspdf";
 import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -79,6 +79,8 @@ const markerSizeIn = ref(0.75);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
+const useOldPattern = ref(false);
+const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const useMrCalRef = ref(true);
 const useMrCal = computed<boolean>({
   get() {
@@ -200,7 +202,9 @@ const startCalibration = () => {
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
     boardType: boardType.value,
-    useMrCal: useMrCal.value
+    useMrCal: useMrCal.value,
+    useOldPattern: useOldPattern.value,
+    tagFamily: tagFamily.value
   });
   // The Start PnP method already handles updating the backend so only a store update is required
   useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
@@ -302,6 +306,15 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :items="['Chessboard', 'Charuco']"
               :disabled="isCalibrating"
             />
+            <pv-select
+              v-model="tagFamily"
+              v-show="boardType == CalibrationBoardTypes.Charuco"
+              label="Tag Family"
+              tooltip="Dictionary of aruco markers on the charuco board"
+              :select-cols="7"
+              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
+              :disabled="isCalibrating"
+            />
             <pv-number-input
               v-model="squareSizeIn"
               label="Pattern Spacing (in)"
@@ -335,6 +348,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :rules="[(v) => v >= 4 || 'Height must be at least 4']"
               :label-cols="5"
             />
+            <pv-switch
+              v-model="useOldPattern"
+              v-show="boardType == CalibrationBoardTypes.Charuco"
+              label="Old OpenCV Pattern"
+              :disabled="isCalibrating"
+              tooltip="If enabled, Photon will use the old OpenCV pattern for calibration."
+              :label-cols="5"
+            />
             <pv-switch
               v-model="useMrCal"
               label="Try using MrCal over OpenCV"

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -1,5 +1,6 @@
 import { defineStore } from "pinia";
 import type {
+  CalibrationTagFamilies,
   CalibrationBoardTypes,
   CameraCalibrationResult,
   CameraSettings,
@@ -319,6 +320,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         patternHeight: number;
         boardType: CalibrationBoardTypes;
         useMrCal: boolean;
+        useOldPattern: boolean;
+        tagFamily: CalibrationTagFamilies;
       },
       cameraIndex: number = useStateStore().currentCameraIndex
     ) {

photon-client/src/types/SettingTypes.ts

@@ -295,6 +295,13 @@ export enum CalibrationBoardTypes {
   Charuco = 1
 }
 
+export enum CalibrationTagFamilies {
+  Dict_4X4_1000 = 0,
+  Dict_5X5_1000 = 1,
+  Dict_6X6_1000 = 2,
+  Dict_7X7_1000 = 3
+}
+
 export enum RobotOffsetType {
   Clear = 0,
   Single = 1,

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java

@@ -113,7 +113,8 @@ public void createObjectPoints() {
                             new Size(params.boardWidth, params.boardHeight),
                             (float) params.gridSize,
                             (float) params.markerSize,
-                            Objdetect.getPredefinedDictionary(params.tagFamily));
+                            Objdetect.getPredefinedDictionary(params.tagFamily.getValue()));
+            board.setLegacyPattern(params.useOldPattern);
             detector = new CharucoDetector(board);
         } else {
             logger.error("Can't create pattern for unknown board type " + params.type);
@@ -309,6 +310,7 @@ private FindBoardCornersPipeResult findBoardCorners(Pair<Mat, Mat> in) {
                 }
 
                 outBoardCorners.fromArray(boardCorners);
+                objPts.fromArray(objectPoints);
                 outLevels.fromArray(levels);
             }
             imgPoints.release();
@@ -371,23 +373,26 @@ public static class FindCornersPipeParams {
         final double gridSize;
         final double markerSize;
         final FrameDivisor divisor;
-        final int tagFamily;
+        final UICalibrationData.TagFamily tagFamily;
+        final boolean useOldPattern;
 
         public FindCornersPipeParams(
                 int boardHeight,
                 int boardWidth,
                 UICalibrationData.BoardType type,
-                int tagFamily,
+                UICalibrationData.TagFamily tagFamily,
                 double gridSize,
                 double markerSize,
-                FrameDivisor divisor) {
+                FrameDivisor divisor,
+                boolean useOldPattern) {
             this.boardHeight = boardHeight;
             this.boardWidth = boardWidth;
             this.tagFamily = tagFamily;
             this.type = type;
             this.gridSize = gridSize; // meter
             this.markerSize = markerSize; // meter
             this.divisor = divisor;
+            this.useOldPattern = useOldPattern;
         }
 
         @Override
@@ -412,6 +417,8 @@ public boolean equals(Object obj) {
             FindCornersPipeParams other = (FindCornersPipeParams) obj;
             if (boardHeight != other.boardHeight) return false;
             if (boardWidth != other.boardWidth) return false;
+            if (tagFamily != other.tagFamily) return false;
+            if (useOldPattern != other.useOldPattern) return false;
             if (type != other.type) return false;
             if (Double.doubleToLongBits(gridSize) != Double.doubleToLongBits(other.gridSize))
                 return false;

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java

@@ -90,7 +90,8 @@ protected void setPipeParamsImpl() {
                         settings.tagFamily,
                         settings.gridSize,
                         settings.markerSize,
-                        settings.streamingFrameDivisor);
+                        settings.streamingFrameDivisor,
+                        settings.useOldPattern);
         findBoardCornersPipe.setParams(findCornersPipeParams);
 
         Calibrate3dPipe.CalibratePipeParams calibratePipeParams =
@@ -227,7 +228,9 @@ private void broadcastState() {
                                 settings.boardWidth,
                                 settings.boardHeight,
                                 settings.boardType,
-                                settings.useMrCal));
+                                settings.useMrCal,
+                                settings.useOldPattern,
+                                settings.tagFamily));
 
         DataChangeService.getInstance()
                 .publishEvent(OutgoingUIEvent.wrappedOf("calibrationData", state));

photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java

@@ -19,19 +19,19 @@
 
 import edu.wpi.first.math.util.Units;
 import org.opencv.core.Size;
-import org.opencv.objdetect.Objdetect;
 import org.photonvision.vision.frame.FrameDivisor;
 
 public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
     public int boardHeight = 8;
     public int boardWidth = 8;
     public UICalibrationData.BoardType boardType = UICalibrationData.BoardType.CHESSBOARD;
-    public int tagFamily = Objdetect.DICT_4X4_50;
+    public UICalibrationData.TagFamily tagFamily = UICalibrationData.TagFamily.Dict_4X4_1000;
     public double gridSize = Units.inchesToMeters(1.0);
     public double markerSize = Units.inchesToMeters(0.75);
 
     public Size resolution = new Size(640, 480);
     public boolean useMrCal = true;
+    public boolean useOldPattern = false;
 
     public Calibration3dPipelineSettings() {
         super();

photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.pipeline;
 
+import org.opencv.objdetect.Objdetect;
+
 public class UICalibrationData {
     public int videoModeIndex;
     public int count;
@@ -28,6 +30,8 @@ public class UICalibrationData {
     public BoardType boardType;
     public boolean useMrCal;
     public double markerSizeIn;
+    public boolean useOldPattern;
+    public TagFamily tagFamily;
 
     public UICalibrationData() {}
 
@@ -41,7 +45,9 @@ public UICalibrationData(
             int patternWidth,
             int patternHeight,
             BoardType boardType,
-            boolean useMrCal) {
+            boolean useMrCal,
+            boolean useOldPattern,
+            TagFamily tagFamily) {
         this.count = count;
         this.minCount = minCount;
         this.videoModeIndex = videoModeIndex;
@@ -52,13 +58,34 @@ public UICalibrationData(
         this.patternHeight = patternHeight;
         this.boardType = boardType;
         this.useMrCal = useMrCal;
+        this.useOldPattern = useOldPattern;
+        this.tagFamily = tagFamily;
     }
 
     public enum BoardType {
         CHESSBOARD,
         CHARUCOBOARD,
     }
 
+    public enum TagFamily {
+        Dict_4X4_1000(Objdetect.DICT_4X4_1000),
+        Dict_5X5_1000(Objdetect.DICT_5X5_1000),
+        Dict_6X6_1000(Objdetect.DICT_6X6_1000),
+        Dict_7X7_1000(Objdetect.DICT_7X7_1000);
+
+        private int value;
+
+        // getter method
+        public int getValue() {
+            return this.value;
+        }
+
+        // enum constructor - cannot be public or protected
+        private TagFamily(int value) {
+            this.value = value;
+        }
+    }
+
     @Override
     public String toString() {
         return "UICalibrationData{"
@@ -80,6 +107,10 @@ public String toString() {
                 + patternHeight
                 + ", boardType="
                 + boardType
+                + ", tagFamily="
+                + tagFamily
+                + ", useOldPattern="
+                + useOldPattern
                 + '}';
     }
 }

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -349,6 +349,8 @@ public void startCalibration(UICalibrationData data) {
         settings.boardType = data.boardType;
         settings.useMrCal = data.useMrCal;
         settings.resolution = resolution;
+        settings.useOldPattern = data.useOldPattern;
+        settings.tagFamily = data.tagFamily;
 
         // Disable gain if not applicable
         if (!cameraQuirks.hasQuirk(CameraQuirk.Gain)) {