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Serialize all calibration data
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@mcm001
mcm001 committed Dec 28, 2023
1 parent ebac32c commit ecae647
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Showing 24 changed files with 693 additions and 211 deletions.
204 changes: 190 additions & 14 deletions photon-client/src/components/cameras/CameraCalibrationCard.vue
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,13 @@
<script setup lang="ts">
import { computed, ref } from "vue";
import Vue, { computed, ref, type Ref } from "vue";
import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
import { CalibrationBoardTypes, type Resolution, type VideoFormat } from "@/types/SettingTypes";
import {
CalibrationBoardTypes,
type BoardObservation,
type CameraCalibrationResult,
type Resolution,
type VideoFormat
} from "@/types/SettingTypes";
import JsPDF from "jspdf";
import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
import MonoLogo from "@/assets/images/logoMono.png";
Expand All @@ -11,14 +17,27 @@ import PvSwitch from "@/components/common/pv-switch.vue";
import PvSelect from "@/components/common/pv-select.vue";
import PvNumberInput from "@/components/common/pv-number-input.vue";
import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
import loadingImage from "@/assets/images/loading.svg";
const settingsValid = ref(true);
const getCalibrationCoeffs = (resolution: Resolution) => {
const getCalibrationCoeffs = (resolution: Resolution): CameraCalibrationResult | undefined => {
return useCameraSettingsStore().currentCameraSettings.completeCalibrations.find(
(cal) => cal.resolution.width === resolution.width && cal.resolution.height === resolution.height
);
};
const getMeanFromView = (o: BoardObservation) => {
// Is this the right formula for RMS error? who knows! not me!
const perViewSumSquareReprojectionError = o.reprojectionErrors.flatMap((it2) => [it2.x, it2.y]);
// For each error, square it, sum the squares, and divide by total points N
return Math.sqrt(
perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
perViewSumSquareReprojectionError.length
);
}
const getUniqueVideoResolutions = (): VideoFormat[] => {
const uniqueResolutions: VideoFormat[] = [];
useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format, index) => {
Expand All @@ -31,18 +50,28 @@ const getUniqueVideoResolutions = (): VideoFormat[] => {
const calib = getCalibrationCoeffs(format.resolution);
if (calib !== undefined) {
format.standardDeviation = calib.standardDeviation;
format.mean = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.intrinsics[0]) * (180 / Math.PI);
format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.intrinsics[4]) * (180 / Math.PI);
// Is this the right formula for RMS error? who knows! not me!
const perViewSumSquareReprojectionError = calib.observations.flatMap((it) =>
it.reprojectionErrors.flatMap((it2) => [it2.x, it2.y])
);
// For each error, square it, sum the squares, and divide by total points N
format.mean = Math.sqrt(
perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
perViewSumSquareReprojectionError.length
);
format.horizontalFOV =
2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
format.verticalFOV =
2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
format.diagonalFOV =
2 *
Math.atan2(
Math.sqrt(
format.resolution.width ** 2 +
(format.resolution.height / (calib.intrinsics[4] / calib.intrinsics[0])) ** 2
(format.resolution.height / (calib.cameraIntrinsics.data[4] / calib.cameraIntrinsics.data[0])) ** 2
) / 2,
calib.intrinsics[0]
calib.cameraIntrinsics.data[0]
) *
(180 / Math.PI);
}
Expand Down Expand Up @@ -214,6 +243,94 @@ const endCalibration = () => {
isCalibrating.value = false;
});
};
const createSeries = (label, xData, yData, color, showLine = true, fill = false) => {
if (xData.length !== yData.length) {
return null;
}
if (xData == null || yData == null) {
console.log("Data was null. Skipping.");
return null;
}
// Convert data to list of x/y pairs
let data = [];
yData.forEach((y, idx) => {
if (!isNaN(y) || y != null) {
data.push({ x: xData[idx], y: y });
}
});
return {
backgroundColor: color,
borderColor: color,
label: label,
showLine: showLine,
fill: fill,
data: data,
lineTension: 0
};
};
const reprojectionErrorSeries = () => {
// HUGE hack!
const calib = useCameraSettingsStore().currentCameraSettings.completeCalibrations[0];
const errorNorms = calib.observations
.map((it2) => it2.reprojectionErrors)
.map((it2) => it2.map((it3) => Math.sqrt(it3.x * it3.x + it3.y * it3.y)))
.flat(1);
const xLocs = calib.observations.map((it) => it.locationInImageSpace.map((it) => it.x)).flat(1);
const yLocs = calib.observations.map((it) => it.locationInImageSpace.map((it) => it.y)).flat(1);
// console.log(errorNorms);
// console.log(xLocs);
// console.log(yLocs);
function rgb(r, g, b) {
return "rgb(" + r + "," + g + "," + b + ")";
}
const scale = 255.0 / Math.max(...errorNorms);
const colors = errorNorms.map(it => it * scale).map((it) => rgb(it, 0, 0));
console.log(colors)
return {
datasets: [createSeries(`Reprojection error`, xLocs, yLocs, colors, false)]
};
};
function download_cal_data() {
const camName = useCameraSettingsStore().currentCameraSettings.uniqueName;
if (calibrationDetails.value === undefined) return;
const cal: CameraCalibrationResult = calibrationDetails.value as CameraCalibrationResult; // ew
const filename=`photon_calibration_${camName}_${cal.resolution.width}x${cal.resolution.height}.json`
const text = JSON.stringify(cal);
var element = document.createElement('a');
element.setAttribute('href', 'data:text/plain;charset=utf-8,' + encodeURIComponent(text));
element.setAttribute('download', filename);
element.style.display = 'none';
document.body.appendChild(element);
element.click();
document.body.removeChild(element);
}
let showCal = ref(false);
let calibrationDetails: Ref<CameraCalibrationResult | undefined> = ref(undefined);
const showThing = (value: VideoFormat) => {
calibrationDetails.value = getCalibrationCoeffs(value.resolution);
showCal.value = true;
};
let visShown = ref(0)
let observationIdx = ref(0)
</script>

<template>
Expand Down Expand Up @@ -284,19 +401,15 @@ const endCalibration = () => {
<tr>
<th>Resolution</th>
<th>Mean Error</th>
<th>Standard Deviation</th>
<th>Horizontal FOV</th>
<th>Vertical FOV</th>
<th>Diagonal FOV</th>
</tr>
</thead>
<tbody>
<tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index">
<tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index" @click="showThing(value)">
<td>{{ value.resolution.width }} X {{ value.resolution.height }}</td>
<td>{{ value.mean !== undefined ? value.mean.toFixed(2) + "px" : "-" }}</td>
<td>
{{ value.standardDeviation !== undefined ? value.standardDeviation.toFixed(2) + "px" : "-" }}
</td>
<td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
<td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
<td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
Expand Down Expand Up @@ -476,6 +589,69 @@ const endCalibration = () => {
</v-card-actions>
</v-card>
</v-dialog>

<v-dialog v-model="showCal" width="80em">
<v-card color="primary" dark>
<v-card-title
>{{ useCameraSettingsStore().cameraNames[useStateStore().currentCameraIndex] }} -
{{ calibrationDetails?.resolution.width }} x {{ calibrationDetails?.resolution.height }}</v-card-title
>
<v-card-text>
<v-simple-table>
<tbody>
<td>Fx:</td>
<td>{{ calibrationDetails?.cameraIntrinsics.data[0].toFixed(2) }} mm</td>
<td/>
</tbody>
<tbody>
<td>Fy:</td>
<td>{{ calibrationDetails?.cameraIntrinsics.data[4].toFixed(2) }} mm</td>
<td/>
</tbody>
<tbody>
<td>Cx:</td>
<td>{{ calibrationDetails?.cameraIntrinsics.data[2].toFixed(2) }} px </td>
<td> (expected ~{{ (calibrationDetails?.resolution.width || 0) / 2 }})</td>
</tbody>
<tbody>
<td>Cy:</td>
<td>{{ calibrationDetails?.cameraIntrinsics.data[5].toFixed(2) }} px </td>
<td> (expected ~{{ (calibrationDetails?.resolution.height || 0) / 2 }})</td>
</tbody>
<tbody>
<td>Distortion:</td>
<td>[{{ calibrationDetails?.cameraExtrinsics.data.map((it) => it.toFixed(3)).join(", ") }}]</td>
<td/>
</tbody>
</v-simple-table>

<v-divider class="mt-3 mb-3" />

<span class="text-center align-center white--text">Observations:</span>
<v-simple-table>
<thead>
<tr>
<th class="text-center">ID</th>
<th class="text-center">Mean Reprojection Error</th>
<th class="text-center">Used</th>
</tr>
</thead>
<tbody style="height:20em;overflow:scroll">
<tr v-for="(value, index) in calibrationDetails?.observations">
<td>{{ index }}</td>
<td> {{ getMeanFromView(value).toFixed(2) }} px </td>
<td> <v-switch disabled dark color="#ffd843"/> </td>
</tr>
</tbody>
</v-simple-table>
<v-btn @click="download_cal_data">Download</v-btn>
<!-- <v-btn class="ml-5">Upload</v-btn> -->
</v-card-text>
<v-divider />
</v-card>
</v-dialog>

<v-card> </v-card>
</div>
</template>

Expand Down
14 changes: 3 additions & 11 deletions photon-client/src/stores/settings/CameraSettingsStore.ts
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
import { defineStore } from "pinia";
import type {
CalibrationBoardTypes,
CameraCalibrationResult,
CameraSettings,
ConfigurableCameraSettings,
Resolution,
RobotOffsetType,
VideoFormat
} from "@/types/SettingTypes";
Expand Down Expand Up @@ -64,6 +64,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
updateCameraSettingsFromWebsocket(data: WebsocketCameraSettingsUpdate[]) {
this.cameras = data.map<CameraSettings>((d) => ({
nickname: d.nickname,
uniqueName: d.uniqueName,
fov: {
value: d.fov,
managedByVendor: !d.isFovConfigurable
Expand All @@ -89,16 +90,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
standardDeviation: v.standardDeviation,
mean: v.mean
})),
completeCalibrations: d.calibrations.map<CameraCalibrationResult>((calib) => ({
resolution: {
height: calib.height,
width: calib.width
},
distCoeffs: calib.distCoeffs,
standardDeviation: calib.standardDeviation,
perViewErrors: calib.perViewErrors,
intrinsics: calib.intrinsics
})),
completeCalibrations: d.calibrations,
pipelineNicknames: d.pipelineNicknames,
currentPipelineIndex: d.currentPipelineIndex,
pipelineSettings: d.currentPipelineSettings
Expand Down
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