Use mrcal for camera-calibration (#1036)

Uses jars built from https://github.com/photonvision/mrcal-java/
See: https://mrcal.secretsauce.net/ and https://docs.photonvision.org/en/latest/docs/calibration/calibration.html#investigating-calibration-data-with-mrcal

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>

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

@@ -13,6 +13,7 @@ import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
 import { getResolutionString, resolutionsAreEqual } from "@/lib/PhotonUtils";
 import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInfoCard.vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 
 const settingsValid = ref(true);
 
@@ -74,6 +75,15 @@ const squareSizeIn = ref(1);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Chessboard);
+const useMrCalRef = ref(true);
+const useMrCal = computed<boolean>({
+  get() {
+    return useMrCalRef.value && useSettingsStore().general.mrCalWorking;
+  },
+  set(value) {
+    useMrCalRef.value = value && useSettingsStore().general.mrCalWorking;
+  }
+});
 
 const downloadCalibBoard = () => {
   const doc = new JsPDF({ unit: "in", format: "letter" });
@@ -188,7 +198,8 @@ const startCalibration = () => {
     squareSizeIn: squareSizeIn.value,
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
-    boardType: boardType.value
+    boardType: boardType.value,
+    useMrCal: useMrCal.value
   });
   // The Start PnP method already handles updating the backend so only a store update is required
   useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
@@ -314,6 +325,23 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :rules="[(v) => v >= 4 || 'Height must be at least 4']"
               :label-cols="5"
             />
+            <pv-switch
+              v-model="useMrCal"
+              label="Try using MrCal over OpenCV"
+              :disabled="!useSettingsStore().general.mrCalWorking || isCalibrating"
+              tooltip="If enabled, Photon will (try to) use MrCal instead of OpenCV for camera calibration."
+              :label-cols="5"
+            />
+            <v-banner
+              v-show="!useSettingsStore().general.mrCalWorking"
+              rounded
+              color="red"
+              text-color="white"
+              class="mt-3"
+              icon="mdi-alert-circle-outline"
+            >
+              MrCal JNI could not be loaded! Consult journalctl logs for additional details.
+            </v-banner>
           </v-form>
           <v-row justify="center">
             <v-chip

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

@@ -241,6 +241,22 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
               <td>Diagonal FOV</td>
               <td>{{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
             </tr>
+            <!-- Board warp, only shown for mrcal-calibrated cameras -->
+            <tr
+              v-if="
+                useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution)?.calobjectWarp?.length === 2
+              "
+            >
+              <td>Board warp, X/Y</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.calobjectWarp?.map((it) => (it * 1000).toFixed(2) + " mm")
+                    .join(" / ")
+                }}
+              </td>
+            </tr>
           </tbody>
         </template>
       </v-simple-table>

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

@@ -317,6 +317,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         patternWidth: number;
         patternHeight: number;
         boardType: CalibrationBoardTypes;
+        useMrCal: boolean;
       },
       cameraIndex: number = useStateStore().currentCameraIndex
     ) {

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

@@ -26,7 +26,8 @@ export const useSettingsStore = defineStore("settings", {
       version: undefined,
       gpuAcceleration: undefined,
       hardwareModel: undefined,
-      hardwarePlatform: undefined
+      hardwarePlatform: undefined,
+      mrCalWorking: true
     },
     network: {
       ntServerAddress: "",
@@ -97,7 +98,8 @@ export const useSettingsStore = defineStore("settings", {
         version: data.general.version || undefined,
         hardwareModel: data.general.hardwareModel || undefined,
         hardwarePlatform: data.general.hardwarePlatform || undefined,
-        gpuAcceleration: data.general.gpuAcceleration || undefined
+        gpuAcceleration: data.general.gpuAcceleration || undefined,
+        mrCalWorking: data.general.mrCalWorking
       };
       this.lighting = data.lighting;
       this.network = data.networkSettings;

photon-client/src/types/SettingTypes.ts

@@ -6,6 +6,7 @@ export interface GeneralSettings {
   gpuAcceleration?: string;
   hardwareModel?: string;
   hardwarePlatform?: string;
+  mrCalWorking: boolean;
 }
 
 export interface MetricData {
@@ -131,6 +132,7 @@ export interface CameraCalibrationResult {
   cameraIntrinsics: JsonMatOfDouble;
   distCoeffs: JsonMatOfDouble;
   observations: BoardObservation[];
+  calobjectWarp?: number[];
 }
 
 export interface ConfigurableCameraSettings {