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Draw calibration rainbow and scale thickness based on image size (#1174)

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This commit is contained in:
Matt
2024-01-20 20:04:15 -05:00
committed by GitHub
parent 4a0c15b61b
commit 580bbb4a4d
2 changed files with 30 additions and 7 deletions
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4
photon-client/src/components/cameras/CameraCalibrationCard.vue
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@@ -311,7 +311,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
/>
<pv-number-input
v-model="patternWidth"
label="Board Width (in)"
label="Board Width (squares)"
tooltip="Width of the board in dots or chessboard squares"
:disabled="isCalibrating"
:rules="[(v) => v >= 4 || 'Width must be at least 4']"
@@ -319,7 +319,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
/>
<pv-number-input
v-model="patternHeight"
label="Board Height (in)"
label="Board Height (squares)"
tooltip="Height of the board in dots or chessboard squares"
:disabled="isCalibrating"
:rules="[(v) => v >= 4 || 'Height must be at least 4']"

33
photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
View File

@@ -22,6 +22,7 @@ import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.ColorHelper;
import org.photonvision.vision.frame.FrameDivisor;
@@ -31,22 +32,44 @@ import org.photonvision.vision.target.TrackedTarget;
public class DrawCalibrationPipe
extends MutatingPipe<
Pair<Mat, List<TrackedTarget>>, DrawCalibrationPipe.DrawCalibrationPipeParams> {
Scalar[] chessboardColors =
new Scalar[] {
ColorHelper.colorToScalar(Color.RED, 0.4),
ColorHelper.colorToScalar(Color.ORANGE, 0.4),
ColorHelper.colorToScalar(Color.GREEN, 0.4),
ColorHelper.colorToScalar(Color.BLUE, 0.4),
ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
};
@Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) {
var image = in.getLeft();
var imgSz = image.size();
var diag = Math.hypot(imgSz.width, imgSz.height);
// heuristic: about 4px at a diagonal of 750px, or .5%, 'looks good'. keep it at least 3px at
// worst tho
int r = (int) Math.max(diag * 4.0 / 750.0, 3);
int thickness = (int) Math.max(diag * 1.0 / 600.0, 1);
int i = 0;
for (var target : in.getRight()) {
for (var c : target.getTargetCorners()) {
c =
new Point(
c.x / params.divisor.value.doubleValue(), c.y / params.divisor.value.doubleValue());
var r = 4;
var r2 = r / Math.sqrt(2);
var color = ColorHelper.colorToScalar(Color.RED, 0.4);
Imgproc.circle(image, c, r, color, 1);
Imgproc.line(image, new Point(c.x - r2, c.y - r2), new Point(c.x + r2, c.y + r2), color);
Imgproc.line(image, new Point(c.x + r2, c.y - r2), new Point(c.x - r2, c.y + r2), color);
var color = chessboardColors[i % chessboardColors.length];
Imgproc.circle(image, c, r, color, thickness);
Imgproc.line(
image, new Point(c.x - r2, c.y - r2), new Point(c.x + r2, c.y + r2), color, thickness);
Imgproc.line(
image, new Point(c.x + r2, c.y - r2), new Point(c.x - r2, c.y + r2), color, thickness);
}
i++;
}
return null;