Add cameralensmodel enum (#1126)

Preparing for future lens models like splined stereo

photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java

@@ -54,6 +54,9 @@ public class CameraCalibrationCoefficients implements Releasable {
     @JsonProperty("calobjectSpacing")
     public final double calobjectSpacing;
 
+    @JsonProperty("lensmodel")
+    public final CameraLensModel lensmodel;
+
     @JsonIgnore private final double[] intrinsicsArr = new double[9];
     @JsonIgnore private final double[] distCoeffsArr = new double[5];
 
@@ -83,13 +86,15 @@ public class CameraCalibrationCoefficients implements Releasable {
             @JsonProperty("calobjectWarp") double[] calobjectWarp,
             @JsonProperty("observations") List<BoardObservation> observations,
             @JsonProperty("calobjectSize") Size calobjectSize,
-            @JsonProperty("calobjectSpacing") double calobjectSpacing) {
+            @JsonProperty("calobjectSpacing") double calobjectSpacing,
+            @JsonProperty("lensmodel") CameraLensModel lensmodel) {
         this.resolution = resolution;
         this.cameraIntrinsics = cameraIntrinsics;
         this.distCoeffs = distCoeffs;
         this.calobjectWarp = calobjectWarp;
         this.calobjectSize = calobjectSize;
         this.calobjectSpacing = calobjectSpacing;
+        this.lensmodel = lensmodel;
 
         // Legacy migration just to make sure that observations is at worst empty and never null
         if (observations == null) {
@@ -174,7 +179,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                 new double[0],
                 List.of(),
                 new Size(0, 0),
-                0);
+                0,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/calibration/CameraLensModel.java

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.calibration;
+
+/**
+ * What kind of camera lens model our intrinsics are modeling. For more info see:
+ * https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
+ * https://mrcal.secretsauce.net/lensmodels.html#org4e95788
+ */
+public enum CameraLensModel {
+    /** OpenCV[4,5,8,12]-based model */
+    LENSMODEL_OPENCV,
+    /** Mrcal steriographic lens model. See LENSMODEL_STEREOGRAPHIC in the mrcal docs */
+    LENSMODEL_STERIOGRAPHIC,
+    /**
+     * Mrcal splined-steriographic lens model. See LENSMODEL_SPLINED_STEREOGRAPHIC_ in the mrcal docs
+     */
+    LENSMODEL_SPLINED_STERIOGRAPHIC
+}

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -35,6 +35,7 @@ import org.photonvision.mrcal.MrCalJNI.MrCalResult;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.CameraLensModel;
 import org.photonvision.vision.calibration.JsonImageMat;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
 import org.photonvision.vision.pipe.CVPipe;
@@ -158,7 +159,8 @@ public class Calibrate3dPipe
                 new double[0],
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     protected CameraCalibrationCoefficients calibrateMrcal(
@@ -240,7 +242,8 @@ public class Calibrate3dPipe
                 new double[] {result.warp_x, result.warp_y},
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     private List<BoardObservation> createObservations(