Save calibration data and show preliminary GUI (#1078)

* Serialize all calibration data * Run lint * typing nit * fix code * move these tables around some * Add cool formatting * add request to get snapshots by resolution and camera * re-enable all resolutions * add wip so i can change computers (SQUASH ME AND KILL ME AHHHH) * Get everything working but viewing snapshots * Update RequestHandler.java * Update CameraCalibrationInfoCard.vue * Update CameraCalibrationInfoCard.vue * add observation viewer * round * fix illiegal import * Swap to PNG and serialize insolution * move import/export buttons TO THE TOP * Update WebsocketDataTypes.ts * Add snapshotname to observation * Refactor to serialize snapshot image itself * Run lint * Use new base64 image data in info card * Update SettingTypes.ts * Create calibration json -> mrcal converter script * Update calibrationUtils.py * Fix calibrate NPEs in teest * Run lint * Always run cornersubpix * Update CameraCalibrationInfoCard.vue Update CameraCalibrationInfoCard.vue * Update OpenCVHelp.java * Update OpenCVHelp.java * Replace test mode camera JSONs * Run wpiformat * Revert intrinsics but keep other data * Remove misc comments * Rename JsonMat->JsonImageMat and add calobject_warp * Update Server.java * Rename cameraExtrinsics to distCoeffs * fix typing issues * use util methods * Formatting fixes * fix styling * move to devTools * remove unneeded or unused imports * Remove fixed-right css If its really that big of a deal, we can add it back later, kind of a drag to fix rn. * Create util method * Remove extra legacy calibration things --------- Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
2026-06-19 00:41:41 +00:00 · 2024-01-03 14:32:04 -07:00
parent e685334baa
commit 7f09f9e4f5
43 changed files with 1247 additions and 396 deletions
--- a/devTools/calibrationUtils.py
+++ b/devTools/calibrationUtils.py
@@ -0,0 +1,134 @@
+import base64
+from dataclasses import dataclass
+import json
+import os
+import cv2
+import numpy as np
+
+
+@dataclass
+class Resolution:
+    width: int
+    height: int
+
+
+@dataclass
+class JsonMatOfDoubles:
+    rows: int
+    cols: int
+    type: int
+    data: list[float]
+
+
+@dataclass
+class JsonMat:
+    rows: int
+    cols: int
+    type: int
+    data: str  # Base64-encoded PNG data
+
+
+@dataclass
+class Point2:
+    x: float
+    y: float
+
+
+@dataclass
+class Translation3d:
+    x: float
+    y: float
+    z: float
+
+
+@dataclass
+class Quaternion:
+    X: float
+    Y: float
+    Z: float
+    W: float
+
+
+@dataclass
+class Rotation3d:
+    quaternion: Quaternion
+
+
+@dataclass
+class Pose3d:
+    translation: Translation3d
+    rotation: Rotation3d
+
+
+@dataclass
+class Point3:
+    x: float
+    y: float
+    z: float
+
+
+@dataclass
+class Observation:
+    # Expected feature 3d location in the camera frame
+    locationInObjectSpace: list[Point3]
+    # Observed location in pixel space
+    locationInImageSpace: list[Point2]
+    # (measured location in pixels) - (expected from FK)
+    reprojectionErrors: list[Point2]
+    # Solver optimized board poses
+    optimisedCameraToObject: Pose3d
+    # If we should use this observation when re-calculating camera calibration
+    includeObservationInCalibration: bool
+    snapshotName: str
+    # The actual image the snapshot is from
+    snapshotData: JsonMat
+
+
+@dataclass
+class CameraCalibration:
+    resolution: Resolution
+    cameraIntrinsics: JsonMatOfDoubles
+    distCoeffs: JsonMatOfDoubles
+    observations: list[Observation]
+
+
+def convert_photon_to_mrcal(photon_cal_json_path: str, output_folder: str):
+    """
+    Unpack a Photon calibration JSON (eg, photon_calibration_Microsoft_LifeCam_HD-3000_800x600.json) into
+    the output_folder directory with images and corners.vnl file for use with mrcal.
+    """
+    with open(photon_cal_json_path, "r") as cal_json:
+        # Convert to nested objects instead of nameddicts on json-loads
+        class Generic:
+            @classmethod
+            def from_dict(cls, dict):
+                obj = cls()
+                obj.__dict__.update(dict)
+                return obj
+
+        camera_cal_data: CameraCalibration = json.loads(
+            cal_json.read(), object_hook=Generic.from_dict
+        )
+
+        # Create output_folder if not exists
+        if not os.path.exists(output_folder):
+            os.makedirs(output_folder)
+
+        # Decode each image and save it as a png
+        for obs in camera_cal_data.observations:
+            image = obs.snapshotData.data
+            decoded_data = base64.b64decode(image)
+            np_data = np.frombuffer(decoded_data, np.uint8)
+            img = cv2.imdecode(np_data, cv2.IMREAD_UNCHANGED)
+            cv2.imwrite(f"{output_folder}/{obs.snapshotName}", img)
+
+        # And create a VNL file for use with mrcal
+        with open(f"{output_folder}/corners.vnl", "w+") as vnl_file:
+            vnl_file.write("# filename x y level\n")
+
+            for obs in camera_cal_data.observations:
+                for corner in obs.locationInImageSpace:
+                    # Always level zero
+                    vnl_file.write(f"{obs.snapshotName} {corner.x} {corner.y} 0\n")
+
+            vnl_file.flush()