Support more charuco boards (#1348)

Add support for the old opencv charuco board like calibio. 

Add support for other tag families while calibrating.

Fix calibration issue index out of range with charuco missing points.

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

@@ -1,7 +1,7 @@
 <script setup lang="ts">
 import { computed, ref } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { CalibrationBoardTypes, type VideoFormat } from "@/types/SettingTypes";
+import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
 import JsPDF from "jspdf";
 import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -79,6 +79,8 @@ const markerSizeIn = ref(0.75);
 const patternWidth = ref(8);
 const patternHeight = ref(8);
 const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
+const useOldPattern = ref(false);
+const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
 const useMrCalRef = ref(true);
 const useMrCal = computed<boolean>({
   get() {
@@ -200,7 +202,9 @@ const startCalibration = () => {
     patternHeight: patternHeight.value,
     patternWidth: patternWidth.value,
     boardType: boardType.value,
-    useMrCal: useMrCal.value
+    useMrCal: useMrCal.value,
+    useOldPattern: useOldPattern.value,
+    tagFamily: tagFamily.value
   });
   // The Start PnP method already handles updating the backend so only a store update is required
   useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
@@ -302,6 +306,15 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :items="['Chessboard', 'Charuco']"
               :disabled="isCalibrating"
             />
+            <pv-select
+              v-model="tagFamily"
+              v-show="boardType == CalibrationBoardTypes.Charuco"
+              label="Tag Family"
+              tooltip="Dictionary of aruco markers on the charuco board"
+              :select-cols="7"
+              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
+              :disabled="isCalibrating"
+            />
             <pv-number-input
               v-model="squareSizeIn"
               label="Pattern Spacing (in)"
@@ -335,6 +348,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               :rules="[(v) => v >= 4 || 'Height must be at least 4']"
               :label-cols="5"
             />
+            <pv-switch
+              v-model="useOldPattern"
+              v-show="boardType == CalibrationBoardTypes.Charuco"
+              label="Old OpenCV Pattern"
+              :disabled="isCalibrating"
+              tooltip="If enabled, Photon will use the old OpenCV pattern for calibration."
+              :label-cols="5"
+            />
             <pv-switch
               v-model="useMrCal"
               label="Try using MrCal over OpenCV"