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.
2026-06-27 02:01:40 +00:00 · 2024-06-20 21:29:00 -04:00
parent 1d9810505a
commit 8c45fef62a
38 changed files with 143 additions and 29 deletions
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -113,7 +113,8 @@ public class FindBoardCornersPipe
                            new Size(params.boardWidth, params.boardHeight),
                            (float) params.gridSize,
                            (float) params.markerSize,
-                            Objdetect.getPredefinedDictionary(params.tagFamily));
+                            Objdetect.getPredefinedDictionary(params.tagFamily.getValue()));
+            board.setLegacyPattern(params.useOldPattern);
            detector = new CharucoDetector(board);
        } else {
            logger.error("Can't create pattern for unknown board type " + params.type);
@@ -309,6 +310,7 @@ public class FindBoardCornersPipe
                }

                outBoardCorners.fromArray(boardCorners);
+                objPts.fromArray(objectPoints);
                outLevels.fromArray(levels);
            }
            imgPoints.release();
@@ -371,16 +373,18 @@ public class FindBoardCornersPipe
        final double gridSize;
        final double markerSize;
        final FrameDivisor divisor;
-        final int tagFamily;
+        final UICalibrationData.TagFamily tagFamily;
+        final boolean useOldPattern;

        public FindCornersPipeParams(
                int boardHeight,
                int boardWidth,
                UICalibrationData.BoardType type,
-                int tagFamily,
+                UICalibrationData.TagFamily tagFamily,
                double gridSize,
                double markerSize,
-                FrameDivisor divisor) {
+                FrameDivisor divisor,
+                boolean useOldPattern) {
            this.boardHeight = boardHeight;
            this.boardWidth = boardWidth;
            this.tagFamily = tagFamily;
@@ -388,6 +392,7 @@ public class FindBoardCornersPipe
            this.gridSize = gridSize; // meter
            this.markerSize = markerSize; // meter
            this.divisor = divisor;
+            this.useOldPattern = useOldPattern;
        }

        @Override
@@ -412,6 +417,8 @@ public class FindBoardCornersPipe
            FindCornersPipeParams other = (FindCornersPipeParams) obj;
            if (boardHeight != other.boardHeight) return false;
            if (boardWidth != other.boardWidth) return false;
+            if (tagFamily != other.tagFamily) return false;
+            if (useOldPattern != other.useOldPattern) return false;
            if (type != other.type) return false;
            if (Double.doubleToLongBits(gridSize) != Double.doubleToLongBits(other.gridSize))
                return false;
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -90,7 +90,8 @@ public class Calibrate3dPipeline
                        settings.tagFamily,
                        settings.gridSize,
                        settings.markerSize,
-                        settings.streamingFrameDivisor);
+                        settings.streamingFrameDivisor,
+                        settings.useOldPattern);
        findBoardCornersPipe.setParams(findCornersPipeParams);

        Calibrate3dPipe.CalibratePipeParams calibratePipeParams =
@@ -227,7 +228,9 @@ public class Calibrate3dPipeline
                                settings.boardWidth,
                                settings.boardHeight,
                                settings.boardType,
-                                settings.useMrCal));
+                                settings.useMrCal,
+                                settings.useOldPattern,
+                                settings.tagFamily));

        DataChangeService.getInstance()
                .publishEvent(OutgoingUIEvent.wrappedOf("calibrationData", state));
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
@@ -19,19 +19,19 @@ package org.photonvision.vision.pipeline;

 import edu.wpi.first.math.util.Units;
 import org.opencv.core.Size;
-import org.opencv.objdetect.Objdetect;
 import org.photonvision.vision.frame.FrameDivisor;

 public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
    public int boardHeight = 8;
    public int boardWidth = 8;
    public UICalibrationData.BoardType boardType = UICalibrationData.BoardType.CHESSBOARD;
-    public int tagFamily = Objdetect.DICT_4X4_50;
+    public UICalibrationData.TagFamily tagFamily = UICalibrationData.TagFamily.Dict_4X4_1000;
    public double gridSize = Units.inchesToMeters(1.0);
    public double markerSize = Units.inchesToMeters(0.75);

    public Size resolution = new Size(640, 480);
    public boolean useMrCal = true;
+    public boolean useOldPattern = false;

    public Calibration3dPipelineSettings() {
        super();
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
@@ -17,6 +17,8 @@

 package org.photonvision.vision.pipeline;

+import org.opencv.objdetect.Objdetect;
+
 public class UICalibrationData {
    public int videoModeIndex;
    public int count;
@@ -28,6 +30,8 @@ public class UICalibrationData {
    public BoardType boardType;
    public boolean useMrCal;
    public double markerSizeIn;
+    public boolean useOldPattern;
+    public TagFamily tagFamily;

    public UICalibrationData() {}

@@ -41,7 +45,9 @@ public class UICalibrationData {
            int patternWidth,
            int patternHeight,
            BoardType boardType,
-            boolean useMrCal) {
+            boolean useMrCal,
+            boolean useOldPattern,
+            TagFamily tagFamily) {
        this.count = count;
        this.minCount = minCount;
        this.videoModeIndex = videoModeIndex;
@@ -52,6 +58,8 @@ public class UICalibrationData {
        this.patternHeight = patternHeight;
        this.boardType = boardType;
        this.useMrCal = useMrCal;
+        this.useOldPattern = useOldPattern;
+        this.tagFamily = tagFamily;
    }

    public enum BoardType {
@@ -59,6 +67,25 @@ public class UICalibrationData {
        CHARUCOBOARD,
    }

+    public enum TagFamily {
+        Dict_4X4_1000(Objdetect.DICT_4X4_1000),
+        Dict_5X5_1000(Objdetect.DICT_5X5_1000),
+        Dict_6X6_1000(Objdetect.DICT_6X6_1000),
+        Dict_7X7_1000(Objdetect.DICT_7X7_1000);
+
+        private int value;
+
+        // getter method
+        public int getValue() {
+            return this.value;
+        }
+
+        // enum constructor - cannot be public or protected
+        private TagFamily(int value) {
+            this.value = value;
+        }
+    }
+
    @Override
    public String toString() {
        return "UICalibrationData{"
@@ -80,6 +107,10 @@ public class UICalibrationData {
                + patternHeight
                + ", boardType="
                + boardType
+                + ", tagFamily="
+                + tagFamily
+                + ", useOldPattern="
+                + useOldPattern
                + '}';
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -349,6 +349,8 @@ public class VisionModule {
        settings.boardType = data.boardType;
        settings.useMrCal = data.useMrCal;
        settings.resolution = resolution;
+        settings.useOldPattern = data.useOldPattern;
+        settings.tagFamily = data.tagFamily;

        // Disable gain if not applicable
        if (!cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -32,7 +32,6 @@ import org.opencv.calib3d.Calib3d;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
-import org.opencv.objdetect.Objdetect;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
@@ -46,6 +45,7 @@ import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipeline.UICalibrationData.BoardType;
+import org.photonvision.vision.pipeline.UICalibrationData.TagFamily;

 public class Calibrate3dPipeTest {
    @BeforeAll
@@ -67,34 +67,52 @@ public class Calibrate3dPipeTest {
                "lifecam/2024-01-02_lifecam_480",
                new Size(640, 480),
                new Size(11, 11),
-                BoardType.CHESSBOARD),
+                BoardType.CHESSBOARD,
+                false),
        SQUARES_LIFECAM_1280(
                "lifecam/2024-01-02_lifecam_1280",
                new Size(1280, 720),
                new Size(11, 11),
-                BoardType.CHESSBOARD),
-
+                BoardType.CHESSBOARD,
+                false),
        CHARUCO_LIFECAM_480(
                "lifecam/2024-05-07_lifecam_480",
                new Size(640, 480),
                new Size(8, 8),
-                BoardType.CHARUCOBOARD),
+                BoardType.CHARUCOBOARD,
+                false),
        CHARUCO_LIFECAM_1280(
                "lifecam/2024-05-07_lifecam_1280",
                new Size(1280, 720),
                new Size(8, 8),
-                BoardType.CHARUCOBOARD);
+                BoardType.CHARUCOBOARD,
+                false),
+        CHARUCO_OLDPATTERN_LIFECAM_480(
+                "lifecam/2024-06-19_lifecam_480_Old_Pattern",
+                new Size(640, 480),
+                new Size(8, 8),
+                BoardType.CHARUCOBOARD,
+                true),
+        CHARUCO_OLDPATTERN_LIFECAM_1280(
+                "lifecam/2024-06-19_lifecam_1280_Old_Pattern",
+                new Size(1280, 720),
+                new Size(8, 8),
+                BoardType.CHARUCOBOARD,
+                true);

        final String path;
        final Size size;
        final Size boardSize;
        final BoardType boardType;
+        final boolean useOldPattern;

-        private CalibrationDatasets(String path, Size image, Size chessboard, BoardType boardType) {
+        private CalibrationDatasets(
+                String path, Size image, Size chessboard, BoardType boardType, boolean useOldPattern) {
            this.path = path;
            this.size = image;
            this.boardSize = chessboard;
            this.boardType = boardType;
+            this.useOldPattern = useOldPattern;
        }
    }

@@ -116,13 +134,30 @@ public class Calibrate3dPipeTest {
        File charucoDir = Path.of(charucoBase, dataset.path).toFile();

        if (dataset.boardType == BoardType.CHESSBOARD)
-            calibrateCommon(dataset.size, squareDir, dataset.boardSize, dataset.boardType, useMrCal);
-        else if (dataset.boardType == BoardType.CHESSBOARD)
-            calibrateCommon(dataset.size, charucoDir, dataset.boardSize, dataset.boardType, useMrCal);
+            calibrateCommon(
+                    dataset.size,
+                    squareDir,
+                    dataset.boardSize,
+                    dataset.boardType,
+                    useMrCal,
+                    dataset.useOldPattern);
+        else if (dataset.boardType == BoardType.CHARUCOBOARD)
+            calibrateCommon(
+                    dataset.size,
+                    charucoDir,
+                    dataset.boardSize,
+                    dataset.boardType,
+                    useMrCal,
+                    dataset.useOldPattern);
    }

    public static void calibrateCommon(
-            Size imgRes, File rootFolder, Size boardDim, BoardType boardType, boolean useMrCal) {
+            Size imgRes,
+            File rootFolder,
+            Size boardDim,
+            BoardType boardType,
+            boolean useMrCal,
+            boolean useOldPattern) {
        calibrateCommon(
                imgRes,
                rootFolder,
@@ -130,10 +165,11 @@ public class Calibrate3dPipeTest {
                Units.inchesToMeters(1),
                Units.inchesToMeters(0.75),
                boardType,
-                Objdetect.DICT_4X4_50,
+                TagFamily.Dict_4X4_1000,
                imgRes.width / 2,
                imgRes.height / 2,
-                useMrCal);
+                useMrCal,
+                useOldPattern);
    }

    public static void calibrateCommon(
@@ -142,10 +178,11 @@ public class Calibrate3dPipeTest {
            Size boardDim,
            double markerSize,
            BoardType boardType,
-            int tagFamily,
+            TagFamily tagFamily,
            double expectedXCenter,
            double expectedYCenter,
-            boolean useMrCal) {
+            boolean useMrCal,
+            boolean useOldPattern) {
        calibrateCommon(
                imgRes,
                rootFolder,
@@ -156,7 +193,8 @@ public class Calibrate3dPipeTest {
                tagFamily,
                expectedXCenter,
                expectedYCenter,
-                useMrCal);
+                useMrCal,
+                useOldPattern);
    }

    public static void calibrateCommon(
@@ -166,10 +204,11 @@ public class Calibrate3dPipeTest {
            double boardGridSize_m,
            double markerSize,
            BoardType boardType,
-            int tagFamily,
+            TagFamily tagFamily,
            double expectedXCenter,
            double expectedYCenter,
-            boolean useMrCal) {
+            boolean useMrCal,
+            boolean useOldPattern) {
        int startMatCount = CVMat.getMatCount();

        File[] directoryListing = rootFolder.listFiles();
@@ -187,6 +226,7 @@ public class Calibrate3dPipeTest {
        calibration3dPipeline.getSettings().gridSize = boardGridSize_m;
        calibration3dPipeline.getSettings().streamingFrameDivisor = FrameDivisor.NONE;
        calibration3dPipeline.getSettings().useMrCal = useMrCal;
+        calibration3dPipeline.getSettings().useOldPattern = useOldPattern;

        for (var file : directoryListing) {
            if (file.isFile()) {