Create "Hide calibration corners" switch, default to mrcal on if possible (#1462)

2026-06-22 01:11:40 +00:00 · 2024-10-25 10:05:03 -07:00
parent aee432127a
commit f906295c39
9 changed files with 67 additions and 38 deletions
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -81,15 +81,6 @@ 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() {
-    return useMrCalRef.value && useSettingsStore().general.mrCalWorking;
-  },
-  set(value) {
-    useMrCalRef.value = value && useSettingsStore().general.mrCalWorking;
-  }
-});

 const downloadCalibBoard = () => {
  const doc = new JsPDF({ unit: "in", format: "letter" });
@@ -169,7 +160,6 @@ const startCalibration = () => {
    patternHeight: patternHeight.value,
    patternWidth: patternWidth.value,
    boardType: boardType.value,
-    useMrCal: useMrCal.value,
    useOldPattern: useOldPattern.value,
    tagFamily: tagFamily.value
  });
@@ -201,6 +191,8 @@ const endCalibration = () => {
    });
 };

+let drawAllSnapshots = ref(true);
+
 let showCalDialog = ref(false);
 let selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
 const setSelectedVideoFormat = (format: VideoFormat) => {
@@ -251,7 +243,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
            <pv-select
              v-model="useStateStore().calibrationData.videoFormatIndex"
              label="Resolution"
-              :select-cols="7"
+              :select-cols="8"
              :disabled="isCalibrating"
              tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
              :items="getUniqueVideoResolutionStrings()"
@@ -262,14 +254,14 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              label="Decimation"
              tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
              :items="calibrationDivisors"
-              :select-cols="7"
+              :select-cols="8"
              @input="(v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: v }, false)"
            />
            <pv-select
              v-model="boardType"
              label="Board Type"
              tooltip="Calibration board pattern to use"
-              :select-cols="7"
+              :select-cols="8"
              :items="['Chessboard', 'Charuco']"
              :disabled="isCalibrating"
            />
@@ -278,7 +270,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              v-model="tagFamily"
              label="Tag Family"
              tooltip="Dictionary of aruco markers on the charuco board"
-              :select-cols="7"
+              :select-cols="8"
              :items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
              :disabled="isCalibrating"
            />
@@ -288,7 +280,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              tooltip="Spacing between pattern features in inches"
              :disabled="isCalibrating"
              :rules="[(v) => v > 0 || 'Size must be positive']"
-              :label-cols="5"
+              :label-cols="4"
            />
            <pv-number-input
              v-show="boardType == CalibrationBoardTypes.Charuco"
@@ -297,7 +289,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              tooltip="Size of the tag markers in inches must be smaller than pattern spacing"
              :disabled="isCalibrating"
              :rules="[(v) => v > 0 || 'Size must be positive']"
-              :label-cols="5"
+              :label-cols="4"
            />
            <pv-number-input
              v-model="patternWidth"
@@ -305,7 +297,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              tooltip="Width of the board in dots or chessboard squares"
              :disabled="isCalibrating"
              :rules="[(v) => v >= 4 || 'Width must be at least 4']"
-              :label-cols="5"
+              :label-cols="4"
            />
            <pv-number-input
              v-model="patternHeight"
@@ -313,7 +305,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              tooltip="Height of the board in dots or chessboard squares"
              :disabled="isCalibrating"
              :rules="[(v) => v >= 4 || 'Height must be at least 4']"
-              :label-cols="5"
+              :label-cols="4"
            />
            <pv-switch
              v-show="boardType == CalibrationBoardTypes.Charuco"
@@ -321,15 +313,18 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              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"
-              :disabled="!useSettingsStore().general.mrCalWorking || isCalibrating"
-              tooltip="If enabled, Photon will (try to) use MrCal instead of OpenCV for camera calibration."
-              :label-cols="5"
+              :label-cols="4"
            />
+            <v-banner
+              v-show="useSettingsStore().general.mrCalWorking"
+              rounded
+              color="secondary"
+              text-color="white"
+              class="mt-3"
+              icon="mdi-alert-circle-outline"
+            >
+              Mrcal was successfully loaded, and will be used!
+            </v-banner>
            <v-banner
              v-show="!useSettingsStore().general.mrCalWorking"
              rounded
@@ -463,6 +458,16 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
            </v-btn>
          </v-col>
        </v-row>
+        <v-row v-if="isCalibrating" style="display: flex; flex-direction: column">
+          <pv-switch
+            v-model="drawAllSnapshots"
+            class="pt-2"
+            label="Draw Collected Corners"
+            :switch-cols="8"
+            tooltip="Draw all snapshots"
+            @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ drawAllSnapshots: args }, false)"
+          />
+        </v-row>
      </div>
    </v-card>
    <v-dialog v-model="showCalibEndDialog" width="500px" :persistent="true">
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -339,7 +339,6 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
        patternWidth: number;
        patternHeight: number;
        boardType: CalibrationBoardTypes;
-        useMrCal: boolean;
        useOldPattern: boolean;
        tagFamily: CalibrationTagFamilies;
      },
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -142,7 +142,9 @@ export const DefaultPipelineSettings: Omit<
  hsvSaturation: { first: 50, second: 255 },
  contourIntersection: 1,
  cameraAutoWhiteBalance: false,
-  cameraWhiteBalanceTemp: 4000
+  cameraWhiteBalanceTemp: 4000,
+  cameraMinExposureRaw: 1,
+  cameraMaxExposureRaw: 2
 };

 export interface ReflectivePipelineSettings extends PipelineSettings {
@@ -314,16 +316,34 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
  model: ""
 };

+export interface Calibration3dPipelineSettings extends PipelineSettings {
+  drawAllSnapshots: boolean;
+}
+export type ConfigurableCalibration3dPipelineSettings = Partial<Omit<Calibration3dPipelineSettings, "pipelineType">> &
+  ConfigurablePipelineSettings;
+export const DefaultCalibration3dPipelineSettings: Calibration3dPipelineSettings = {
+  ...DefaultPipelineSettings,
+  pipelineType: PipelineType.ObjectDetection,
+  cameraGain: 20,
+  targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+  ledMode: true,
+  outputShowMultipleTargets: false,
+  cameraExposureRaw: 6,
+  drawAllSnapshots: false
+};
+
 export type ActivePipelineSettings =
  | ReflectivePipelineSettings
  | ColoredShapePipelineSettings
  | AprilTagPipelineSettings
  | ArucoPipelineSettings
-  | ObjectDetectionPipelineSettings;
+  | ObjectDetectionPipelineSettings
+  | Calibration3dPipelineSettings;

 export type ActiveConfigurablePipelineSettings =
  | ConfigurableReflectivePipelineSettings
  | ConfigurableColoredShapePipelineSettings
  | ConfigurableAprilTagPipelineSettings
  | ConfigurableArucoPipelineSettings
-  | ConfigurableObjectDetectionPipelineSettings;
+  | ConfigurableObjectDetectionPipelineSettings
+  | ConfigurableCalibration3dPipelineSettings;
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
@@ -43,6 +43,8 @@ public class DrawCalibrationPipe

    @Override
    protected Void process(Pair<Mat, List<TrackedTarget>> in) {
+        if (!params.drawAllSnapshots) return null;
+
        var image = in.getLeft();

        var imgSz = image.size();
@@ -82,9 +84,11 @@ public class DrawCalibrationPipe

    public static class DrawCalibrationPipeParams {
        private final FrameDivisor divisor;
+        public boolean drawAllSnapshots;

-        public DrawCalibrationPipeParams(FrameDivisor divisor) {
+        public DrawCalibrationPipeParams(FrameDivisor divisor, boolean drawSnapshots) {
            this.divisor = divisor;
+            this.drawAllSnapshots = drawSnapshots;
        }
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -230,7 +230,6 @@ public class Calibrate3dPipeline
                                settings.boardWidth,
                                settings.boardHeight,
                                settings.boardType,
-                                settings.useMrCal,
                                settings.useOldPattern,
                                settings.tagFamily));

--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
@@ -32,6 +32,7 @@ public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
    public Size resolution = new Size(640, 480);
    public boolean useMrCal = true;
    public boolean useOldPattern = false;
+    public boolean drawAllSnapshots;

    public Calibration3dPipelineSettings() {
        super();
@@ -39,5 +40,6 @@ public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
        this.inputShouldShow = true;
        this.outputShouldShow = true;
        this.streamingFrameDivisor = FrameDivisor.HALF;
+        this.drawAllSnapshots = true;
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -114,8 +114,12 @@ public class OutputStreamPipeline {
        resizeImagePipe.setParams(
                new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));

-        drawCalibrationPipe.setParams(
-                new DrawCalibrationPipe.DrawCalibrationPipeParams(settings.streamingFrameDivisor));
+        if (settings instanceof Calibration3dPipelineSettings) {
+            drawCalibrationPipe.setParams(
+                    new DrawCalibrationPipe.DrawCalibrationPipeParams(
+                            settings.streamingFrameDivisor,
+                            ((Calibration3dPipelineSettings) settings).drawAllSnapshots));
+        }
    }

    public CVPipelineResult process(
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/UICalibrationData.java
@@ -28,7 +28,6 @@ public class UICalibrationData {
    public int patternWidth;
    public int patternHeight;
    public BoardType boardType;
-    public boolean useMrCal;
    public double markerSizeIn;
    public boolean useOldPattern;
    public TagFamily tagFamily;
@@ -45,7 +44,6 @@ public class UICalibrationData {
            int patternWidth,
            int patternHeight,
            BoardType boardType,
-            boolean useMrCal,
            boolean useOldPattern,
            TagFamily tagFamily) {
        this.count = count;
@@ -57,7 +55,6 @@ public class UICalibrationData {
        this.patternWidth = patternWidth;
        this.patternHeight = patternHeight;
        this.boardType = boardType;
-        this.useMrCal = useMrCal;
        this.useOldPattern = useOldPattern;
        this.tagFamily = tagFamily;
    }
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -355,7 +355,6 @@ public class VisionModule {
        settings.boardHeight = data.patternHeight;
        settings.boardWidth = data.patternWidth;
        settings.boardType = data.boardType;
-        settings.useMrCal = data.useMrCal;
        settings.resolution = resolution;
        settings.useOldPattern = data.useOldPattern;
        settings.tagFamily = data.tagFamily;