mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
74322affde
Co-authored-by: samfreund <techguy763@gmail.com> Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
587 lines
23 KiB
Vue
587 lines
23 KiB
Vue
<script setup lang="ts">
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import { computed, ref } from "vue";
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import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
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import { CalibrationBoardTypes, CalibrationTagFamilies, type VideoFormat } from "@/types/SettingTypes";
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import JsPDF from "jspdf";
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import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
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import MonoLogo from "@/assets/images/logoMono.png";
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import CharucoImage from "@/assets/images/ChArUco_Marker8x8.png";
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import PvSlider from "@/components/common/pv-slider.vue";
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import { useStateStore } from "@/stores/StateStore";
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import PvSwitch from "@/components/common/pv-switch.vue";
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import PvSelect from "@/components/common/pv-select.vue";
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import PvNumberInput from "@/components/common/pv-number-input.vue";
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import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
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import { getResolutionString, resolutionsAreEqual } from "@/lib/PhotonUtils";
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import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInfoCard.vue";
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import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
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const settingsValid = ref(true);
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const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
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const uniqueResolutions: VideoFormat[] = [];
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if (useCameraSettingsStore().currentCameraSettings.validVideoFormats.length === 0) return uniqueResolutions;
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useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format) => {
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const index = uniqueResolutions.findIndex((v) => resolutionsAreEqual(v.resolution, format.resolution));
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const contains = index != -1;
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let skip = false;
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if (contains && format.fps > uniqueResolutions[index].fps) {
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uniqueResolutions.splice(index, 1);
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} else if (contains) {
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skip = true;
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}
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if (!skip) {
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const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
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if (calib !== undefined) {
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// For each error, square it, sum the squares, and divide by total points N
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if (calib.meanErrors.length)
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format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
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else format.mean = NaN;
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format.horizontalFOV =
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2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
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format.verticalFOV =
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2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
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format.diagonalFOV =
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2 *
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Math.atan2(
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Math.sqrt(
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format.resolution.width ** 2 +
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(format.resolution.height / (calib.cameraIntrinsics.data[4] / calib.cameraIntrinsics.data[0])) ** 2
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) / 2,
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calib.cameraIntrinsics.data[0]
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) *
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(180 / Math.PI);
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}
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uniqueResolutions.push(format);
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}
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});
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uniqueResolutions.sort(
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(a, b) => b.resolution.width + b.resolution.height - (a.resolution.width + a.resolution.height)
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);
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return uniqueResolutions;
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};
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const getUniqueVideoResolutionStrings = (): { name: string; value: number }[] =>
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getUniqueVideoFormatsByResolution().map<{ name: string; value: number }>((f) => ({
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name: `${getResolutionString(f.resolution)}`,
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value: f.index || 0 // Index won't ever be undefined
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}));
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const calibrationDivisors = computed(() =>
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[1, 2, 4].filter((v) => {
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const currentRes = useCameraSettingsStore().currentVideoFormat.resolution;
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return (currentRes.width / v >= 300 && currentRes.height / v >= 220) || v === 1;
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})
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);
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const squareSizeIn = ref(1);
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const markerSizeIn = ref(0.75);
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const patternWidth = ref(8);
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const patternHeight = ref(8);
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const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Charuco);
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const useOldPattern = ref(false);
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const tagFamily = ref<CalibrationTagFamilies>(CalibrationTagFamilies.Dict_4X4_1000);
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// Emperical testing - with stack size limit of 1MB, we can handle at -least- 700k points
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const tooManyPoints = computed(
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() => useStateStore().calibrationData.imageCount * patternWidth.value * patternHeight.value > 700000
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);
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const downloadCalibBoard = () => {
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const doc = new JsPDF({ unit: "in", format: "letter" });
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doc.addFileToVFS("Prompt-Regular.tff", PromptRegular);
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doc.addFont("Prompt-Regular.tff", "Prompt-Regular", "normal");
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doc.setFont("Prompt-Regular");
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doc.setFontSize(12);
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const paperWidth = 8.5;
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const paperHeight = 11.0;
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switch (boardType.value) {
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case CalibrationBoardTypes.Chessboard:
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const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
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const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
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for (let squareY = 0; squareY < patternHeight.value; squareY++) {
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for (let squareX = 0; squareX < patternWidth.value; squareX++) {
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const xPos = chessboardStartX + squareX * squareSizeIn.value;
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const yPos = chessboardStartY + squareY * squareSizeIn.value;
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// Only draw the odd squares to create the chessboard pattern
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if (squareY % 2 != squareX % 2) {
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doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
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}
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}
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}
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doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
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maxWidth: (paperWidth - 2.0) / 2,
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align: "right"
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});
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break;
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case CalibrationBoardTypes.Charuco:
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// Add pregenerated charuco
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const charucoImage = new Image();
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charucoImage.src = CharucoImage;
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doc.addImage(charucoImage, "PNG", 0.25, 1.5, 8, 8);
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doc.text("8 x 8 | 1in & 0.75in", paperWidth - 1, 1.0, {
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maxWidth: (paperWidth - 2.0) / 2,
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align: "right"
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});
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break;
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}
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// Draw ruler pattern
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const lineStartX = 1.0;
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const lineEndX = paperWidth - lineStartX;
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const lineY = paperHeight - 1.0;
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doc.setLineWidth(0.01);
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doc.line(lineStartX, lineY, lineEndX, lineY);
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for (let tickX = lineStartX; tickX <= lineEndX; tickX++) {
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doc.line(tickX, lineY, tickX, lineY + 0.25);
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doc.text(`${tickX - 1}${tickX - 1 === 0 ? " in" : ""}`, tickX + 0.1, lineY + 0.25);
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}
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// Add branding
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const logoImage = new Image();
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logoImage.src = MonoLogo;
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doc.addImage(logoImage, "PNG", 1.0, 0.75, 1.4, 0.5);
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doc.save(`calibrationTarget-${CalibrationBoardTypes[boardType.value]}.pdf`);
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};
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const isCalibrating = computed(
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() => useCameraSettingsStore().currentCameraSettings.currentPipelineIndex === WebsocketPipelineType.Calib3d
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);
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const startCalibration = () => {
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useCameraSettingsStore().startPnPCalibration({
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squareSizeIn: squareSizeIn.value,
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markerSizeIn: markerSizeIn.value,
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patternHeight: patternHeight.value,
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patternWidth: patternWidth.value,
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boardType: boardType.value,
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useOldPattern: useOldPattern.value,
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tagFamily: tagFamily.value
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});
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// The Start PnP method already handles updating the backend so only a store update is required
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useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
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// isCalibrating.value = true;
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calibCanceled.value = false;
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};
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const showCalibEndDialog = ref(false);
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const calibCanceled = ref(false);
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const calibSuccess = ref<boolean | undefined>(undefined);
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const endCalibration = () => {
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calibSuccess.value = undefined;
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if (!useStateStore().calibrationData.hasEnoughImages) {
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calibCanceled.value = true;
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}
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showCalibEndDialog.value = true;
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// Check if calibration finished cleanly or was canceled
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useCameraSettingsStore()
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.endPnPCalibration()
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.then(() => {
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calibSuccess.value = true;
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})
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.catch(() => {
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calibSuccess.value = false;
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})
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.finally(() => {
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// isCalibrating.value = false;
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// backend deals with this for us
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});
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};
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const drawAllSnapshots = ref(true);
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const showCalDialog = ref(false);
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const selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
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const setSelectedVideoFormat = (format: VideoFormat) => {
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selectedVideoFormat.value = format;
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showCalDialog.value = true;
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};
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</script>
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<template>
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<div>
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<v-card class="mb-3" color="primary" dark>
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<v-card-title class="pa-6 pb-3">Camera Calibration</v-card-title>
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<v-card-text v-show="!isCalibrating">
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<v-card-subtitle class="pt-3 pl-2 pb-4 text-white">Current Calibration</v-card-subtitle>
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<v-table fixed-header height="100%" density="compact">
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<thead>
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<tr>
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<th>Resolution</th>
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<th>Mean Error</th>
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<th>Horizontal FOV</th>
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<th>Vertical FOV</th>
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<th>Diagonal FOV</th>
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<th>Info</th>
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</tr>
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</thead>
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<tbody style="cursor: pointer">
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<tr v-for="(value, index) in getUniqueVideoFormatsByResolution()" :key="index">
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<td>{{ getResolutionString(value.resolution) }}</td>
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<td>
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{{ value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-" }}
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</td>
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<td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
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<td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
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<td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
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<v-tooltip location="bottom">
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<template #activator="{ props }">
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<td v-bind="props" @click="setSelectedVideoFormat(value)">
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<v-icon size="small" class="mr-2">mdi-information</v-icon>
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</td>
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</template>
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<span>Click for more info on this calibration.</span>
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</v-tooltip>
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</tr>
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</tbody>
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</v-table>
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</v-card-text>
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<v-card-text v-if="useCameraSettingsStore().isConnected" class="d-flex flex-column pa-6 pt-0">
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<v-card-subtitle v-show="!isCalibrating" class="pl-0 pb-3 pt-3 text-white"
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>Configure New Calibration</v-card-subtitle
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>
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<v-form ref="form" v-model="settingsValid">
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<!-- TODO: the default videoFormatIndex is 0, but the list of unique video mode indexes might not include 0. getUniqueVideoResolutionStrings indexing is also different from the normal video mode indexing -->
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<pv-select
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v-model="useStateStore().calibrationData.videoFormatIndex"
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label="Resolution"
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:select-cols="8"
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:disabled="isCalibrating"
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tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
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:items="getUniqueVideoResolutionStrings()"
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/>
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<pv-select
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v-show="isCalibrating && boardType != CalibrationBoardTypes.Charuco"
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v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
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label="Decimation"
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tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
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:items="calibrationDivisors"
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:select-cols="8"
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@update:modelValue="
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(v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: +v }, false)
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"
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/>
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<pv-select
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v-model="boardType"
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label="Board Type"
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tooltip="Calibration board pattern to use"
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:select-cols="8"
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:items="['Chessboard', 'Charuco']"
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:disabled="isCalibrating"
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/>
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<pv-select
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v-show="boardType == CalibrationBoardTypes.Charuco"
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v-model="tagFamily"
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label="Tag Family"
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tooltip="Dictionary of aruco markers on the charuco board"
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:select-cols="8"
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:items="['Dict_4X4_1000', 'Dict_5X5_1000', 'Dict_6X6_1000', 'Dict_7X7_1000']"
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:disabled="isCalibrating"
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/>
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<pv-number-input
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v-model="squareSizeIn"
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label="Pattern Spacing (in)"
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tooltip="Spacing between pattern features in inches"
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:disabled="isCalibrating"
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:rules="[(v) => v > 0 || 'Size must be positive']"
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:label-cols="4"
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/>
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<pv-number-input
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v-show="boardType == CalibrationBoardTypes.Charuco"
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v-model="markerSizeIn"
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label="Marker Size (in)"
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tooltip="Size of the tag markers in inches must be smaller than pattern spacing"
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:disabled="isCalibrating"
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:rules="[(v) => v > 0 || 'Size must be positive']"
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:label-cols="4"
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/>
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<pv-number-input
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v-model="patternWidth"
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label="Board Width (squares)"
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tooltip="Width of the board in dots or chessboard squares"
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:disabled="isCalibrating"
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:rules="[(v) => v >= 4 || 'Width must be at least 4']"
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:label-cols="4"
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/>
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<pv-number-input
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v-model="patternHeight"
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label="Board Height (squares)"
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tooltip="Height of the board in dots or chessboard squares"
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:disabled="isCalibrating"
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:rules="[(v) => v >= 4 || 'Height must be at least 4']"
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:label-cols="4"
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/>
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<pv-switch
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v-show="boardType == CalibrationBoardTypes.Charuco"
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v-model="useOldPattern"
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label="Old OpenCV Pattern"
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:disabled="isCalibrating"
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tooltip="If enabled, Photon will use the old OpenCV pattern for calibration."
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:label-cols="4"
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/>
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<v-banner
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v-if="useSettingsStore().general.mrCalWorking"
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rounded
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color="secondary"
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text-color="white"
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class="mt-3"
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icon="mdi-alert-circle-outline"
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>
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Mrcal was successfully loaded and will be used!
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</v-banner>
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<v-banner v-else rounded color="error" text-color="white" class="mt-3" icon="mdi-alert-circle-outline">
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MrCal JNI could not be loaded! Consult journalctl logs for additional details.
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</v-banner>
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</v-form>
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</v-card-text>
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<v-card-text v-if="isCalibrating" class="pa-6 pt-0">
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<pv-switch
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v-model="drawAllSnapshots"
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label="Draw Collected Corners"
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:switch-cols="8"
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tooltip="Draw all snapshots"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ drawAllSnapshots: args }, false)
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"
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/>
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<pv-switch
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoExposure"
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label="Auto Exposure"
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:label-cols="4"
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tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoExposure: args }, false)
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"
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/>
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<pv-slider
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposureRaw"
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:disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
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label="Exposure"
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tooltip="Directly controls how long the camera shutter remains open. Units are dependant on the underlying driver."
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:min="useCameraSettingsStore().minExposureRaw"
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:max="useCameraSettingsStore().maxExposureRaw"
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:slider-cols="7"
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:step="1"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposureRaw: args }, false)
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"
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/>
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<pv-slider
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
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label="Brightness"
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:min="0"
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:max="100"
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:slider-cols="7"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBrightness: args }, false)
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"
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/>
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<pv-slider
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v-if="useCameraSettingsStore().currentPipelineSettings.cameraGain >= 0"
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraGain"
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label="Camera Gain"
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tooltip="Controls camera gain, similar to brightness"
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:min="0"
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:max="100"
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:slider-cols="7"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraGain: args }, false)
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"
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/>
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<pv-slider
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v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
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label="Red AWB Gain"
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:min="0"
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:max="100"
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:slider-cols="7"
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tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)
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"
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/>
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<pv-slider
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v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
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v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
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label="Blue AWB Gain"
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:min="0"
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:max="100"
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:slider-cols="7"
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tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
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@update:modelValue="
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(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)
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"
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/>
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<v-banner
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v-if="tooManyPoints"
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rounded
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class="mt-3"
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color="error"
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text-color="white"
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icon="mdi-alert-circle-outline"
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>
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Too many corners. Finish calibration now!
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</v-banner>
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</v-card-text>
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<v-card-text v-if="isCalibrating" class="d-flex justify-center align-center pa-6 pt-0">
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<v-chip
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variant="flat"
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label
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:color="useStateStore().calibrationData.hasEnoughImages ? 'secondary' : 'grey-darken-2'"
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>
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Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
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{{ useStateStore().calibrationData.minimumImageCount }}
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</v-chip>
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</v-card-text>
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<v-card-text class="d-flex pa-6 pt-0">
|
|
<v-col cols="6" class="pa-0 pr-2">
|
|
<v-btn
|
|
size="small"
|
|
block
|
|
color="secondary"
|
|
:disabled="!settingsValid || tooManyPoints"
|
|
@click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
|
|
>
|
|
<v-icon start class="calib-btn-icon"> {{ isCalibrating ? "mdi-camera" : "mdi-flag-outline" }} </v-icon>
|
|
<span class="calib-btn-label">{{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}</span>
|
|
</v-btn>
|
|
</v-col>
|
|
<v-col cols="6" class="pa-0 pl-2">
|
|
<v-btn
|
|
size="small"
|
|
block
|
|
:color="useStateStore().calibrationData.hasEnoughImages ? 'accent' : 'error'"
|
|
:disabled="!isCalibrating || !settingsValid"
|
|
@click="endCalibration"
|
|
>
|
|
<v-icon start class="calib-btn-icon">
|
|
{{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
|
|
</v-icon>
|
|
<span class="calib-btn-label">{{
|
|
useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
|
|
}}</span>
|
|
</v-btn>
|
|
</v-col>
|
|
</v-card-text>
|
|
<v-card-text class="pa-6 pt-0">
|
|
<v-btn
|
|
color="accent"
|
|
size="small"
|
|
block
|
|
variant="outlined"
|
|
:disabled="!settingsValid"
|
|
@click="downloadCalibBoard"
|
|
>
|
|
<v-icon start class="calib-btn-icon"> mdi-download </v-icon>
|
|
<span class="calib-btn-label">Generate Board</span>
|
|
</v-btn>
|
|
</v-card-text>
|
|
</v-card>
|
|
<v-dialog v-model="showCalibEndDialog" width="500px" :persistent="true">
|
|
<v-card color="primary" dark>
|
|
<v-card-title class="pb-8"> Camera Calibration </v-card-title>
|
|
<div class="ml-3">
|
|
<v-col style="text-align: center">
|
|
<template v-if="calibCanceled">
|
|
<v-icon color="blue" size="70"> mdi-cancel </v-icon>
|
|
<v-card-text
|
|
>Camera Calibration has been Canceled, the backend is attempting to cleanly cancel the calibration
|
|
process.</v-card-text
|
|
>
|
|
</template>
|
|
<!-- No result reported yet -->
|
|
<template v-else-if="calibSuccess === undefined">
|
|
<v-progress-circular indeterminate :size="70" :width="8" color="accent" />
|
|
<v-card-text>Camera is being calibrated. This process may take several minutes...</v-card-text>
|
|
</template>
|
|
<!-- Got positive result -->
|
|
<template v-else-if="calibSuccess">
|
|
<v-icon color="green" size="70"> mdi-check-bold </v-icon>
|
|
<v-card-text>
|
|
Camera has been successfully calibrated for
|
|
{{
|
|
getUniqueVideoResolutionStrings().find(
|
|
(v) => v.value === useStateStore().calibrationData.videoFormatIndex
|
|
)?.name
|
|
}}!
|
|
</v-card-text>
|
|
</template>
|
|
<template v-else>
|
|
<v-icon color="red" size="70"> mdi-close </v-icon>
|
|
<v-card-text
|
|
>Camera calibration failed! Make sure that the photos are taken such that the rainbow grid circles align
|
|
with the corners of the chessboard, and try again. More information is available in the program
|
|
logs.</v-card-text
|
|
>
|
|
</template>
|
|
</v-col>
|
|
</div>
|
|
<v-card-actions>
|
|
<v-spacer />
|
|
<v-btn v-if="!isCalibrating" color="white" variant="text" @click="showCalibEndDialog = false"> OK </v-btn>
|
|
</v-card-actions>
|
|
</v-card>
|
|
</v-dialog>
|
|
<v-dialog v-model="showCalDialog" width="80em">
|
|
<CameraCalibrationInfoCard v-if="selectedVideoFormat" :video-format="selectedVideoFormat" />
|
|
</v-dialog>
|
|
</div>
|
|
</template>
|
|
|
|
<style scoped lang="scss">
|
|
.v-table {
|
|
text-align: center;
|
|
width: 100%;
|
|
|
|
th,
|
|
td {
|
|
background-color: #006492 !important;
|
|
font-size: 1rem !important;
|
|
}
|
|
|
|
tbody :hover td {
|
|
background-color: #005281 !important;
|
|
cursor: pointer;
|
|
}
|
|
|
|
::-webkit-scrollbar {
|
|
width: 0;
|
|
height: 0.55em;
|
|
border-radius: 5px;
|
|
}
|
|
|
|
::-webkit-scrollbar-track {
|
|
-webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
|
|
border-radius: 10px;
|
|
}
|
|
|
|
::-webkit-scrollbar-thumb {
|
|
background-color: #ffd843;
|
|
border-radius: 10px;
|
|
}
|
|
}
|
|
|
|
@media only screen and (max-width: 512px) {
|
|
.calib-btn-icon {
|
|
margin: 0 !important;
|
|
}
|
|
.calib-btn-label {
|
|
display: none;
|
|
}
|
|
}
|
|
</style>
|