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Make the calibration utility more user friendly #840

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d2a8c0b
Added settings GUI for calibrate.py
njezersek Nov 9, 2022
aef1de6
Guess board config
njezersek Nov 10, 2022
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238 changes: 192 additions & 46 deletions calibrate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,18 +6,111 @@
from argparse import ArgumentParser
from pathlib import Path
import time
import sys

import cv2
import depthai as dai
import numpy as np

import depthai_helpers.calibration_utils as calibUtils

from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtCore import QObject, QRunnable, pyqtSlot, pyqtSignal, QThreadPool

font = cv2.FONT_HERSHEY_SIMPLEX
debug = False
red = (255, 0, 0)
green = (0, 255, 0)

BOARD_TYPES = [f.stem for f in (Path(__file__).parent / 'resources' / 'boards').glob('*.json')]

SETTINGS = {
'board': {
'flag': "-brd", 'flag_long': "--board", 'default': None, 'type': str, 'options': BOARD_TYPES,
'label': "Camera model", 'help': "BW1097, BW1098OBC - Board type from resources/boards/ (not case-sensitive},. Or path to a custom .json board config. Mutually exclusive with [-fv -b -w]"
},
'count': {
'flag': "-c", 'flag_long': "--count", 'default': 1, 'type': int, 'min': 1, 'max': 10,
'label': "Images per capture", 'help': "Number of images per polygon to capture. Default: 1."
},
'squareSizeCm': {
'flag': "-s", 'flag_long': "--squareSizeCm", 'default': 2.5, 'type': float, 'min': 2.2,
'label': "Square size (cm)", 'help': "Square size of calibration pattern used in centimeters. Default: 2.0cm."
},
'markerSizeCm': {
'flag': "-ms", 'flag_long': "--markerSizeCm", 'default': None, 'type': float,
'label': "Marker size (cm)", 'help': "Marker size in charuco boards."
},
'defaultBoard': {
'flag': "-db", 'flag_long': "--defaultBoard", 'default': False, 'type': bool, 'action': "store_true",
'help': "Calculates the -ms parameter automatically based on aspect ratio of charuco board in the repository"
},
'squaresX': {
'flag': "-nx", 'flag_long': "--squaresX", 'default': 11, 'type': int, 'min': 1,
'label': "No. squres X", 'help': "number of chessboard squares in X direction in charuco boards."
},
'squaresY': {
'flag': "-ny", 'flag_long': "--squaresY", 'default': 8, 'type': int, 'min': 1,
'label': "No. squares Y", 'help': "number of chessboard squares in Y direction in charuco boards."
},
'rectifiedDisp': {
'flag': "-rd", 'flag_long': "--rectifiedDisp", 'default': True, 'type': bool, 'action': "store_false",
'label': "Show rectified lines", 'help': "Display rectified images with lines drawn for epipolar check"
},
'disableRgb': {
'flag': "-drgb", 'flag_long': "--disableRgb", 'default': False, 'type': bool, 'action': "store_true",
'label': "Disable RGB calibration", 'help': "Disable rgb camera Calibration"
},
'swapLR': {
'flag': "-slr", 'flag_long': "--swapLR", 'default': False, 'type': bool, 'action': "store_true",
'label': "Swap left and right cameras", 'help': "Interchange Left and right camera port."
},
'mode': {
'flag': "-m", 'flag_long': "--mode", 'default': ['capture', 'process'], 'nargs': '*', 'type': str,
'help': "Space-separated list of calibration options to run. By default, executes the full 'capture process' pipeline. To execute a single step, enter just that step (ex: 'process')."
},
'invert_v': {
'flag': "-iv", 'flag_long': "--invertVertical", 'default': False, 'type': bool, 'action': "store_true",
'label': "Flip verticaly", 'help': "Invert vertical axis of the camera for the display"
},
'invert_h': {
'flag': "-ih", 'flag_long': "--invertHorizontal", 'default': False, 'type': bool, 'action': "store_true",
'label': "Flip horizontaly", 'help': "Invert horizontal axis of the camera for the display"
},
'maxEpiploarError': {
'flag': "-ep", 'flag_long': "--maxEpiploarError", 'default': "1.0", 'type': float,
'help': "Sets the maximum epiploar allowed with rectification"
},
'cameraMode': {
'flag': "-cm", 'flag_long': "--cameraMode", 'default': "perspective", 'type': str,
'help': "Choose between perspective and Fisheye"
},
'rgbLensPosition': {
'flag': "-rlp", 'flag_long': "--rgbLensPosition", 'default': 135, 'type': int, 'min': 0, 'max': 255,
'label': "RGB focus", 'help': "Set the manual lens position of the camera for calibration"
},
'fps': {
'flag': "-fps", 'flag_long': "--fps", 'default': 10, 'type': int, 'min': 1, 'max': 30,
'label': "Camera FPS", 'help': "Set capture FPS for all cameras. Default: 10"
},
'captureDelay': {
'flag': "-cd", 'flag_long': "--captureDelay", 'default': 5, 'type': int, min: 0,
'label': "Capture delay (s)", 'help': "Choose how much delay to add between pressing the key and capturing the image. Default: 5"
},
'debug': {
'flag': "-d", 'flag_long': "--debug", 'default': False, 'type': bool, 'action': "store_true",
'help': "Enable debug logs."
},
'factoryCalibration': {
'flag': "-fac", 'flag_long': "--factoryCalibration", 'default': False, 'type': bool, 'action': "store_true",
'help': "Enable writing to Factory Calibration."
},
'noGui': {
'flag': "-ng", 'flag_long': "--noGui", 'default': False, 'type': bool, 'action': "store_true",
'help': "Disable GUI."
}
}


def create_blank(width, height, rgb_color=(0, 0, 0)):
"""Create new image(numpy array) filled with certain color in RGB"""
Expand Down Expand Up @@ -60,61 +153,25 @@ def parse_args():
'''
parser = ArgumentParser(
epilog=epilog_text, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument("-c", "--count", default=1, type=int, required=False,
help="Number of images per polygon to capture. Default: 1.")
parser.add_argument("-s", "--squareSizeCm", type=float, required=True,
help="Square size of calibration pattern used in centimeters. Default: 2.0cm.")
parser.add_argument("-ms", "--markerSizeCm", type=float, required=False,
help="Marker size in charuco boards.")
parser.add_argument("-db", "--defaultBoard", default=False, action="store_true",
help="Calculates the -ms parameter automatically based on aspect ratio of charuco board in the repository")
parser.add_argument("-nx", "--squaresX", default="11", type=int, required=False,
help="number of chessboard squares in X direction in charuco boards.")
parser.add_argument("-ny", "--squaresY", default="8", type=int, required=False,
help="number of chessboard squares in Y direction in charuco boards.")
parser.add_argument("-rd", "--rectifiedDisp", default=True, action="store_false",
help="Display rectified images with lines drawn for epipolar check")
parser.add_argument("-drgb", "--disableRgb", default=False, action="store_true",
help="Disable rgb camera Calibration")
parser.add_argument("-slr", "--swapLR", default=False, action="store_true",
help="Interchange Left and right camera port.")
parser.add_argument("-m", "--mode", default=['capture', 'process'], nargs='*', type=str, required=False,
help="Space-separated list of calibration options to run. By default, executes the full 'capture process' pipeline. To execute a single step, enter just that step (ex: 'process').")
parser.add_argument("-brd", "--board", default=None, type=str, required=True,
help="BW1097, BW1098OBC - Board type from resources/boards/ (not case-sensitive). "
"Or path to a custom .json board config. Mutually exclusive with [-fv -b -w]")
parser.add_argument("-iv", "--invertVertical", dest="invert_v", default=False, action="store_true",
help="Invert vertical axis of the camera for the display")
parser.add_argument("-ih", "--invertHorizontal", dest="invert_h", default=False, action="store_true",
help="Invert horizontal axis of the camera for the display")
parser.add_argument("-ep", "--maxEpiploarError", default="1.0", type=float, required=False,
help="Sets the maximum epiploar allowed with rectification")
parser.add_argument("-cm", "--cameraMode", default="perspective", type=str,
required=False, help="Choose between perspective and Fisheye")
parser.add_argument("-rlp", "--rgbLensPosition", default=135, type=int,
required=False, help="Set the manual lens position of the camera for calibration")
parser.add_argument("-fps", "--fps", default=10, type=int,
required=False, help="Set capture FPS for all cameras. Default: %(default)s")
parser.add_argument("-cd", "--captureDelay", default=5, type=int,
required=False, help="Choose how much delay to add between pressing the key and capturing the image. Default: %(default)s")
parser.add_argument("-d", "--debug", default=False, action="store_true", help="Enable debug logs.")
parser.add_argument("-fac", "--factoryCalibration", default=False, action="store_true",
help="Enable writing to Factory Calibration.")

for name, properties in SETTINGS.items():
if properties['type'] == bool:
parser.add_argument(properties['flag'], properties['flag_long'], default=properties['default'], action=properties['action'], dest=name, help=properties['help'])
elif properties['type'] == str:
parser.add_argument(properties['flag'], properties['flag_long'], default=properties['default'], nargs=properties.get('nargs'), dest=name, type=properties['type'], help=properties['help'])
else:
parser.add_argument(properties['flag'], properties['flag_long'], default=properties['default'], dest=name, type=properties['type'], help=properties['help'])

options = parser.parse_args()

# Set some extra defaults, `-brd` would override them
if options.markerSizeCm is None:
if options.defaultBoard:
options.markerSizeCm = options.squareSizeCm * 0.75
else:
raise argparse.ArgumentError(options.markerSizeCm, "-ms / --markerSizeCm needs to be provided (you can use -db / --defaultBoard if using calibration board from this repository or calib.io to calculate -ms automatically)")
options.markerSizeCm = options.squareSizeCm * 0.75
if options.squareSizeCm < 2.2:
raise argparse.ArgumentTypeError("-s / --squareSizeCm needs to be greater than 2.2 cm")

return options


class Main:
output_scale_factor = 0.5
polygons = None
Expand All @@ -127,6 +184,9 @@ class Main:
def __init__(self):
global debug
self.args = parse_args()
self.guess_board_config()
if not self.args.noGui:
self.settings_gui()
debug = self.args.debug
self.aruco_dictionary = cv2.aruco.Dictionary_get(
cv2.aruco.DICT_4X4_1000)
Expand Down Expand Up @@ -164,6 +224,92 @@ def __init__(self):
if not self.args.disableRgb:
self.rgb_camera_queue = self.device.getOutputQueue("rgb", 30, True)

def guess_board_config(self):
if self.args.board: # if board is set with flags then use that
return

product_name = None
try:
with dai.Device() as device:
try:
product_name = device.readFactoryCalibration().eepromToJson().get('productName')
except: pass
if not product_name:
try:
product_name = device.readCalibration().eepromToJson().get('productName')
except: pass
except: pass

if not product_name:
print("Couldn't determine product name from EEPROM")
return

product_name = product_name.upper().replace(' ', '-')
for board_type in BOARD_TYPES:
if board_type in product_name:
self.args.board = board_type
return

print("Couldn't determine board type from product name: {}".format(product_name))


def settings_gui(self):
app = QtWidgets.QApplication([])
window = QtWidgets.QDialog()
window.setWindowFlags(window.windowFlags() & ~QtCore.Qt.WindowContextHelpButtonHint)
window.setWindowTitle('DepthAI Calibration Settings')
# Define the layout
layout = QtWidgets.QGridLayout()
layout.columnCount = 2
for i, (name, properties) in enumerate(SETTINGS.items()):
label = properties.get('label')
if label is None:
continue

if properties['type'] == bool:
widget = QtWidgets.QCheckBox()
widget.setChecked(getattr(self.args, name))
widget.stateChanged.connect(lambda v, n=name: setattr(self.args, n, v != 0))
elif properties['type'] == int:
widget = QtWidgets.QSpinBox()
widget.setMinimum(properties.get('min', 0))
widget.setMaximum(properties.get('max', 100))
widget.setValue(getattr(self.args, name))
widget.valueChanged.connect(lambda v, n=name: setattr(self.args, n, v))
elif properties['type'] == float:
widget = QtWidgets.QDoubleSpinBox()
widget.setMinimum(properties.get('min', 0))
widget.setMaximum(properties.get('max', 100))
widget.setValue(getattr(self.args, name))
widget.valueChanged.connect(lambda v, n=name: setattr(self.args, n, v))
elif properties['type'] == str:
if 'options' in properties:
widget = QtWidgets.QComboBox()
widget.addItems(properties['options'])
widget.setCurrentText(getattr(self.args, name))
widget.currentTextChanged.connect(lambda v, n=name: setattr(self.args, n, v))
else:
widget = QtWidgets.QLineEdit()
widget.setText(getattr(self.args, name))
widget.textChanged.connect(lambda v, n=name: setattr(self.args, n, v))
else:
continue

label_widget = QtWidgets.QLabel(label)
label_widget.setToolTip(properties.get('help'))
widget.setToolTip(properties.get('help'))
layout.addWidget(label_widget, i, 0)
layout.addWidget(widget, i, 1)

button = QtWidgets.QPushButton('Start Calibration')
button.clicked.connect(lambda: window.accept())
layout.addWidget(button, i + 1, 0, 1, 2)

window.reject = lambda: sys.exit(0)
window.setLayout(layout)
window.show()
app.exec()

def is_markers_found(self, frame):
marker_corners, _, _ = cv2.aruco.detectMarkers(
frame, self.aruco_dictionary)
Expand Down Expand Up @@ -669,4 +815,4 @@ def run(self):


if __name__ == "__main__":
Main().run()
main = Main().run()