feat(cli): interactive ChArUco camera calibration tool - #16
Draft
TheCrabe wants to merge 6 commits into
Draft
Conversation
calibrate-camera CLI drives a UvcCamera + CharucoCalibrationSession from evo-hl-library, captures views on SPACE, runs the gated calibration on 'c', saves JSON5 on 's'. Adds opencv-python and a path source for the sibling library worktree.
live (cv2.imshow) requires a display, capture writes raw frames to disk via pure ssh (with on-demand corner-count feedback), compute runs the calibration offline on a folder so the RMS threshold can be retuned without recapturing.
The live mode previously drew only ArUco marker outlines. The user needed to see whether each frame had enough ChArUco corners (>=10) before pressing SPACE to capture. Now interpolateCornersCharuco runs every frame, the resulting corners are drawn over the preview, and the status overlay shows live/last counts with a green-vs-orange cue (green when >=10, orange below). This mirrors the visual feedback of test_aruco/aruco.py used as the reference prototype.
Allows running calibration on a machine that has cv2 with GUI (laptop) while the camera lives on a headless host. ustreamer on the robot exposes the camera as MJPEG over HTTP, the laptop reads it via cv2.VideoCapture and runs the live preview locally — no X forwarding. Also fits the case where the local cv2 is opencv-python-headless and we need to delegate the GUI to a different venv/host.
Adds two GUI subcommands on top of the existing live/capture/compute trio: - extrinsics: compute (R_robot_camera, t_robot_camera) from a known table marker. Live preview locks on a reference tag (auto-detect via EUROBOT_FIXED_TABLE_TAGS by default, or explicit --ref-marker-id / --marker-table-pos-mm fallback). On SPACE, captures N frames and runs bundle PnP global (4N 2D-3D correspondences in one solvePnP ITERATIVE with IPPE_SQUARE init) for MLE accuracy under pixel noise. Composes T_robot_marker from --robot-table-pos/rot args, calls cam.calibrate_extrinsics_from_pose, merges the result into the same JSON5 as the intrinsics. Live preview also overlays the marker's RGB axes via cv2.drawFrameAxes. - verify: live readout of every detected ArUco's id, size and 3D position in the robot frame. Useful sanity-check after a calibration: place a marker at a known robot-frame position, read it back live. Per-id size lookup keeps the math correct without --marker-size-mm for Eurobot tags. Renames the original 'live' subcommand to 'intrinsics' for symmetry. UX hardening applied to all GUI subcommands: - preview window is resizable and capped at 1280px wide (was rigid AUTOSIZE that overflowed 1080p screens) - Qt platform layer warnings (fonts/xcb) muted via QT_LOGGING_RULES - explicit \$DISPLAY check at startup with a clear hint to use ssh -X/-Y
TheCrabe
force-pushed
the
feat/calibrate-camera
branch
from
May 9, 2026 20:18
6b688a2 to
102532e
Compare
Match the lib rename: read t_robot_camera_mm and m.position_robot_mm instead of the old world-named fields.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
calibrate-cameraCLI: opens aUvcCamerafrom evo-hl-library, drives aCharucoCalibrationSessioninteractively (SPACE/c/s/r/q), refuses to save when the gated RMS check fails.ssh -Xon the robot — not headless.