Calibration fixes: better charuco creation

spot_wrapper/calibration/README.md

@@ -236,7 +236,7 @@ If you like the core tools of this utility, and you'd like a more portable versi
 use independent of Spot that doesn't depend on Spot Wrapper, you could recreate
 the CLI tool with no dependency on Spot Wrapper with the following command:
 ```
-cat calibration_util.py <(tail -n +3 automatic_camera_calibration_robot.py) <(tail -n +21 calibrate_multistereo_cameras_with_charuco_cli.py) > standalone_cli.py
+cat calibration_util.py <(tail -n +3 automatic_camera_calibration_robot.py) <(tail -n +23 calibrate_multistereo_cameras_with_charuco_cli.py) > standalone_cli.py
 ```
 The core capability above depends primarily on NumPy, OpenCV and standard Python libraries.
 

spot_wrapper/calibration/calibrate_multistereo_cameras_with_charuco_cli.py

@@ -12,11 +12,13 @@
     load_images_from_path,
     multistereo_calibration_charuco,
     save_calibration_parameters,
+    create_charuco_board
 )
 
 logging.basicConfig(
     level=logging.INFO,
 )
+
 logger = logging.getLogger(__name__)
 
 
@@ -55,13 +57,11 @@ def main():
         aruco_dict = cv2.aruco.getPredefinedDictionary(getattr(cv2.aruco, args.dict_size))
     else:
         raise ValueError(f"Invalid ArUco dictionary: {args.dict_size}")
-    charuco = cv2.aruco.CharucoBoard_create(
-        args.num_checkers_width,
-        args.num_checkers_height,
-        args.checker_dim,
-        args.marker_dim,
-        aruco_dict,
-    )
+    charuco = create_charuco_board(args.num_checkers_width,
+                                   args.num_checkers_height,
+                                   args.marker_dim,
+                                   aruco_dict)
+
     logger.info(f"Loading images from {args.data_path}")
     images = load_images_from_path(args.data_path)
     calibration_helper(images=images, args=args, charuco=charuco, aruco_dict=aruco_dict)

spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py

@@ -14,6 +14,7 @@
 from spot_wrapper.calibration.calibration_util import (
     get_multiple_perspective_camera_calibration_dataset,
     load_images_from_path,
+    create_charuco_board
 )
 from spot_wrapper.calibration.spot_in_hand_camera_calibration import (
     SpotInHandCalibration,
@@ -33,14 +34,11 @@ def spot_main() -> None:
         aruco_dict = cv2.aruco.getPredefinedDictionary(getattr(cv2.aruco, args.dict_size))
     else:
         raise ValueError(f"Invalid ArUco dictionary: {args.dict_size}")
-    charuco = cv2.aruco.CharucoBoard_create(
-        args.num_checkers_width,
-        args.num_checkers_height,
-        args.checker_dim,
-        args.marker_dim,
-        aruco_dict,
-    )
-
+    charuco = create_charuco_board(args.num_checkers_width,
+                                   args.num_checkers_height,
+                                   args.marker_dim,
+                                   aruco_dict)
+
     if not args.from_data:
         logger.warning("This script moves the robot around. !!! USE AT YOUR OWN RISK !!!")
         logger.warning("HOLD Ctrl + C NOW TO CANCEL")

spot_wrapper/calibration/calibration_util.py

@@ -25,7 +25,60 @@
 logger = logging.getLogger(__name__)
 
 SPOT_DEFAULT_ARUCO_DICT = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
-SPOT_DEFAULT_CHARUCO = cv2.aruco.CharucoBoard_create(9, 4, 0.115, 0.09, SPOT_DEFAULT_ARUCO_DICT)
+
+def create_charuco_board(num_checkers_width: int, 
+                         num_checkers_height: int, 
+                         checker_dim: float, marker_dim: float, 
+                         aruco_dict: cv2.aruco_Dictionary) -> cv2.aruco_CharucoBoard:
+    """
+    Create a Charuco board using the provided parameters and Aruco dictionary.
+    Issues a deprecation warning if using the older 'CharucoBoard_create' method.
+
+    Args:
+        num_checkers_width (int): Number of checkers along the width of the board.
+        num_checkers_height (int): Number of checkers along the height of the board.
+        checker_dim (float): Size of the checker squares.
+        marker_dim (float): Size of the Aruco marker squares.
+        aruco_dict (cv2.aruco_Dictionary): The Aruco dictionary to use for marker generation.
+
+    Returns:
+        charuco (cv2.aruco_CharucoBoard): The generated Charuco board.
+    """
+
+    opencv_version = tuple(map(int, cv2.__version__.split('.')))
+
+    if opencv_version < (4, 7, 0):
+        logger.warning(
+            "You're using an older version of OpenCV that has charuco outside of core capability (in contrib)"
+            "Consider upgrading to OpenCV >= 4.7.0 for including charuco capability in core.",
+        )
+
+        # Create Charuco board using the older method
+        charuco = cv2.aruco.CharucoBoard_create(
+            num_checkers_width,
+            num_checkers_height,
+            checker_dim,
+            marker_dim,
+            aruco_dict,
+        )
+    else:
+        # Create Charuco board using the newer method
+        charuco = cv2.aruco_CharucoBoard(
+            (num_checkers_width, num_checkers_height),
+            checker_dim,
+            marker_dim,
+            aruco_dict,
+        )
+
+
+    return charuco
+
+SPOT_DEFAULT_CHARUCO = create_charuco_board(num_checkers_width=9,
+                                            num_checkers_height=4,
+                                            checker_dim=.115,
+                                            marker_dim=.09,
+                                            aruco_dict=SPOT_DEFAULT_ARUCO_DICT)
+
 
 
 def get_multiple_perspective_camera_calibration_dataset(

spot_wrapper/calibration/spot_in_hand_camera_calibration.py

@@ -41,16 +41,15 @@
 from spot_wrapper.calibration.calibration_util import (
     convert_camera_t_viewpoint_to_origin_t_planning_frame,
     est_camera_t_charuco_board_center,
+    SPOT_DEFAULT_ARUCO_DICT,
+    SPOT_DEFAULT_CHARUCO
 )
 
 logging.basicConfig(
     level=logging.INFO,
 )
 
 logger = logging.getLogger(__name__)
-SPOT_DEFAULT_ARUCO_DICT = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
-SPOT_DEFAULT_CHARUCO = cv2.aruco.CharucoBoard_create(9, 4, 0.115, 0.09, SPOT_DEFAULT_ARUCO_DICT)
-
 
 class SpotInHandCalibration(AutomaticCameraCalibrationRobot):
     def __init__(self, ip: str, username: str, password: str):