WIP: Code consolidation and reorganization, first implementation of extrinsic calibration

.gitignore

@@ -1,6 +1,7 @@
-.idea/*
-.vscode/*
-venv/*
+.idea
+.venv
+.vscode
+mcstrack.egg-info
+pi-gen-detector/pi-gen
+venv
 *.pyc
-.venv/*
-

data/controller_detector_lone_local.json → data/configuration/controller/detector_local.json

@@ -7,5 +7,5 @@
       "port": 8001
     }
   ],
-  "pose_solvers": []
+  "mixers": []
 }

data/configuration/controller/dual_pi.json

@@ -0,0 +1,203 @@
+{
+  "startup_mode": "detecting_and_solving",
+  "detectors": [
+    {
+      "label": "d101",
+      "ip_address": "192.168.0.101",
+      "port": 8001,
+      "camera_parameters": [],
+      "marker_parameters": [
+        {
+          "key": "cornerRefinementMethod",
+          "value": "SUBPIX"
+        }
+      ]
+    },
+    {
+      "label": "d102",
+      "ip_address": "192.168.0.102",
+      "port": 8001,
+      "camera_parameters": [],
+      "marker_parameters": [
+        {
+          "key": "cornerRefinementMethod",
+          "value": "SUBPIX"
+        }
+      ]
+    }
+  ],
+  "mixers": [
+    {
+      "label": "sol",
+      "ip_address": "192.168.0.103",
+      "port": 8000,
+      "targets": [
+        {
+          "label": "reference",
+          "landmarks": [
+            { "feature_label": "0$0", "x": -55.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "0$1", "x": -45.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "0$2", "x": -45.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "0$3", "x": -55.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "1$0", "x": -15.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "1$1", "x": -5.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "1$2", "x": -5.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "1$3", "x": -15.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "2$0", "x": 25.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "2$1", "x": 35.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "2$2", "x": 35.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "2$3", "x": 25.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "3$0", "x": 65.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "3$1", "x": 75.0, "y": 95.0, "z": 0.0 },
+            { "feature_label": "3$2", "x": 75.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "3$3", "x": 65.0, "y": 85.0, "z": 0.0 },
+            { "feature_label": "4$0", "x": -75.0, "y": 75.0, "z": 0.0 },
+            { "feature_label": "4$1", "x": -65.0, "y": 75.0, "z": 0.0 },
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+            { "feature_label": "6$0", "x": 5.0, "y": 75.0, "z": 0.0 },
+            { "feature_label": "6$1", "x": 15.0, "y": 75.0, "z": 0.0 },
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+            { "feature_label": "6$3", "x": 5.0, "y": 65.0, "z": 0.0 },
+            { "feature_label": "7$0", "x": 45.0, "y": 75.0, "z": 0.0 },
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+            { "feature_label": "10$0", "x": 25.0, "y": 55.0, "z": 0.0 },
+            { "feature_label": "10$1", "x": 35.0, "y": 55.0, "z": 0.0 },
+            { "feature_label": "10$2", "x": 35.0, "y": 45.0, "z": 0.0 },
+            { "feature_label": "10$3", "x": 25.0, "y": 45.0, "z": 0.0 },
+            { "feature_label": "11$0", "x": 65.0, "y": 55.0, "z": 0.0 },
+            { "feature_label": "11$1", "x": 75.0, "y": 55.0, "z": 0.0 },
+            { "feature_label": "11$2", "x": 75.0, "y": 45.0, "z": 0.0 },
+            { "feature_label": "11$3", "x": 65.0, "y": 45.0, "z": 0.0 },
+            { "feature_label": "12$0", "x": -75.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "12$1", "x": -65.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "12$2", "x": -65.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "12$3", "x": -75.0, "y": 25.0, "z": 0.0 },
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+            { "feature_label": "13$3", "x": -35.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "14$0", "x": 5.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "14$1", "x": 15.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "14$2", "x": 15.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "14$3", "x": 5.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "15$0", "x": 45.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "15$1", "x": 55.0, "y": 35.0, "z": 0.0 },
+            { "feature_label": "15$2", "x": 55.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "15$3", "x": 45.0, "y": 25.0, "z": 0.0 },
+            { "feature_label": "16$0", "x": -55.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "16$1", "x": -45.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "16$2", "x": -45.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "16$3", "x": -55.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "17$0", "x": -15.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "17$1", "x": -5.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "17$2", "x": -5.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "17$3", "x": -15.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "18$0", "x": 25.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "18$1", "x": 35.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "18$2", "x": 35.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "18$3", "x": 25.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "19$0", "x": 65.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "19$1", "x": 75.0, "y": 15.0, "z": 0.0 },
+            { "feature_label": "19$2", "x": 75.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "19$3", "x": 65.0, "y": 5.0, "z": 0.0 },
+            { "feature_label": "20$0", "x": -75.0, "y": -5.0, "z": 0.0 },
+            { "feature_label": "20$1", "x": -65.0, "y": -5.0, "z": 0.0 },
+            { "feature_label": "20$2", "x": -65.0, "y": -15.0, "z": 0.0 },
+            { "feature_label": "20$3", "x": -75.0, "y": -15.0, "z": 0.0 },
+            { "feature_label": "21$0", "x": -35.0, "y": -5.0, "z": 0.0 },
+            { "feature_label": "21$1", "x": -25.0, "y": -5.0, "z": 0.0 },
+            { "feature_label": "21$2", "x": -25.0, "y": -15.0, "z": 0.0 },
+            { "feature_label": "21$3", "x": -35.0, "y": -15.0, "z": 0.0 },
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+            { "feature_label": "22$1", "x": 15.0, "y": -5.0, "z": 0.0 },
+            { "feature_label": "22$2", "x": 15.0, "y": -15.0, "z": 0.0 },
+            { "feature_label": "22$3", "x": 5.0, "y": -15.0, "z": 0.0 },
+            { "feature_label": "23$0", "x": 45.0, "y": -5.0, "z": 0.0 },
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+            { "feature_label": "24$3", "x": -55.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "25$0", "x": -15.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "25$1", "x": -5.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "25$2", "x": -5.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "25$3", "x": -15.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "26$0", "x": 25.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "26$1", "x": 35.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "26$2", "x": 35.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "26$3", "x": 25.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "27$0", "x": 65.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "27$1", "x": 75.0, "y": -25.0, "z": 0.0 },
+            { "feature_label": "27$2", "x": 75.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "27$3", "x": 65.0, "y": -35.0, "z": 0.0 },
+            { "feature_label": "28$0", "x": -75.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "28$1", "x": -65.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "28$2", "x": -65.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "28$3", "x": -75.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "29$0", "x": -35.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "29$1", "x": -25.0, "y": -45.0, "z": 0.0 },
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+            { "feature_label": "29$3", "x": -35.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "30$0", "x": 5.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "30$1", "x": 15.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "30$2", "x": 15.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "30$3", "x": 5.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "31$0", "x": 45.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "31$1", "x": 55.0, "y": -45.0, "z": 0.0 },
+            { "feature_label": "31$2", "x": 55.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "31$3", "x": 45.0, "y": -55.0, "z": 0.0 },
+            { "feature_label": "32$0", "x": -55.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "32$1", "x": -45.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "32$2", "x": -45.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "32$3", "x": -55.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "33$0", "x": -15.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "33$1", "x": -5.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "33$2", "x": -5.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "33$3", "x": -15.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "34$0", "x": 25.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "34$1", "x": 35.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "34$2", "x": 35.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "34$3", "x": 25.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "35$0", "x": 65.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "35$1", "x": 75.0, "y": -65.0, "z": 0.0 },
+            { "feature_label": "35$2", "x": 75.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "35$3", "x": 65.0, "y": -75.0, "z": 0.0 },
+            { "feature_label": "36$0", "x": -75.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "36$1", "x": -65.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "36$2", "x": -65.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "36$3", "x": -75.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "37$0", "x": -35.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "37$1", "x": -25.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "37$2", "x": -25.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "37$3", "x": -35.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "38$0", "x": 5.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "38$1", "x": 15.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "38$2", "x": 15.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "38$3", "x": 5.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "39$0", "x": 45.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "39$1", "x": 55.0, "y": -85.0, "z": 0.0 },
+            { "feature_label": "39$2", "x": 55.0, "y": -95.0, "z": 0.0 },
+            { "feature_label": "39$3", "x": 45.0, "y": -95.0, "z": 0.0 }
+          ]
+        }
+      ]
+    }
+  ]
+}

data/measure_detector_to_reference_config.json → data/configuration/controller/measure_detector_to_reference_config.json

@@ -26,7 +26,7 @@
       ]
     }
   ],
-  "pose_solvers": [
+  "mixers": [
     {
       "label": "ps",
       "ip_address": "127.0.0.1",

data/output_measure_detector_to_reference_config.json → data/configuration/controller/output_measure_detector_to_reference_config.json

@@ -62,7 +62,7 @@
             ]
         }
     ],
-    "pose_solvers": [
+    "mixers": [
         {
             "label": "ps",
             "ip_address": "127.0.0.1",

data/slicer_test_config_1.json → data/configuration/controller/slicer_test_config_1.json

@@ -125,7 +125,7 @@
       }
     }
   ],
-  "pose_solvers": [
+  "mixers": [
     {
         "label": "sol",
         "ip_address": "127.0.0.1",

data/configuration/detector/opencv_aruco.json

@@ -0,0 +1,19 @@
+{
+  "detector_label": "detector_01",
+  "intrinsic_calibrator": {
+    "implementation": "charuco_opencv",
+    "configuration": {
+      "data_path": "./calibration/intrinsic/"
+    }
+  },
+  "camera": {
+    "implementation": "opencv_capture_device",
+    "configuration": {
+      "capture_device": 0
+    }
+  },
+  "annotator": {
+    "implementation": "aruco_opencv",
+    "configuration": {}
+  }
+}

data/configuration/detector/rpicam_aruco.json

@@ -0,0 +1,17 @@
+{
+  "detector_label": "detector_01",
+  "intrinsic_calibrator": {
+    "implementation": "charuco_opencv",
+    "configuration": {
+      "data_path": "./calibration/intrinsic/"
+    }
+  },
+  "camera": {
+    "implementation": "picamera2",
+    "configuration": {}
+  },
+  "annotator": {
+    "implementation": "aruco_opencv",
+    "configuration": {}
+  }
+}

data/configuration/mixer/aruco.json

@@ -0,0 +1,9 @@
+{
+  "mixer_label": "mixer_01",
+  "extrinsic_calibrator": {
+    "implementation": "charuco_opencv",
+    "configuration": {
+      "data_path": "./calibration/extrinsic/"
+    }
+  }
+}