fix: migrate CharucoTracker to OpenCV 4.8+ API

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "caliscope"
-version = "0.7.0"
+version = "0.7.2"
 description = "GUI based multicamera calibration that integrates with 2D landmark tracking to triangulate 3D landmark positions"
 authors = [{name = "Mac Prible", email = "prible@gmail.com"}]
 license = { text = "BSD-2-Clause" }

src/caliscope/trackers/charuco_tracker.py

@@ -19,7 +19,10 @@ def __init__(self, charuco):
         # to camera
         self.charuco = charuco
         self.board = charuco.board
-        self.dictionary_object = self.charuco.dictionary_object
+
+        # CharucoDetector replaces the old free-function API
+        # (detectMarkers + interpolateCornersCharuco) removed in OpenCV 4.8+
+        self.detector = cv2.aruco.CharucoDetector(self.board)
 
         # for subpixel corner correction
         self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.0001)
@@ -59,19 +62,11 @@ def find_corners_single_frame(self, gray_frame, mirror):
         ids = np.array([], dtype=np.int32)
         img_loc = np.empty((0, 2), dtype=np.float64)
 
-        # detect if aruco markers are present
-        aruco_corners, aruco_ids, rejected = cv2.aruco.detectMarkers(gray_frame, self.dictionary_object)
-
-        # if so, then interpolate to the Charuco Corners and return what you found
-        if len(aruco_corners) > 3:
-            (
-                success,
-                _img_loc,
-                _ids,
-            ) = cv2.aruco.interpolateCornersCharuco(aruco_corners, aruco_ids, gray_frame, self.board)
+        # detectBoard combines marker detection + charuco corner interpolation
+        _img_loc, _ids, marker_corners, marker_ids = self.detector.detectBoard(gray_frame)
 
-            # This occasionally errors out...
-            # only offers possible refinement so if it fails, just move along
+        if _ids is not None and len(_ids) > 0:
+            # Sub-pixel refinement — occasionally errors out, so just move along if it fails
             try:
                 _img_loc = cv2.cornerSubPix(
                     gray_frame,
@@ -83,15 +78,13 @@ def find_corners_single_frame(self, gray_frame, mirror):
             except Exception as e:
                 logger.debug(f"Sub pixel detection failed: {e}")
 
-            if success:
-                # assign to tracker
-                ids = _ids[:, 0]
-                img_loc = _img_loc[:, 0]
+            ids = _ids[:, 0]
+            img_loc = _img_loc[:, 0]
 
-                # flip coordinates if mirrored image fed in
-                frame_width = gray_frame.shape[1]  # used for flipping mirrored corners back
-                if mirror:
-                    img_loc[:, 0] = frame_width - img_loc[:, 0]
+            # flip coordinates if mirrored image fed in
+            frame_width = gray_frame.shape[1]
+            if mirror:
+                img_loc[:, 0] = frame_width - img_loc[:, 0]
 
         return ids, img_loc
 

src/caliscope/trackers/model_cards/rtmpose_l_halpe26.toml

@@ -0,0 +1,94 @@
+[model]
+name = "RTMPose-l Halpe26"
+model_path = "rtmpose_l_halpe26.onnx"
+format = "simcc"
+input_size = [192, 256]
+confidence_threshold = 0.3
+
+[source]
+url = "https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/onnx_sdk/rtmpose-l_simcc-body7_pt-body7-halpe26_700e-256x192-2abb7558_20230605.zip"
+extraction = "zip_end2end"
+license = "Apache-2.0"
+license_url = "https://github.com/open-mmlab/mmpose/blob/main/LICENSE"
+file_size_mb = 100
+sha256 = "5a30a83a9836b3cb0c1b036ca905eac9e21e9a5c795f5301a8f4843fb7ad76ba"
+
+[points]
+nose = 0
+left_eye = 1
+right_eye = 2
+left_ear = 3
+right_ear = 4
+left_shoulder = 5
+right_shoulder = 6
+left_elbow = 7
+right_elbow = 8
+left_wrist = 9
+right_wrist = 10
+left_hip = 11
+right_hip = 12
+left_knee = 13
+right_knee = 14
+left_ankle = 15
+right_ankle = 16
+head = 17
+neck = 18
+hip = 19
+left_big_toe = 20
+right_big_toe = 21
+left_small_toe = 22
+right_small_toe = 23
+left_heel = 24
+right_heel = 25
+
+[segments.shoulders]
+color = "y"
+points = ["left_shoulder", "right_shoulder"]
+
+[segments.left_arm]
+color = "g"
+points = ["left_shoulder", "left_elbow"]
+
+[segments.left_forearm]
+color = "g"
+points = ["left_elbow", "left_wrist"]
+
+[segments.right_arm]
+color = "r"
+points = ["right_shoulder", "right_elbow"]
+
+[segments.right_forearm]
+color = "r"
+points = ["right_elbow", "right_wrist"]
+
+[segments.pelvis]
+color = "y"
+points = ["left_hip", "right_hip"]
+
+[segments.left_flank]
+color = "y"
+points = ["left_hip", "left_shoulder"]
+
+[segments.right_flank]
+color = "y"
+points = ["right_hip", "right_shoulder"]
+
+[segments.left_thigh]
+color = "g"
+points = ["left_hip", "left_knee"]
+
+[segments.left_shank]
+color = "g"
+points = ["left_knee", "left_ankle"]
+
+[segments.right_thigh]
+color = "r"
+points = ["right_hip", "right_knee"]
+
+[segments.right_shank]
+color = "r"
+points = ["right_knee", "right_ankle"]
+
+[segments.neck_segment]
+color = "y"
+points = ["neck", "head"]

src/caliscope/trackers/model_cards/rtmpose_x_halpe26.toml

@@ -0,0 +1,94 @@
+[model]
+name = "RTMPose-x Halpe26"
+model_path = "rtmpose_x_halpe26.onnx"
+format = "simcc"
+input_size = [288, 384]
+confidence_threshold = 0.3
+
+[source]
+url = "https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/onnx_sdk/rtmpose-x_simcc-body7_pt-body7-halpe26_700e-384x288-7fb6e239_20230606.zip"
+extraction = "zip_end2end"
+license = "Apache-2.0"
+license_url = "https://github.com/open-mmlab/mmpose/blob/main/LICENSE"
+file_size_mb = 178
+sha256 = "0c33d9ba030e7011686e6a7f48fd85df383378216f2f5765ae389c1828685e68"
+
+[points]
+nose = 0
+left_eye = 1
+right_eye = 2
+left_ear = 3
+right_ear = 4
+left_shoulder = 5
+right_shoulder = 6
+left_elbow = 7
+right_elbow = 8
+left_wrist = 9
+right_wrist = 10
+left_hip = 11
+right_hip = 12
+left_knee = 13
+right_knee = 14
+left_ankle = 15
+right_ankle = 16
+head = 17
+neck = 18
+hip = 19
+left_big_toe = 20
+right_big_toe = 21
+left_small_toe = 22
+right_small_toe = 23
+left_heel = 24
+right_heel = 25
+
+[segments.shoulders]
+color = "y"
+points = ["left_shoulder", "right_shoulder"]
+
+[segments.left_arm]
+color = "g"
+points = ["left_shoulder", "left_elbow"]
+
+[segments.left_forearm]
+color = "g"
+points = ["left_elbow", "left_wrist"]
+
+[segments.right_arm]
+color = "r"
+points = ["right_shoulder", "right_elbow"]
+
+[segments.right_forearm]
+color = "r"
+points = ["right_elbow", "right_wrist"]
+
+[segments.pelvis]
+color = "y"
+points = ["left_hip", "right_hip"]
+
+[segments.left_flank]
+color = "y"
+points = ["left_hip", "left_shoulder"]
+
+[segments.right_flank]
+color = "y"
+points = ["right_hip", "right_shoulder"]
+
+[segments.left_thigh]
+color = "g"
+points = ["left_hip", "left_knee"]
+
+[segments.left_shank]
+color = "g"
+points = ["left_knee", "left_ankle"]
+
+[segments.right_thigh]
+color = "r"
+points = ["right_hip", "right_knee"]
+
+[segments.right_shank]
+color = "r"
+points = ["right_knee", "right_ankle"]
+
+[segments.neck_segment]
+color = "y"
+points = ["neck", "head"]