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Initial AprilTag support (#458)

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(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
This commit is contained in:
shueja-personal
2022-09-28 18:21:41 -07:00
committed by GitHub
parent a3bcd3ac4f
commit a764ace7f2
114 changed files with 21488 additions and 10851 deletions
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77
photon-server/src/main/java/org/photonvision/Main.java
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@@ -39,10 +39,12 @@ import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.IntegerCouple;
import org.photonvision.raspi.PicamJNI;
import org.photonvision.server.Server;
import org.photonvision.vision.apriltag.AprilTagJNI;
import org.photonvision.vision.camera.FileVisionSource;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.opencv.ContourGroupingMode;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
import org.photonvision.vision.pipeline.CVPipelineSettings;
import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
import org.photonvision.vision.pipeline.PipelineProfiler;
@@ -59,7 +61,7 @@ public class Main {
private static final Logger logger = new Logger(Main.class, LogGroup.General);
private static final boolean isRelease = PhotonVersion.isRelease;
private static boolean isTestMode;
private static boolean isTestMode = false;
private static Path testModeFolder = null;
private static boolean printDebugLogs;
@@ -93,7 +95,7 @@ public class Main {
logger.info("Running in test mode - Cameras will not be used");
if (cmd.hasOption("path")) {
Path p = Path.of(cmd.getOptionValue("path"));
Path p = Path.of(System.getProperty("PATH_PREFIX", "") + cmd.getOptionValue("path"));
logger.info("Loading from Path " + p.toAbsolutePath().toString());
testModeFolder = p;
}
@@ -108,38 +110,48 @@ public class Main {
try {
var reflective = new ReflectivePipelineSettings();
var shape = new ColoredShapePipelineSettings();
var aprilTag = new AprilTagPipelineSettings();
List<VisionSource> collectedSources =
Files.list(testModeFolder)
.filter(p -> p.toFile().isFile())
.map(
p -> {
try {
var camConf =
ConfigManager.getInstance()
.getConfig()
.getCameraConfigurations()
.get(p.getFileName().toString());
if (camConf == null) {
// var camConf =
//
// ConfigManager.getInstance()
// .getConfig()
//
// .getCameraConfigurations()
//
// .get(p.getFileName().toString());
// if (camConf == null && false) {
CameraConfiguration camConf;
if (true) {
camConf =
new CameraConfiguration(
p.getFileName().toString(), p.toAbsolutePath().toString());
camConf.FOV = TestUtils.WPI2019Image.FOV; // Good guess?
camConf.addCalibration(TestUtils.get2020LifeCamCoeffs(false));
var pipeSettings = new ReflectivePipelineSettings();
var pipeSettings = new AprilTagPipelineSettings();
pipeSettings.pipelineNickname = p.getFileName().toString();
pipeSettings.outputShowMultipleTargets = true;
pipeSettings.inputShouldShow = true;
pipeSettings.outputShouldShow = true;
pipeSettings.outputShouldShow = false;
pipeSettings.solvePNPEnabled = true;
var psList = new ArrayList<CVPipelineSettings>();
psList.add(reflective);
psList.add(shape);
// psList.add(reflective);
// psList.add(shape);
psList.add(aprilTag);
camConf.pipelineSettings = psList;
}
return new FileVisionSource(camConf);
} catch (Exception e) {
logger.error("Couldn't load image " + p.getFileName().toString());
logger.error("Couldn't load image " + p.getFileName().toString(), e);
return null;
}
})
@@ -158,6 +170,24 @@ public class Main {
private static void addTestModeSources() {
ConfigManager.getInstance().load();
var camConfApril =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Apriltag");
if (camConfApril == null) {
camConfApril =
new CameraConfiguration("Apriltag", TestUtils.getTestModeApriltagPath().toString());
camConfApril.FOV = TestUtils.WPI2019Image.FOV;
camConfApril.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2019 = new AprilTagPipelineSettings();
pipeline2019.pipelineNickname = "Robots";
pipeline2019.outputShowMultipleTargets = true;
pipeline2019.inputShouldShow = true;
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
camConfApril.pipelineSettings = psList2019;
}
var camConf2019 =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
if (camConf2019 == null) {
@@ -240,11 +270,13 @@ public class Main {
var collectedSources = new ArrayList<VisionSource>();
var fvsApril = new FileVisionSource(camConfApril);
var fvsShape = new FileVisionSource(camConfShape);
var fvs2019 = new FileVisionSource(camConf2019);
var fvs2020 = new FileVisionSource(camConf2020);
var fvs2022 = new FileVisionSource(camConf2022);
collectedSources.add(fvsApril);
collectedSources.add(fvs2022);
collectedSources.add(fvsShape);
collectedSources.add(fvs2020);
@@ -256,6 +288,23 @@ public class Main {
}
public static void main(String[] args) {
try {
CameraServerCvJNI.forceLoad();
logger.info("Native libraries loaded.");
} catch (Exception e) {
logger.error("Failed to load native libraries!", e);
}
try {
AprilTagJNI.forceLoad();
} catch (IOException e) {
logger.error("Failed to load native libraries!", e);
}
try {
PicamJNI.forceLoad();
} catch (IOException e) {
logger.error("Failed to load native libraries!", e);
}
try {
if (!handleArgs(args)) {
System.exit(0);
@@ -285,7 +334,7 @@ public class Main {
try {
CameraServerCvJNI.forceLoad();
PicamJNI.forceLoad();
TestUtils.loadLibraries();
// TestUtils.loadLibraries();
logger.info("Native libraries loaded.");
} catch (Exception e) {
logger.error("Failed to load native libraries!", e);