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Add tag16h5 support (#584)

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* Fix target dropdown

* Add hamming and decision margin to UI, pipeline

* Run spotless

* Update index.html

* Update index.html

* Implement second apriltag size
This commit is contained in:
Matt
2022-11-10 21:48:41 -05:00
committed by GitHub
parent 209cdbf45f
commit c7aa84ca41
7 changed files with 94 additions and 7 deletions
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16
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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@@ -79,15 +79,25 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
// target model for the draw 3d targets pipeline to work...
// for now, hard code tag width based on enum value
double tagWidth = 0.16; // guess at 200mm??
double tagWidth;
// This needs
switch (settings.targetModel) {
case k200mmAprilTag:
{
tagWidth = Units.inchesToMeters(3.25 * 2);
break;
}
case k6in_16h5:
{
tagWidth = Units.inchesToMeters(3 * 2);
break;
}
default:
{
// guess at 200mm?? If it's zero everything breaks, but it should _never_ be zero. Unless
// users select the wrong model...
tagWidth = 0.16;
break;
}
}
@@ -135,6 +145,10 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
targetList = new ArrayList<>();
for (DetectionResult detection : tagDetectionPipeResult.output) {
// TODO this should be in a pipe, not in the top level here (Matt)
if (detection.getDecisionMargin() < settings.decisionMargin) continue;
if (detection.getHamming() > settings.hammingDist) continue;
// populate the target list
// Challenge here is that TrackedTarget functions with OpenCV Contour
TrackedTarget target =

4
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
View File

@@ -32,6 +32,10 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
public boolean refineEdges = true;
public int numIterations = 200;
// TODO is this a legit, reasonable default?
public int hammingDist = 1;
public int decisionMargin = 30;
// 3d settings
public AprilTagPipelineSettings() {

10
photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
View File

@@ -108,7 +108,15 @@ public enum TargetModel implements Releasable {
new Point3(Units.inchesToMeters(3.25), Units.inchesToMeters(3.25), 0),
new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
Units.inchesToMeters(3.25 * 2));
Units.inchesToMeters(3.25 * 2)),
k6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
// do not
List.of(
new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
Units.inchesToMeters(3 * 2));
@JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
@JsonIgnore private MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();