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Add 36h11 tag model for 2024 (#951)

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* Add 36h11 model

* Formatting fixes

* Match frontend TargetModel enum with backend

* fix target model merge

* Update TargetModel.java

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
This commit is contained in:
Matt
2023-10-24 23:04:52 -04:00
committed by GitHub
parent adc30336d2
commit cb401e1c7a
5 changed files with 39 additions and 33 deletions
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29
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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@@ -31,6 +31,7 @@ import java.util.List;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.targeting.MultiTargetPNPResults;
import org.photonvision.vision.apriltag.AprilTagFamily;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -69,27 +70,15 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
// Sanitize thread count - not supported to have fewer than 1 threads
settings.threads = Math.max(1, settings.threads);
// if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && LibCameraJNI.isSupported()) {
// // TODO: Picam grayscale
// LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
// // LibCameraJNI.setShouldCopyColor(true); // need the color image to grayscale
// }
// TODO (HACK): tag width is Fun because it really belongs in the "target model"
// We need the tag width for the JNI to figure out target pose, but we need a
// target model for the draw 3d targets pipeline to work...
// for now, hard code tag width based on enum value
double tagWidth = Units.inchesToMeters(3 * 2); // for 6in 16h5 tag.
// AprilTagDetectorParams aprilTagDetectionParams =
// new AprilTagDetectorParams(
// settings.tagFamily,
// settings.decimate,
// settings.blur,
// settings.threads,
// settings.debug,
// settings.refineEdges);
double tagWidth;
if (settings.tagFamily == AprilTagFamily.kTag36h11) {
// 2024 tag, guess 6.5in
tagWidth = Units.inchesToMeters(6.5);
} else {
// 2023/other: best guess is 6in
tagWidth = Units.inchesToMeters(6);
}
var config = new AprilTagDetector.Config();
config.numThreads = settings.threads;

17
photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
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@@ -121,7 +121,22 @@ public enum TargetModel implements Releasable {
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));
Units.inchesToMeters(3 * 2)),
// 2024 FRC tag. 6.5in inner tag, 8.125 overall
kAruco6p5in_36h11(
List.of(
new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
Units.inchesToMeters(6.5)),
k6p5in_36h11(
List.of(
new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
Units.inchesToMeters(6.5));
@JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
@JsonIgnore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();