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Fix Aruco leak + remove old tag families (#1661)

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- Remove 16h5
- Fix leak in ArucoPoseEstimatorPipe
This commit is contained in:
Matt
2024-12-27 20:14:30 -05:00
committed by GitHub
parent 7e18424d11
commit d0e5e169cc
8 changed files with 51 additions and 49 deletions
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2
photon-client/src/components/dashboard/tabs/AprilTagTab.vue
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@@ -27,7 +27,7 @@ const interactiveCols = computed(() =>
<pv-select
v-model="currentPipelineSettings.tagFamily"
label="Target family"
:items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
:items="['AprilTag 36h11 (6.5in)', 'AprilTag 16h5 (6in)']"
:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
/>

2
photon-client/src/components/dashboard/tabs/ArucoTab.vue
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@@ -27,7 +27,7 @@ const interactiveCols = computed(() =>
<pv-select
v-model="currentPipelineSettings.tagFamily"
label="Target family"
:items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
:items="['AprilTag Family 36h11', 'AprilTag Family 16h5']"
:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
/>

3
photon-client/src/types/PipelineTypes.ts
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@@ -11,8 +11,7 @@ export enum PipelineType {
export enum AprilTagFamily {
Family36h11 = 0,
Family25h9 = 1,
Family16h5 = 2
Family16h5 = 1
}
export enum RobotOffsetPointMode {

8
photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagFamily.java
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@@ -19,13 +19,7 @@ package org.photonvision.vision.apriltag;
public enum AprilTagFamily {
kTag36h11,
kTag25h9,
kTag16h5,
kTagCircle21h7,
kTagCircle49h12,
kTagStandard41h12,
kTagStandard52h13,
kTagCustom48h11;
kTag16h5;
public String getNativeName() {
// We want to strip the leading kT and replace with "t"

1
photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
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@@ -101,6 +101,7 @@ public class ArucoDetectionPipe
@Override
public void setParams(ArucoDetectionPipeParams newParams) {
if (this.params == null || !this.params.equals(newParams)) {
System.out.println("Changing tag family to " + newParams.tagFamily);
photonDetector
.getDetector()
.setDictionary(Objdetect.getPredefinedDictionary(newParams.tagFamily));

29
photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoPoseEstimatorPipe.java
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@@ -52,6 +52,9 @@ public class ArucoPoseEstimatorPipe
// reprojection error of solvepnp estimations
private final Mat reprojectionErrors = Mat.zeros(2, 1, CvType.CV_32F);
// Tag corner locations in object space - order matters for ippe_square
MatOfPoint3f objectPoints = new MatOfPoint3f();
private final int kNaNRetries = 1;
private Translation3d tvecToTranslation3d(Mat mat) {
@@ -81,7 +84,7 @@ public class ArucoPoseEstimatorPipe
for (int i = 0; i < kNaNRetries + 1; i++) {
// SolvePnP with SOLVEPNP_IPPE_SQUARE solver
Calib3d.solvePnPGeneric(
params.objectPoints,
objectPoints,
imagePoints,
params.calibration.getCameraIntrinsicsMat(),
params.calibration.getDistCoeffsMat(),
@@ -116,6 +119,19 @@ public class ArucoPoseEstimatorPipe
@Override
public void setParams(ArucoPoseEstimatorPipe.ArucoPoseEstimatorPipeParams newParams) {
// exact equality check OK here, the number shouldn't change
if (this.params == null || this.params.tagSize != newParams.tagSize) {
var tagSize = newParams.tagSize;
// This order is relevant for SOLVEPNP_IPPE_SQUARE
// The expected 2d correspondences with a tag facing the camera would be (BR, BL, TL, TR)
objectPoints.fromArray(
new Point3(-tagSize / 2, tagSize / 2, 0),
new Point3(tagSize / 2, tagSize / 2, 0),
new Point3(tagSize / 2, -tagSize / 2, 0),
new Point3(-tagSize / 2, -tagSize / 2, 0));
}
super.setParams(newParams);
}
@@ -134,21 +150,12 @@ public class ArucoPoseEstimatorPipe
public static class ArucoPoseEstimatorPipeParams {
final CameraCalibrationCoefficients calibration;
final double tagSize;
// object vertices defined by tag size
final MatOfPoint3f objectPoints;
public ArucoPoseEstimatorPipeParams(CameraCalibrationCoefficients cal, double tagSize) {
this.calibration = cal;
this.tagSize = tagSize;
// This order is relevant for SOLVEPNP_IPPE_SQUARE
// The expected 2d correspondences with a tag facing the camera would be (BR, BL, TL, TR)
objectPoints =
new MatOfPoint3f(
new Point3(-tagSize / 2, tagSize / 2, 0),
new Point3(tagSize / 2, tagSize / 2, 0),
new Point3(tagSize / 2, -tagSize / 2, 0),
new Point3(-tagSize / 2, -tagSize / 2, 0));
}
}
}

15
photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
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@@ -94,18 +94,11 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
tagModel = TargetModel.kAprilTag36h11;
yield Objdetect.DICT_APRILTAG_36h11;
}
case kTag25h9 -> Objdetect.DICT_APRILTAG_25h9;
// TODO: explicitly drop support for these
case kTag16h5,
kTagCircle21h7,
kTagCircle49h12,
kTagCustom48h11,
kTagStandard41h12,
kTagStandard52h13 -> {
case kTag16h5 -> {
// 2024 tag, 6.5in
tagWidth = Units.inchesToMeters(6.5);
tagModel = TargetModel.kAprilTag36h11;
yield Objdetect.DICT_APRILTAG_36h11;
tagWidth = Units.inchesToMeters(6);
tagModel = TargetModel.kAprilTag16h5;
yield Objdetect.DICT_APRILTAG_16h5;
}
};

40
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
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@@ -89,8 +89,12 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
var newPropValue = change.getNewPropValue();
var currentSettings = change.getCurrentSettings();
var originContext = change.getOriginContext();
boolean handled = true;
switch (propName) {
case "pipelineName" -> newPipelineNickname((String) newPropValue);
case "pipelineName" -> {
newPipelineNickname((String) newPropValue);
continue;
}
case "newPipelineInfo" -> newPipelineInfo((Pair<String, PipelineType>) newPropValue);
case "deleteCurrPipeline" -> deleteCurrPipeline();
case "changePipeline" -> changePipeline((Integer) newPropValue);
@@ -116,6 +120,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
parentModule.saveAndBroadcastAll();
}
case "isDriverMode" -> parentModule.setDriverMode((Boolean) newPropValue);
default -> handled = false;
}
// special case for camera settables
@@ -133,21 +138,24 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
}
}
try {
setProperty(currentSettings, propName, newPropValue);
logger.trace("Set prop " + propName + " to value " + newPropValue);
} catch (NoSuchFieldException | IllegalAccessException e) {
logger.error(
"Could not set prop "
+ propName
+ " with value "
+ newPropValue
+ " on "
+ currentSettings
+ " | "
+ e.getClass().getSimpleName());
} catch (Exception e) {
logger.error("Unknown exception when setting PSC prop!", e);
if (!handled) {
try {
setProperty(currentSettings, propName, newPropValue);
logger.trace("Set prop " + propName + " to value " + newPropValue);
} catch (NoSuchFieldException | IllegalAccessException e) {
logger.error(
"Could not set prop "
+ propName
+ " with value "
+ newPropValue
+ " on "
+ currentSettings
+ " | "
+ e.getClass().getSimpleName(),
e);
} catch (Exception e) {
logger.error("Unknown exception when setting PSC prop!", e);
}
}
parentModule.saveAndBroadcastSelective(originContext, propName, newPropValue);