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https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +00:00
Re-enable OpenCV ArUco detector for AprilTags (#916)
- Fixes ArUco on picam - Adds `ArucoPoseEstimatorPipe` for single-tag pose estimation - Previously, `Aruco.estimatePoseSingleMarkers()` was used for tag pose estimation. This uses the default `SOLVEPNP_ITERATIVE` solver and I believe the method is removed in opencv 4.8. The `SOLVEPNP_IPPE_SQUARE` solver implemented is more appropriate for markers. - Pipeline architecture cleanup - Re-enables ArUco pipeline in UI - Multi-tag support ArUco detector support is still considered experimental at this time. This should enable a baseline of support for initial testing, but expect some quirks to remain across platforms.
This commit is contained in:
amquake
@@ -151,8 +151,8 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
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const pipelineTypes = [
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{ name: "Reflective", value: WebsocketPipelineType.Reflective },
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{ name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
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{ name: "AprilTag", value: WebsocketPipelineType.AprilTag }
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// { name: "Aruco", value: WebsocketPipelineType.Aruco }
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{ name: "AprilTag", value: WebsocketPipelineType.AprilTag },
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{ name: "Aruco", value: WebsocketPipelineType.Aruco }
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];
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if (useCameraSettingsStore().isDriverMode) {
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@@ -353,8 +353,8 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
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:items="[
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{ name: 'Reflective', value: WebsocketPipelineType.Reflective },
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{ name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
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{ name: 'AprilTag', value: WebsocketPipelineType.AprilTag }
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// { name: 'Aruco', value: WebsocketPipelineType.Aruco }
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{ name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
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{ name: 'Aruco', value: WebsocketPipelineType.Aruco }
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]"
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/>
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</v-card-text>
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@@ -2,6 +2,9 @@
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import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
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import { PipelineType } from "@/types/PipelineTypes";
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import PvSlider from "@/components/common/pv-slider.vue";
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import PvSwitch from "@/components/common/pv-switch.vue";
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import PvRangeSlider from "@/components/common/pv-range-slider.vue";
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import PvSelect from "@/components/common/pv-select.vue";
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import { computed, getCurrentInstance } from "vue";
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import { useStateStore } from "@/stores/StateStore";
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@@ -20,37 +23,60 @@ const interactiveCols = computed(
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<template>
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<div v-if="currentPipelineSettings.pipelineType === PipelineType.Aruco">
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<pv-slider
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v-model="currentPipelineSettings.decimate"
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<pv-select
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v-model="currentPipelineSettings.tagFamily"
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label="Target family"
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:items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
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:select-cols="interactiveCols"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
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/>
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<pv-switch
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v-model="currentPipelineSettings.useCornerRefinement"
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class="pt-2"
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label="Refine Corners"
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tooltip="Further refine the initial corners with subpixel accuracy."
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:switch-cols="interactiveCols"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ useCornerRefinement: value }, false)"
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/>
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<pv-range-slider
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v-model="currentPipelineSettings.threshWinSizes"
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label="Thresh Min/Max Size"
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tooltip="The minimum and maximum adaptive threshold window size. Larger windows tend more towards global thresholding, but small windows can be weak to noise."
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:min="3"
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:max="255"
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:slider-cols="interactiveCols"
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label="Decimate"
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tooltip="Increases FPS at the expense of range by reducing image resolution initially"
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:min="1"
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:max="8"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decimate: value }, false)"
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:step="2"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshWinSizes: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.numIterations"
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v-model="currentPipelineSettings.threshStepSize"
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class="pt-2"
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:slider-cols="interactiveCols"
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label="Corner Iterations"
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tooltip="How many iterations are going to be used in order to refine corners. Higher values are lead to more accuracy at the cost of performance"
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:min="30"
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:max="1000"
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:step="5"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ numIterations: value }, false)"
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label="Thresh Step Size"
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tooltip="Smaller values will cause more steps between the min/max sizes. More, varied steps can improve detection robustness to lighting, but may decrease performance."
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:min="2"
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:max="128"
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:step="1"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshStepSize: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.cornerAccuracy"
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v-model="currentPipelineSettings.threshConstant"
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class="pt-2"
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:slider-cols="interactiveCols"
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label="Corner Accuracy"
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tooltip="Minimum accuracy for the corners, lower is better but more performance intensive "
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:min="0.01"
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:max="100"
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:step="0.01"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ cornerAccuracy: value }, false)"
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label="Thresh Constant"
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tooltip="Affects the threshold window mean value cutoff for all steps. Higher values can improve performance, but may harm detection rate."
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:min="0"
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:max="128"
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:step="1"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshConstant: value }, false)"
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/>
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<pv-switch
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v-model="currentPipelineSettings.debugThreshold"
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class="pt-2"
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label="Debug Threshold"
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tooltip="Display the first threshold step to the color stream."
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:switch-cols="interactiveCols"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ debugThreshold: value }, false)"
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/>
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</div>
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</template>
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@@ -86,7 +86,8 @@ const interactiveCols = computed(
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/>
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<pv-switch
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v-if="
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currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
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(currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
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currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
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useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
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useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
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"
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@@ -99,7 +100,8 @@ const interactiveCols = computed(
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/>
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<pv-switch
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v-if="
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currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
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(currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
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currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
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useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
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useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
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"
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@@ -36,7 +36,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
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</template>
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<template
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v-if="
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useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag &&
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(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
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useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
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useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
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"
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>
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@@ -67,7 +68,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
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</template>
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<template
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v-if="
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useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag &&
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(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
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useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
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useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
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"
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>
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@@ -80,7 +82,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
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</v-row>
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<v-row
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v-if="
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currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
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(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
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useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
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currentPipelineSettings.doMultiTarget &&
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useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
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useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
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