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Re-enable OpenCV ArUco detector for AprilTags (#916)

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- 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
2023-10-24 19:39:38 -07:00
committed by GitHub
parent c5b42a1191
commit df45bc2d73
20 changed files with 746 additions and 394 deletions
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9
photon-client/src/components/dashboard/tabs/TargetsTab.vue
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@@ -36,7 +36,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
</template>
<template
v-if="
useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag &&
(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
"
>
@@ -67,7 +68,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
</template>
<template
v-if="
useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag &&
(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
"
>
@@ -80,7 +82,8 @@ const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings
</v-row>
<v-row
v-if="
currentPipelineSettings.pipelineType === PipelineType.AprilTag &&
(useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
currentPipelineSettings.doMultiTarget &&
useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled