Tested on Orange Pi 5 and Cool Pi 4B. Merge with parts of the OpenCV DNN PR.
Adds support for YOLOv5s models for Rockchip CPUs with a NPU. Right now hard coded to a note model from alex_idk. Very much still incubating and largely untested.
* Record standard deviations for multi-tag pose
* Add XYZ translation and angle to stdev uI
* create multitag result buffer in store
allows results to be stored in the background
* simplify logic in targeting tab
also adds a reset button
* Formatting fixes
* convert rad angles to deg
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Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
- 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.
