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[apriltag] Split 2025 AprilTag Maps (#7781)

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Splits maps for welded vs AndyMark field perimeters. More info about why and what fields are at what events will be in TU12.
This commit is contained in:
Kevin-OConnor
2025-02-13 20:53:11 -05:00
committed by GitHub
parent 155b3d45e7
commit 23658a8c62
7 changed files with 444 additions and 9 deletions
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8
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
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@@ -14,14 +14,16 @@ public enum AprilTagFields {
k2023ChargedUp("2023-chargedup.json"),
/** 2024 Crescendo. */
k2024Crescendo("2024-crescendo.json"),
/** 2025 Reefscape. */
k2025Reefscape("2025-reefscape.json");
/** 2025 Reefscape Welded (see TU 12). */
k2025ReefscapeWelded("2025-reefscape-welded.json"),
/** 2025 Reefscape AndyMark (see TU 12). */
k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
/** Base resource directory. */
public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
/** Alias to the current game. */
public static final AprilTagFields kDefaultField = k2025Reefscape;
public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
/** Resource filename. */
public final String m_resourceFile;

10
apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
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@@ -133,7 +133,8 @@ namespace frc {
std::string_view GetResource_2022_rapidreact_json();
std::string_view GetResource_2023_chargedup_json();
std::string_view GetResource_2024_crescendo_json();
std::string_view GetResource_2025_reefscape_json();
std::string_view GetResource_2025_reefscape_welded_json();
std::string_view GetResource_2025_reefscape_andymark_json();
} // namespace frc
@@ -149,8 +150,11 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
case AprilTagField::k2024Crescendo:
fieldString = GetResource_2024_crescendo_json();
break;
case AprilTagField::k2025Reefscape:
fieldString = GetResource_2025_reefscape_json();
case AprilTagField::k2025ReefscapeWelded:
fieldString = GetResource_2025_reefscape_welded_json();
break;
case AprilTagField::k2025ReefscapeAndyMark:
fieldString = GetResource_2025_reefscape_andymark_json();
break;
case AprilTagField::kNumFields:
throw std::invalid_argument("Invalid Field");

8
apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h
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@@ -20,10 +20,12 @@ enum class AprilTagField {
k2023ChargedUp,
/// 2024 Crescendo.
k2024Crescendo,
/// 2025 Reefscape.
k2025Reefscape,
/// 2025 Reefscape AndyMark (see TU12).
k2025ReefscapeAndyMark,
/// 2025 Reefscape Welded (see TU12).
k2025ReefscapeWelded,
/// Alias to the current game.
kDefaultField = k2025Reefscape,
kDefaultField = k2025ReefscapeWelded,
// This is a placeholder for denoting the last supported field. This should
// always be the last entry in the enum and should not be used by users

23
apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv Normal file
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@@ -0,0 +1,23 @@
ID,X,Y,Z,Z-Rotation,X-Rotation
1,656.98,24.73,58.5,126,0
2,656.98,291.9,58.5,234,0
3,452.4,316.21,51.25,270,0
4,365.2,241.44,73.54,0,30
5,365.2,75.19,73.54,0,30
6,530.49,129.97,12.13,300,0
7,546.87,158.3,12.13,0,0
8,530.49,186.63,12.13,60,0
9,497.77,186.63,12.13,120,0
10,481.39,158.3,12.13,180,0
11,497.77,129.97,12.13,240,0
12,33.91,24.73,58.5,54,0
13,33.91,291.9,58.5,306,0
14,325.68,241.44,73.54,180,30
15,325.68,75.19,73.54,180,30
16,238.49,0.42,51.25,90,0
17,160.39,129.97,12.13,240,0
18,144,158.3,12.13,180,0
19,160.39,186.63,12.13,120,0
20,193.1,186.63,12.13,60,0
21,209.49,158.3,12.13,0,0
22,193.1,129.97,12.13,300,0
1 ID X Y Z Z-Rotation X-Rotation
2 1 656.98 24.73 58.5 126 0
3 2 656.98 291.9 58.5 234 0
4 3 452.4 316.21 51.25 270 0
5 4 365.2 241.44 73.54 0 30
6 5 365.2 75.19 73.54 0 30
7 6 530.49 129.97 12.13 300 0
8 7 546.87 158.3 12.13 0 0
9 8 530.49 186.63 12.13 60 0
10 9 497.77 186.63 12.13 120 0
11 10 481.39 158.3 12.13 180 0
12 11 497.77 129.97 12.13 240 0
13 12 33.91 24.73 58.5 54 0
14 13 33.91 291.9 58.5 306 0
15 14 325.68 241.44 73.54 180 30
16 15 325.68 75.19 73.54 180 30
17 16 238.49 0.42 51.25 90 0
18 17 160.39 129.97 12.13 240 0
19 18 144 158.3 12.13 180 0
20 19 160.39 186.63 12.13 120 0
21 20 193.1 186.63 12.13 60 0
22 21 209.49 158.3 12.13 0 0
23 22 193.1 129.97 12.13 300 0

404
apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json Normal file
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@@ -0,0 +1,404 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 16.687292,
"y": 0.628142,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": 0.4539904997395468,
"X": 0.0,
"Y": 0.0,
"Z": 0.8910065241883678
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 16.687292,
"y": 7.414259999999999,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": -0.45399049973954675,
"X": -0.0,
"Y": 0.0,
"Z": 0.8910065241883679
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 11.49096,
"y": 8.031733999999998,
"z": 1.30175
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 9.276079999999999,
"y": 6.132575999999999,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 9.276079999999999,
"y": 1.9098259999999998,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 13.474446,
"y": 3.3012379999999997,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": 13.890498,
"y": 4.0208200000000005,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": 13.474446,
"y": 4.740402,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 9,
"pose": {
"translation": {
"x": 12.643358,
"y": 4.740402,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 10,
"pose": {
"translation": {
"x": 12.227305999999999,
"y": 4.0208200000000005,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
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"Z": 1.0
}
}
}
},
{
"ID": 11,
"pose": {
"translation": {
"x": 12.643358,
"y": 3.3012379999999997,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
"Y": 0.0,
"Z": 0.8660254037844387
}
}
}
},
{
"ID": 12,
"pose": {
"translation": {
"x": 0.8613139999999999,
"y": 0.628142,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": 0.8910065241883679,
"X": 0.0,
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"Z": 0.45399049973954675
}
}
}
},
{
"ID": 13,
"pose": {
"translation": {
"x": 0.8613139999999999,
"y": 7.414259999999999,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": -0.8910065241883678,
"X": -0.0,
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"Z": 0.45399049973954686
}
}
}
},
{
"ID": 14,
"pose": {
"translation": {
"x": 8.272272,
"y": 6.132575999999999,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
}
}
},
{
"ID": 15,
"pose": {
"translation": {
"x": 8.272272,
"y": 1.9098259999999998,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
}
}
},
{
"ID": 16,
"pose": {
"translation": {
"x": 6.057646,
"y": 0.010667999999999999,
"z": 1.30175
},
"rotation": {
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"W": 0.7071067811865476,
"X": 0.0,
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}
}
}
},
{
"ID": 17,
"pose": {
"translation": {
"x": 4.073905999999999,
"y": 3.3012379999999997,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
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}
}
}
},
{
"ID": 18,
"pose": {
"translation": {
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"y": 4.0208200000000005,
"z": 0.308102
},
"rotation": {
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"W": 6.123233995736766e-17,
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}
}
}
},
{
"ID": 19,
"pose": {
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"z": 0.308102
},
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}
}
}
},
{
"ID": 20,
"pose": {
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"z": 0.308102
},
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}
}
}
},
{
"ID": 21,
"pose": {
"translation": {
"x": 5.321046,
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"z": 0.308102
},
"rotation": {
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}
}
}
},
{
"ID": 22,
"pose": {
"translation": {
"x": 4.904739999999999,
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"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
}
],
"field": {
"length": 17.548,
"width": 8.042
}
}

0
apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape.csv → apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.csv
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0
apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape.json → apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json
View File