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[wpical] Add support for new Apriltags (ID 16-22) (#7619)

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This commit is contained in:
Elliot Scher
2025-01-01 17:53:58 -05:00
committed by GitHub
parent 468a3c6d95
commit ce60bd5035
3 changed files with 39 additions and 25 deletions
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35
wpical/src/main/native/cpp/WPIcal.cpp
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@@ -114,6 +114,8 @@ static void DisplayGui() {
static int focusedTag = 1;
static int referenceTag = 1;
static int maxFRCTag = 22;
static Fieldmap currentCalibrationMap;
static Fieldmap currentReferenceMap;
@@ -187,17 +189,10 @@ static void DisplayGui() {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 12);
ImGui::InputInt("Pinned Tag", &pinnedTag);
if (pinnedTag < 1) {
pinnedTag = 1;
} else if (pinnedTag > 16) {
pinnedTag = 16;
}
// calibrate button
if (ImGui::Button("Calibrate!!!")) {
if (!selected_field_calibration_directory.empty() &&
!selected_camera_intrinsics.empty() && !selected_field_map.empty() &&
pinnedTag > 0 && pinnedTag <= 16) {
!selected_camera_intrinsics.empty() && !selected_field_map.empty()) {
download_directory_selector =
std::make_unique<pfd::select_folder>("Select Download Folder", "");
if (download_directory_selector) {
@@ -216,7 +211,7 @@ static void DisplayGui() {
showDebug);
if (calibrationOutput == 1) {
ImGui::OpenPopup("Fmap Conversion failed");
ImGui::OpenPopup("Field Calibration Error");
} else if (calibrationOutput == 0) {
std::ifstream caljsonpath(calibration_json_path);
try {
@@ -227,7 +222,7 @@ static void DisplayGui() {
ImGui::SetNextWindowSize(ImVec2(600, 400), ImGuiCond_Always);
ImGui::OpenPopup("Visualize Calibration");
} catch (...) {
ImGui::OpenPopup("Field Calibration Error");
ImGui::OpenPopup("Fmap Conversion Error");
}
}
}
@@ -241,8 +236,10 @@ static void DisplayGui() {
ImGui::TextWrapped(
"Some inputs are empty! please enter your camera calibration video, "
"field map, and field calibration directory");
} else if (!(pinnedTag > 0 && pinnedTag <= 16)) {
ImGui::TextWrapped("Make sure the pinned tag is a valid april tag (1-16)");
} else if (!(pinnedTag > 0 && pinnedTag <= maxFRCTag)) {
ImGui::TextWrapped(
"The pinned tag is not within the normal range for FRC fields (1-22), "
"If you proceed, You may experience a bad calibration.");
} else {
ImGui::TextWrapped("Calibration Ready");
}
@@ -269,7 +266,7 @@ static void DisplayGui() {
ImGui::EndPopup();
}
if (ImGui::BeginPopupModal("Fmap Conversion failed", NULL,
if (ImGui::BeginPopupModal("Fmap Conversion Error", NULL,
ImGuiWindowFlags_AlwaysAutoResize)) {
ImGui::TextWrapped(
"Fmap conversion failed - you can still use the calibration output on "
@@ -480,18 +477,6 @@ static void DisplayGui() {
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 12);
ImGui::InputInt("Reference Tag", &referenceTag);
if (focusedTag < 1) {
focusedTag = 1;
} else if (focusedTag > 16) {
focusedTag = 16;
}
if (referenceTag < 1) {
referenceTag = 1;
} else if (referenceTag > 16) {
referenceTag = 16;
}
if (!calibration_json_path.empty() && !selected_field_map.empty()) {
std::ifstream calJson(calibration_json_path);
std::ifstream refJson(selected_field_map);