Add 36h11 model

PhotonVision · Oct 15, 2023 · 3340e74 · 3340e74
1 parent 760de0f
commit 3340e74
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Showing 5 changed files with 34 additions and 27 deletions.
diff --git a/photon-client/src/components/dashboard/tabs/AprilTagTab.vue b/photon-client/src/components/dashboard/tabs/AprilTagTab.vue
@@ -25,7 +25,7 @@ const interactiveCols = computed(
     <cv-select
       v-model="currentPipelineSettings.tagFamily"
       label="Target family"
-      :items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
+      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
     />

diff --git a/photon-client/src/components/dashboard/tabs/PnPTab.vue b/photon-client/src/components/dashboard/tabs/PnPTab.vue
@@ -29,7 +29,9 @@ const interactiveCols = computed(
         { name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
         { name: '200mm AprilTag', value: TargetModel.Apriltag_200mm },
         { name: '6in (16h5) Aruco', value: TargetModel.Aruco6in_16h5 },
-        { name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 }
+        { name: '6in (16h5) AprilTag', value: TargetModel.Apriltag6in_16h5 },
+        { name: '6.5in (36h11) Aruco', value: TargetModel.Aruco6p5in_36h11 },
+        { name: '6.5in (36h11) AprilTag', value: TargetModel.Apriltag6p5in_36h11 }
       ]"
       :select-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"

diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
@@ -29,7 +29,9 @@ export enum TargetModel {
   StrongholdHighGoal = 5,
   Apriltag_200mm = 6,
   Aruco6in_16h5 = 7,
-  Apriltag6in_16h5 = 8
+  Apriltag6in_16h5 = 8,
+  Aruco6p5in_36h11 = 9,
+  Apriltag6p5in_36h11 = 10
 }
 
 export interface PipelineSettings {

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -26,6 +26,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -60,27 +61,15 @@ protected void setPipeParamsImpl() {
         // Sanitize thread count - not supported to have fewer than 1 threads
         settings.threads = Math.max(1, settings.threads);
 
-        // if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && LibCameraJNI.isSupported()) {
-        //     // TODO: Picam grayscale
-        //     LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
-        //     // LibCameraJNI.setShouldCopyColor(true); // need the color image to grayscale
-        // }
-
-        // TODO (HACK): tag width is Fun because it really belongs in the "target model"
-        // We need the tag width for the JNI to figure out target pose, but we need a
-        // target model for the draw 3d targets pipeline to work...
-
         // for now, hard code tag width based on enum value
-        double tagWidth = Units.inchesToMeters(3 * 2); // for 6in 16h5 tag.
-
-        // AprilTagDetectorParams aprilTagDetectionParams =
-        //         new AprilTagDetectorParams(
-        //                 settings.tagFamily,
-        //                 settings.decimate,
-        //                 settings.blur,
-        //                 settings.threads,
-        //                 settings.debug,
-        //                 settings.refineEdges);
+        double tagWidth;
+        if (settings.tagFamily == AprilTagFamily.kTag36h11) {
+            // 2024 tag, guess 6.5in
+            tagWidth = Units.inchesToMeters(6.5);
+        } else {
+            // 2023/other: best guess is 6in
+            tagWidth = Units.inchesToMeters(6);
+        }
 
         var config = new AprilTagDetector.Config();
         config.numThreads = settings.threads;

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
@@ -109,21 +109,35 @@ public enum TargetModel implements Releasable {
                     new Point3(Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0),
                     new Point3(-Units.inchesToMeters(3.25), -Units.inchesToMeters(3.25), 0)),
             Units.inchesToMeters(3.25 * 2)),
-    kAruco6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
-            // do not
+    kAruco6in_16h5( // Corners used are only the internal tag black corners, not the full tag size
+            // (which would include the white boarder)
             List.of(
                     new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
                     new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
             Units.inchesToMeters(3 * 2)),
-    k6in_16h5( // Nominal edge length of 200 mm includes the white border, but solvePNP corners
-            // do not
+    k6in_16h5(
             List.of(
                     new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
                     new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
                     new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
+            Units.inchesToMeters(3 * 2)),
+    // 2024 FRC tag. 6.5in inner tag, 8.125 overall
+    kAruco6p5in_36h11(
+            List.of(
+                    new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
+            Units.inchesToMeters(3 * 2)),
+    k6p5in_36h11(
+            List.of(
+                    new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
+                    new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
             Units.inchesToMeters(3 * 2));
 
     @JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;