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Changes sim to use 36h11 tags (#1056)
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Fixes #1041

---------

Co-authored-by: Drew Williams <[email protected]>
Co-authored-by: Matt <[email protected]>
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@r4stered @mcm001
3 people committed Jan 2, 2024
1 parent b9c2d83 commit 96de176
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Showing 43 changed files with 116 additions and 152 deletions.
2 changes: 1 addition & 1 deletion build.gradle
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Expand Up @@ -21,7 +21,7 @@ allprojects {
apply from: "versioningHelper.gradle"

ext {
wpilibVersion = "2024.1.1-beta-4"
wpilibVersion = "2024.1.1-beta-4-35-g141241d"
wpimathVersion = wpilibVersion
openCVversion = "4.8.0-2"
joglVersion = "2.4.0-rc-20200307"
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2 changes: 1 addition & 1 deletion photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
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Expand Up @@ -18,7 +18,7 @@
package org.photonvision.vision.camera;

import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.cscore.VideoMode.PixelFormat;
import edu.wpi.first.util.PixelFormat;
import java.nio.file.Path;
import java.util.HashMap;
import org.photonvision.common.configuration.CameraConfiguration;
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50 changes: 18 additions & 32 deletions photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
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Expand Up @@ -19,6 +19,7 @@

import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.math.Pair;
import edu.wpi.first.util.PixelFormat;
import java.util.HashMap;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.util.math.MathUtils;
Expand Down Expand Up @@ -59,30 +60,19 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {

if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
// Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
videoModes.put(
0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
videoModes.put(
1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
// TODO: fix 1280x720 in the native code and re-add it
videoModes.put(
4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
videoModes.put(
5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
videoModes.put(
6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
videoModes.put(6, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
} else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
videoModes.put(
0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(
1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 60, 60, 1));

} else {
if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
Expand All @@ -97,17 +87,13 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
}

// Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
videoModes.put(0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
videoModes.put(1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
videoModes.put(
2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
// Half the size of the active areas on the OV5647
videoModes.put(
3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
videoModes.put(
4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
videoModes.put(
5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
}

// TODO need to add more video modes for new sensors here
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1 change: 1 addition & 0 deletions photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
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Expand Up @@ -18,6 +18,7 @@
package org.photonvision.vision.camera;

import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.util.PixelFormat;
import org.photonvision.common.configuration.CameraConfiguration;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.LogGroup;
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33 changes: 17 additions & 16 deletions photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
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Expand Up @@ -23,6 +23,7 @@
import edu.wpi.first.cscore.VideoException;
import edu.wpi.first.cscore.VideoMode;
import edu.wpi.first.cscore.VideoProperty.Kind;
import edu.wpi.first.util.PixelFormat;
import java.util.*;
import java.util.stream.Collectors;
import org.photonvision.common.configuration.CameraConfiguration;
Expand Down Expand Up @@ -280,33 +281,33 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
modes =
new VideoMode[] {
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 30),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 15),
new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 45),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 30),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 15),
new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 10),
new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
new VideoMode(PixelFormat.kBGR, 320, 240, 90),
new VideoMode(PixelFormat.kBGR, 320, 240, 30),
new VideoMode(PixelFormat.kBGR, 320, 240, 15),
new VideoMode(PixelFormat.kBGR, 320, 240, 10),
new VideoMode(PixelFormat.kBGR, 640, 480, 90),
new VideoMode(PixelFormat.kBGR, 640, 480, 45),
new VideoMode(PixelFormat.kBGR, 640, 480, 30),
new VideoMode(PixelFormat.kBGR, 640, 480, 15),
new VideoMode(PixelFormat.kBGR, 640, 480, 10),
new VideoMode(PixelFormat.kBGR, 960, 720, 60),
new VideoMode(PixelFormat.kBGR, 960, 720, 10),
new VideoMode(PixelFormat.kBGR, 1280, 720, 45),
new VideoMode(PixelFormat.kBGR, 1920, 1080, 20),
};
} else {
modes = camera.enumerateVideoModes();
}
for (VideoMode videoMode : modes) {
// Filter grey modes
if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
|| videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
if (videoMode.pixelFormat == PixelFormat.kGray
|| videoMode.pixelFormat == PixelFormat.kUnknown) {
continue;
}

// On picam, filter non-bgr modes for performance
if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
if (videoMode.pixelFormat != PixelFormat.kBGR) {
continue;
}
}
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7 changes: 4 additions & 3 deletions photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
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Expand Up @@ -20,6 +20,7 @@
import edu.wpi.first.cscore.*;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.PixelFormat;
import java.awt.*;
import java.util.ArrayList;
import org.opencv.core.CvType;
Expand Down Expand Up @@ -118,7 +119,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
boolean isDisabled = false;

public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
this.cvSource = new CvSource(sourceName, VideoMode.PixelFormat.kMJPEG, width, height, 30);
this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
this.table =
NetworkTableInstance.getDefault().getTable("/CameraPublisher").getSubTable(sourceName);

Expand Down Expand Up @@ -188,7 +189,7 @@ public void accept(CVMat image) {

public void disabledTick() {
if (!isDisabled) {
cvSource.setVideoMode(VideoMode.PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
cvSource.setVideoMode(PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
isDisabled = true;
}

Expand Down Expand Up @@ -227,7 +228,7 @@ private static String videoModeToString(VideoMode mode) {
+ " fps";
}

private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
private static String pixelFormatToString(PixelFormat pixelFormat) {
switch (pixelFormat) {
case kMJPEG:
return "MJPEG";
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6 changes: 3 additions & 3 deletions photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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Expand Up @@ -28,11 +28,11 @@
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.VideoMode.PixelFormat;
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.util.PixelFormat;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
Expand Down Expand Up @@ -464,7 +464,7 @@ public PhotonPipelineResult process(
var corn = pair.getSecond();

if (tgt.fiducialID >= 0) { // apriltags
VideoSimUtil.warp16h5TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
VideoSimUtil.warp36h11TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
} else if (!tgt.getModel().isSpherical) { // non-spherical targets
var contour = corn;
if (!tgt.getModel()
Expand Down Expand Up @@ -529,7 +529,7 @@ public PhotonPipelineResult process(
prop.getDistCoeffs(),
detectableTgts,
tagLayout,
TargetModel.kAprilTag16h5);
TargetModel.kAprilTag36h11);
multitagResult = new MultiTargetPNPResult(pnpResult, usedIDs);
}

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