From f0368c7c280de92680d1f5de612b5bada0fc5a7b Mon Sep 17 00:00:00 2001 From: amquake Date: Sat, 14 Oct 2023 03:35:51 -0700 Subject: [PATCH] find camera-to-tag for multitarget tags --- .../vision/pipeline/AprilTagPipeline.java | 32 +++++++++++++++++++ 1 file changed, 32 insertions(+) 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 index 7e655e739a..6f4aef6dd1 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java @@ -21,6 +21,9 @@ import edu.wpi.first.apriltag.AprilTagDetector; import edu.wpi.first.apriltag.AprilTagPoseEstimate; import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config; +import edu.wpi.first.math.geometry.CoordinateSystem; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.util.Units; import java.util.ArrayList; @@ -165,6 +168,8 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting if (settings.solvePNPEnabled) { // Clear target list that was used for multitag so we can add target transforms targetList.clear(); + // TODO global state again ew + var atfl = ConfigManager.getInstance().getConfig().getApriltagFieldLayout(); for (AprilTagDetection detection : usedDetections) { AprilTagPoseEstimate tagPoseEstimate = null; @@ -176,6 +181,33 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting tagPoseEstimate = poseResult.output; } + // If single-tag estimation was not done, this is a multi-target tag from the layout + if (tagPoseEstimate == null) { + // compute this tag's camera-to-tag transform using the multitag result + var tagPose = atfl.getTagPose(detection.getId()); + if (tagPose.isPresent()) { + var camToTag = + new Transform3d( + new Pose3d().plus(multiTagResult.estimatedPose.best), tagPose.get()); + // match expected AprilTag coordinate system + // TODO cleanup coordinate systems in wpilib 2024 + var apriltagTrl = + CoordinateSystem.convert( + camToTag.getTranslation(), CoordinateSystem.NWU(), CoordinateSystem.EDN()); + var apriltagRot = + CoordinateSystem.convert( + new Rotation3d(), CoordinateSystem.EDN(), CoordinateSystem.NWU()) + .plus( + CoordinateSystem.convert( + camToTag.getRotation(), + CoordinateSystem.NWU(), + CoordinateSystem.EDN())); + apriltagRot = new Rotation3d(0, Math.PI, 0).plus(apriltagRot); + camToTag = new Transform3d(apriltagTrl, apriltagRot); + tagPoseEstimate = new AprilTagPoseEstimate(camToTag, camToTag, 0, 0); + } + } + // populate the target list // Challenge here is that TrackedTarget functions with OpenCV Contour TrackedTarget target =