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Add 36h11 tag model for 2024 #951

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merged 9 commits into from
Oct 25, 2023
Merged

Add 36h11 tag model for 2024 #951

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3340e74
Add 36h11 model
mcm001 Oct 15, 2023
e9c3722
Merge branch 'master' into 2023-10-15_36h11-model
srimanachanta Oct 20, 2023
8326107
Formatting fixes
srimanachanta Oct 20, 2023
696581c
Match frontend TargetModel enum with backend
srimanachanta Oct 20, 2023
173e9ed
fix target model merge
srimanachanta Oct 20, 2023
1075505
Update TargetModel.java
mcm001 Oct 25, 2023
386d337
Merge branch 'master' into 2023-10-15_36h11-model
mcm001 Oct 25, 2023
9b4fbc4
Merge branch 'master' into 2023-10-15_36h11-model
mcm001 Oct 25, 2023
26c3e64
Merge branch 'master' into 2023-10-15_36h11-model
srimanachanta Oct 25, 2023
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2 changes: 1 addition & 1 deletion photon-client/src/components/dashboard/tabs/AprilTagTab.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ const interactiveCols = computed(
<pv-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)']"
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:select-cols="interactiveCols"
@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
/>
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9 changes: 5 additions & 4 deletions photon-client/src/components/dashboard/tabs/PnPTab.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -21,15 +21,16 @@ const interactiveCols = computed(
v-model="useCameraSettingsStore().currentPipelineSettings.targetModel"
label="Target Model"
:items="[
{ name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
{ name: '2020 High Goal Inner', value: TargetModel.InfiniteRechargeHighGoalInner },
{ name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
{ name: '2019 Dual Target', value: TargetModel.DeepSpaceDualTarget },
{ name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
{ name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
{ name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
{ 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)"
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15 changes: 8 additions & 7 deletions photon-client/src/types/PipelineTypes.ts
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Expand Up @@ -21,15 +21,16 @@ export enum RobotOffsetPointMode {
}

export enum TargetModel {
InfiniteRechargeHighGoalOuter = 0,
InfiniteRechargeHighGoalInner = 1,
DeepSpaceDualTarget = 2,
StrongholdHighGoal = 0,
DeepSpaceDualTarget = 1,
InfiniteRechargeHighGoalOuter = 2,
CircularPowerCell7in = 3,
RapidReactCircularCargoBall = 4,
StrongholdHighGoal = 5,
Apriltag_200mm = 6,
Aruco6in_16h5 = 7,
Apriltag6in_16h5 = 8
Apriltag_200mm = 5,
Aruco6in_16h5 = 6,
Apriltag6in_16h5 = 7,
Aruco6p5in_36h11 = 8,
Apriltag6p5in_36h11 = 9
}

export interface PipelineSettings {
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29 changes: 9 additions & 20 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.util.math.MathUtils;
import org.photonvision.targeting.MultiTargetPNPResults;
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;
Expand Down Expand Up @@ -69,27 +70,15 @@ 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;
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17 changes: 16 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/target/TargetModel.java
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Expand Up @@ -121,7 +121,22 @@ public enum TargetModel implements Releasable {
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));
Units.inchesToMeters(3 * 2)),
// 2024 FRC tag. 6.5in inner tag, 8.125 overall
kAruco6p5in_36h11(
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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(6.5)),
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(6.5));

@JsonIgnore private MatOfPoint3f realWorldTargetCoordinates;
@JsonIgnore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
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