Apriltags #151
Apriltags #151
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rhololkeolke
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Can we merge this in before master diverges too much? Other than it being a bit slow for high res images, everything seems to work for those that have tried it. And the speed-ups for high res images can be merged in a different request. |
rhololkeolke
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Found some minor issues.
I'd like to have an automatic build with circleci to verify that everything builds fine with april tags from scratch. I can have a look at this.
There are some unrelated reformattings that bloads up the diff a bit, but it looks ok so far.
| @@ -126,14 +126,14 @@ ProcessResult PluginDetectRobots::process(FrameData * data, RenderOptions * opti | |||
| color_id=color_id_blue; | |||
| team=global_team_selector_blue->getSelectedTeam(); | |||
| num_robots=global_team_selector_blue->getNumberRobots(); | |||
| detection_frame->clear_robots_blue(); | |||
| // detection_frame->clear_robots_blue(); | |||
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Why is this commented out? Can this be removed safely?
| robot_detection = detection_frame->add_robots_yellow(); | ||
| } | ||
| robot_detection->set_confidence( | ||
| det->decision_margin); // TODO(dschwab): What value should I put here? |
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is this still a TODO? Can this be resolved?
| @@ -181,7 +181,7 @@ TeamDetector::~TeamDetector() | |||
| void TeamDetector::update(::google::protobuf::RepeatedPtrField< ::SSL_DetectionRobot >* robots, int team_color_id, int max_robots, const Image<raw8> * image, CMVision::ColorRegionList * colorlist, CMVision::RegionTree & reg_tree) { | |||
| color_id_team=team_color_id; | |||
| _max_robots=max_robots; | |||
| robots->Clear(); | |||
| // robots->Clear(); | |||
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same here: Can this be removed?
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Automatic build for apriltag added to circleci config. It checks out the master branch of the apriltag library, so the build is not reproducible, but we will find issues with updates in the apriltag lib earlier. |
Don't call updateFieldLinesAndArcs in constructor Change Field Lines/Arcs Update button to read "Use Defaults"
Using homography and camera params image2field to detect apriltag orientation
rhololkeolke
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The updated README.md should explicity say the april tags repo needs to be cloned and installed. Also I had to update my LD_LIBRARY_PATH env variable to include the path where the libapriltag.so files were installed, might be worth mentioning in the docs as well. Descriptions of the different AprilTag params I feel should also be added. |
Adds a new optional apriltag robot detector plugin. See the README updates for more information about how to compile, run, and configure this detector.