apriltag test info

LICENSE

@@ -1,6 +1,7 @@
 MIT License
 
-Copyright (c) 2024 Recoil Robotics
+Copyright (c) 2024 FRC 9577 Recoil Robotics
+Copyright (c) 2024 Central Texas FRC Alliane, Inc. dba Innovatiion Treehouse
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

detection_object

@@ -0,0 +1,16 @@
+Detection object:
+tag_family = b'tag36h11'
+tag_id = 2
+hamming = 0
+decision_margin = 44.62813949584961
+homography = [[ 2.69612366e+01  1.67040375e+00  7.11355833e+02]
+ [-7.04108208e-01  2.86574596e+01  1.15765181e+02]
+ [-1.03034204e-03  2.04496354e-03  1.00000000e+00]]
+center = [711.35583265 115.7651814 ]
+corners = [[683.96160889 144.68180847]
+ [739.23742676 143.57286072]
+ [738.91906738  86.67015076]
+ [683.41760254  87.90101624]]
+pose_R = None
+pose_t = None
+pose_err = None

test.py

@@ -0,0 +1,55 @@
+import cv2
+import pupil_apriltags as apriltag
+
+
+# define a video capture object 
+vid = cv2.VideoCapture(0) 
+
+detector = apriltag.Detector()
+first_image = True
+while(True): 
+
+    # Capture the video frame 
+    # by frame 
+    ret, frame = vid.read() 
+
+    # convert the frame to grayscale
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+    results = detector.detect(gray)
+
+    # loop over the AprilTag detection results  
+    for r in results:
+        # extract the bounding box (x, y)-coordinates for the AprilTag
+        # and convert each of the (x, y)-coordinate pairs to integers
+        (ptA, ptB, ptC, ptD) = r.corners
+        ptB = (int(ptB[0]), int(ptB[1]))
+        ptC = (int(ptC[0]), int(ptC[1]))
+        ptD = (int(ptD[0]), int(ptD[1]))
+        ptA = (int(ptA[0]), int(ptA[1]))
+	    # draw the bounding box of the AprilTag detection
+        cv2.line(frame, ptA, ptB, (0, 255, 0), 2)
+        cv2.line(frame, ptB, ptC, (0, 255, 0), 2)
+        cv2.line(frame, ptC, ptD, (0, 255, 0), 2)
+        cv2.line(frame, ptD, ptA, (0, 255, 0), 2)
+	    # draw the center (x, y)-coordinates of the AprilTag
+        (cX, cY) = (int(r.center[0]), int(r.center[1]))
+        cv2.circle(frame, (cX, cY), 5, (0, 0, 255), -1)
+	    # draw the tag family on the image
+        tagFamily = str(r.tag_id)
+        if first_image:
+           print(r)
+           first_image=False 
+        cv2.putText(frame, tagFamily, (cX + 20, cY + 20 ),
+                 cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 255), 2)
+    cv2.imshow("Image",frame)  
+    # the 'q' button is set as the 
+    # quitting button you may use any 
+    # desired button of your choice 
+    if cv2.waitKey(1) & 0xFF == ord('q'): 
+        break
+
+# After the loop release the cap object 
+vid.release() 
+# Destroy all the windows 
+cv2.destroyAllWindows()