aruco testing

FRC_Fiducial_Tracking/Aruco_Detection.py

@@ -1,20 +1,29 @@
 import cv2
 import numpy as np
 from Picam2Vid import Picam2Vid
+import time
 
 
+stream = Picam2Vid((1536, 864))
+
+tag36h11 = cv2.aruco.DICT_APRILTAG_36h11
+params = cv2.aruco.DetectorParameters_create()
+dictionary = cv2.aruco.Dictionary_get(tag36h11)
 
 while True:
-    stream = Picam2Vid()
+    start=time.time()
+
     stream.update()
-    frame = cv2.imread(stream.read())
+    frame = stream.read()
+
+    grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
     cv2.imshow('frame', frame)
-    cv2.waitKey(0)
+    cv2.waitKey(1)
 
-    tag36h11 = cv2.aruco.DICT_APRILTAG_36h11
-    params = cv2.aruco.DetectorParameters_create()
-
-    (corners, ids, rejcted) = cv2.aruco.detectMarkers(frame, tag36h11, parameters=params)
-    print(corners)
-    print(ids)
+    (corners, ids, rejected) = cv2.aruco.detectMarkers(grey, dictionary, parameters=params)
+    #print(corners)
+    print("ids: " + str(ids))
+    #print(rejected)
 
+    print("FPS: "+str(1/(time.time()-start)))

FRC_Fiducial_Tracking/Picam2Vid.py

@@ -24,7 +24,7 @@ class Picam2Vid:
             self.camera.stop()
             return
         self.frame=self.camera.capture_array('main')
-        print(self.frame.dtype)
+        #print(self.frame.dtype)
         #print("debug threading")
     
     def read(self):

FRC_Fiducial_Tracking/Static_Apriltag_Test.py

@@ -13,14 +13,14 @@ dist = np.array([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.0387539
 detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        families='tag36h11',
                        nthreads=2,
-                       quad_decimate=8.5,
-                       quad_sigma=0.5,
+                       quad_decimate=2,
+                       quad_sigma=1,
                        refine_edges=3,
-                       decode_sharpening=0,
+                       decode_sharpening=0.25,
                        debug=1)
 
 #image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/apriltagrobots_overlay.jpg")
-image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/13.jpg")
+image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/14.jpg")
 #image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/20240814_043333.jpg")
 
 #h,  w = image.shape[:2]
@@ -34,12 +34,13 @@ image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial
 #dst = dst[y:y+h, x:x+w]
 
 grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+smaller = cv2.resize(grey, (640, 360))
 
-print(grey)
+print(smaller)
 
-cv2.imshow("frame", grey)
+cv2.imshow("frame", smaller)
 cv2.waitKey(0)
 
-output = detector.detect(grey, estimate_tag_pose=False, camera_params=None, tag_size=None)
+output = detector.detect(smaller, estimate_tag_pose=False, camera_params=None, tag_size=None)
 
 print(output)