Tyler-J42/FRC-Apriltag-Pose-Detection
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Changed the type of tag to detect to t16h5 and the size of the tag to 6.

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Tyler Jacques 2022-11-13 03:02:30 +00:00
parent ae9aba33d9
commit 4985dc6585
1 changed files with 2 additions and 2 deletions
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FRC_Fiducial_Tracking/April_PNP_Live.py
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@ -31,7 +31,7 @@ camera_matrix = np.array([[FOCAL_LEN_PIXELS, 0., 308.94165115],
[0., FOCAL_LEN_PIXELS, 221.9470321],
[0., 0.,1.]])
b=6.5
b=7.15
# 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect
objp = np.array([[0,0,0], [b/2, b/2, 0], [-b/2, b/2, 0], [-b/2, -b/2, 0], [b/2, -b/2, 0]], dtype=np.float32)
# 2d axis array points for drawing cube overlay
@ -118,7 +118,7 @@ def display_features(image, imgpts, totalDist):
return image
# setting up apriltag detection. Make sure this is OUTSIDE the loop next time
options = apriltag.DetectorOptions(families='tag36h11', border=1, nthreads=4,
options = apriltag.DetectorOptions(families='tag16h5', border=1, nthreads=4,
quad_decimate=2.0, quad_blur=0.0, refine_edges=True,
refine_decode=False, refine_pose=False, debug=False, quad_contours=True)
detector = apriltag.Detector(options)