From 4985dc6585ceadd2a6e90d21d65e2aad12369456 Mon Sep 17 00:00:00 2001 From: Tyler Jacques Date: Sun, 13 Nov 2022 03:02:30 +0000 Subject: [PATCH] Changed the type of tag to detect to t16h5 and the size of the tag to 6. --- FRC_Fiducial_Tracking/April_PNP_Live.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/FRC_Fiducial_Tracking/April_PNP_Live.py b/FRC_Fiducial_Tracking/April_PNP_Live.py index e4828b6..686023d 100644 --- a/FRC_Fiducial_Tracking/April_PNP_Live.py +++ b/FRC_Fiducial_Tracking/April_PNP_Live.py @@ -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)