debugging apriltag image detection problems

FRC_Fiducial_Tracking/April_PNP_Live.py

@@ -135,7 +135,7 @@ 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='tag36h11', border=1, nthreads=1,
 quad_decimate=1.0, quad_blur=0.0, refine_edges=True,
 refine_decode=False, refine_pose=False, debug=False, quad_contours=True)
 detector = apriltag.Detector(options)
@@ -144,6 +144,7 @@ detector = apriltag.Detector(options)
 time.sleep(0.1)
 while True:
     frame_start = time.time()
+    cam.update()
     image = cam.read()
     data_array = []
     visible_tags = []
@@ -197,9 +198,7 @@ while True:
         image = cv2.putText(image, "FPS: "+str(round(FPS, 4)), (25,440), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,0), 2, cv2.LINE_AA)
         cv2.imshow("Frame", image)
 
-    key = cv2.waitKey(1) & 0xFF
-    if key ==ord("q"):
-        break
+        key = cv2.waitKey(1)
 
     # frame rate for performance
     FPS = (1/(time.time()-frame_start))

FRC_Fiducial_Tracking/Picam2Calibration_Capture.py

@@ -4,8 +4,9 @@ import os
 
 stream = Picam2Vid((640, 480))
 
-path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Calibration_Pics_Wide_640x480/"
+path = "/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/"
 
+stream.update()
 frame = stream.read()
 cv2.imshow("frame", frame)
 cv2.waitKey(1)

FRC_Fiducial_Tracking/Picam2Vid.py

@@ -12,6 +12,7 @@ class Picam2Vid:
         self.camera = Picamera2()
         self.resolution = camera_res
         config = self.camera.create_video_configuration(main={"size": self.resolution, "format": "RGB888"}, transform=Transform(hflip=True), lores={"size": (640,480)}, encode='main')
+        #config = self.camera.create_video_configuration(raw={"size":camera_res})
         self.camera.configure(config)
         self.camera.set_controls({"FrameRate": 120})
         self.frame = None
@@ -19,13 +20,15 @@ class Picam2Vid:
         self.camera.start()
 
     # output the frame we want
-    def read(self):
-        self.frame=self.camera.capture_array()
+    def update(self):
         if self.stopped:
             self.camera.stop()
             return
+        self.frame=self.camera.capture_array('main')
+        #print("debug threading")
+    
+    def read(self):
         return self.frame
 
-    # end threading
     def stop(self):
         self.stopped = True

FRC_Fiducial_Tracking/Static_Apriltag_Test.py

@@ -0,0 +1,16 @@
+import apriltag
+import numpy as np
+import cv2
+
+options = apriltag.DetectorOptions(families='tag36h11', border=1, nthreads=1,
+quad_decimate=1.0, quad_blur=0.0, refine_edges=True,
+refine_decode=False, refine_pose=False, debug=False, quad_contours=True)
+detector = apriltag.Detector(options)
+
+image = cv2.imread("/home/tyler/Desktop/FRC-Apriltag-Pose-Detection/FRC_Fiducial_Tracking/Static_Tag_Pics/0.jpg")
+
+tagFrame = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+
+output = detector.detect(tagFrame)
+
+print(output)