Tyler-J42/FRC-Apriltag-Pose-Detection
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Added argparse for IP address and outputs number of tags seen

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Tyler Jacques 2022-10-06 06:29:56 +00:00
parent e182f19700
commit ae9aba33d9
1 changed files with 8 additions and 7 deletions
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15
FRC_Fiducial_Tracking/April_PNP_Live.py
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@ -37,15 +37,16 @@ objp = np.array([[0,0,0], [b/2, b/2, 0], [-b/2, b/2, 0], [-b/2, -b/2, 0], [b/2,
# 2d axis array points for drawing cube overlay
axis = np.array([[b/2, b/2, 0], [-b/2, b/2, 0], [-b/2, -b/2, 0], [b/2, -b/2, 0], [b/2, b/2, -b], [-b/2, b/2, -b], [-b/2, -b/2, -b], [b/2, -b/2, -b]], dtype=np.float32)
# put your RoboRio IP here
NetworkTables.initialize(server="1234567890")
vision_table = NetworkTables.getTable("Fiducial")
# To show display of camera feed add --display in terminal when running script.
# To show display of camera feed add --display in terminal when running script. To set IP address use --ip_add.
parser = argparse.ArgumentParser(description="Select display")
parser.add_argument("--display", action='store_true', help="enable a display of the camera")
parser.add_argument("--ip_add", type=str, required=True)
args = parser.parse_args()
# network tables + RoboRio IP
NetworkTables.initialize(server=args.ip_add)
vision_table = NetworkTables.getTable("Fiducial")
FPS = 0
TARGET_ID = 1
@ -113,8 +114,7 @@ def display_features(image, imgpts, totalDist):
image = cv2.line(image, tuple(imgpts[i]), tuple(imgpts[j]),(255),3)
# draw top layer in red color
image = cv2.drawContours(image, [imgpts[4:]],-1,(0,0,255),3)
# image = cv2.putText(image, str((round(tvecDist[0], 4), round(tvecDist[1], 4), round(tvecDist[2], 4))), (int(det.center[0])+100,int(det.center[1])+100), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,0,0), 2, cv2.LINE_AA)
# image = cv2.putText(image, str((round(rvecDeg[0], 4), round(rvecDeg[1], 4), round(rvecDeg[2], 4))), (int(det.center[0])+100,int(det.center[1])+100), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,0,0), 2, cv2.LINE_AA)
image = cv2.putText(image, "#"+str(det.tag_id)+", "+str(round(totalDist, 4))+"in", (int(det.center[0]),int(det.center[1])+25), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,0,0), 2, cv2.LINE_AA)
return image
# setting up apriltag detection. Make sure this is OUTSIDE the loop next time
@ -181,6 +181,7 @@ while True:
if TARGET_ID == data_array[0]:
target_detected = True
vision_table.putNumber("numberOfTags", len(data_array))
vision_table.putBoolean("targetDetected", target_detected)
#Showing image. use --display to show image