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ryanshoffryanshoff
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tested multitag
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‎photon-client/src/components/dashboard/tabs/AprilTagCudaTab.vue

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<script setup lang="ts">
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import { PipelineType } from "@/types/PipelineTypes";
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import PvSelect from "@/components/common/pv-select.vue";
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import PvSlider from "@/components/common/pv-slider.vue";
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import PvSwitch from "@/components/common/pv-switch.vue";
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import { computed, getCurrentInstance } from "vue";
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import { useStateStore } from "@/stores/StateStore";
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import type { ActivePipelineSettings } from "@/types/PipelineTypes";
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import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
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// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
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// Defer reference to store access method
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const currentPipelineSettings = computed<ActivePipelineSettings>(
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() => useCameraSettingsStore().currentPipelineSettings
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);
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const interactiveCols = computed(() =>
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(getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
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(!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
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? 9
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: 8
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);
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</script>
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<template>
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<div v-if="currentPipelineSettings.pipelineType === PipelineType.AprilTagCuda">
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<pv-select
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v-model="currentPipelineSettings.tagFamily"
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label="Target family"
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:items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
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:select-cols="interactiveCols"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.decimate"
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class="pt-2"
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:slider-cols="interactiveCols"
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label="Decimate"
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tooltip="Increases FPS at the expense of range by reducing image resolution initially"
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:min="1"
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:max="8"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decimate: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.blur"
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class="pt-2"
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:slider-cols="interactiveCols"
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label="Blur"
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tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
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:min="0"
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:max="5"
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:step="0.1"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ blur: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.threads"
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class="pt-2"
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:slider-cols="interactiveCols"
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label="Threads"
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tooltip="Number of threads spawned by the AprilTag detector"
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:min="1"
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:max="8"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threads: value }, false)"
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/>
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<pv-switch
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v-model="currentPipelineSettings.refineEdges"
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class="pt-2"
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label="Refine Edges"
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tooltip="Further refines the AprilTag corner position initial estimate, suggested left on"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ refineEdges: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.decisionMargin"
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class="pt-2 pb-4"
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:slider-cols="interactiveCols"
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label="Decision Margin Cutoff"
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tooltip="Tags with a 'margin' (decoding quality score) less than this wil be rejected. Increase this to reduce the number of false positive detections"
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:min="0"
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:max="250"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decisionMargin: value }, false)"
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/>
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<pv-slider
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v-model="currentPipelineSettings.numIterations"
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class="pt-2 pb-4"
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:slider-cols="interactiveCols"
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label="Pose Estimation Iterations"
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tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
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:min="0"
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:max="500"
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@input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ numIterations: value }, false)"
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/>
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</div>
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</template>

‎photon-core/src/main/java/org/photonvision/jni/GpuDetectorJNI.java

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package org.photonvision.jni;
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import edu.wpi.first.apriltag.AprilTagDetection;
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import java.io.IOException;
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public class GpuDetectorJNI {
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static boolean libraryLoaded = false;
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static {
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if(!libraryLoaded)
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System.loadLibrary("971apriltag");
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libraryLoaded = true;
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}
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public static native long createGpuDetector(int width, int height);
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public static native void destroyGpuDetector(long handle);
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public static native void setparams(long handle, double fx, double cx,
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double fy, double cy, double k1, double k2, double p1,
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double p2, double k3);
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public static native AprilTagDetection[] processimage(long handle, long p);
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}

‎photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionCudaPipe.java

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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.vision.pipe.impl;
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import edu.wpi.first.apriltag.AprilTagDetection;
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import edu.wpi.first.apriltag.AprilTagDetector;
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import java.util.List;
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import org.photonvision.vision.opencv.CVMat;
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import org.photonvision.vision.opencv.Releasable;
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import org.photonvision.vision.pipe.CVPipe;
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import org.photonvision.jni.GpuDetectorJNI;
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import org.opencv.core.Mat;
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public class AprilTagDetectionCudaPipe
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extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionCudaPipeParams>
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implements Releasable {
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//private AprilTagDetector m_detector = new AprilTagDetector();
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private GpuDetectorJNI m_cudadetector = new GpuDetectorJNI();
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private long handle = 0;
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public AprilTagDetectionCudaPipe() {
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super();
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//m_detector.addFamily("tag16h5");
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//m_detector.addFamily("tag36h11");
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handle = m_cudadetector.createGpuDetector(640,480); // just a guess
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}
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@Override
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protected List<AprilTagDetection> process(CVMat in) {
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if (in.getMat().empty()) {
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return List.of();
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}
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//if (m_detector == null) {
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// throw new RuntimeException("Apriltag detector was released!");
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//}
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var ret = m_cudadetector.processimage(handle, in.getMat().getNativeObjAddr());
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if (ret == null) {
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return List.of();
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}
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return List.of(ret);
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}
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@Override
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public void setParams(AprilTagDetectionCudaPipeParams newParams) {
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if (this.params == null || !this.params.equals(newParams)) {
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//m_detector.setConfig(newParams.detectorParams);
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//m_detector.clearFamilies();
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//m_detector.addFamily(newParams.family.getNativeName());
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if( newParams.cameraCalibrationCoefficients == null ) return;
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final Mat cameraMatrix = newParams.cameraCalibrationCoefficients.getCameraIntrinsicsMat();
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final Mat distCoeffs = newParams.cameraCalibrationCoefficients.getDistCoeffsMat();
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if(cameraMatrix == null || distCoeffs == null) return;
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var cx = cameraMatrix.get(0, 2)[0];
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var cy = cameraMatrix.get(1, 2)[0];
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var fx = cameraMatrix.get(0, 0)[0];
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var fy = cameraMatrix.get(1, 1)[0];
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var k1 = distCoeffs.get(0, 0)[0];
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var k2 = distCoeffs.get(0, 1)[0];
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var k3 = distCoeffs.get(0, 4)[0];
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var p1 = distCoeffs.get(0, 2)[0];
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var p2 = distCoeffs.get(0, 3)[0];
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m_cudadetector.setparams(handle,fx,cx,fy,cy,k1,k2,p1,p2,k3);
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}
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super.setParams(newParams);
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}
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@Override
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public void release() {
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//m_detector.close();
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//m_detector = null;
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m_cudadetector.destroyGpuDetector(handle);
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m_cudadetector = null;
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}
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}

‎photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionCudaPipeParams.java

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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.vision.pipe.impl;
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import edu.wpi.first.apriltag.AprilTagDetector;
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import org.photonvision.vision.apriltag.AprilTagFamily;
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import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
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public class AprilTagDetectionCudaPipeParams {
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public final AprilTagFamily family;
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public final AprilTagDetector.Config detectorParams;
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public final CameraCalibrationCoefficients cameraCalibrationCoefficients;
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public AprilTagDetectionCudaPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config, CameraCalibrationCoefficients cal) {
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this.family = tagFamily;
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this.detectorParams = config;
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this.cameraCalibrationCoefficients = cal;
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}
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@Override
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public int hashCode() {
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final int prime = 31;
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int result = 1;
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result = prime * result + ((family == null) ? 0 : family.hashCode());
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result = prime * result + ((cameraCalibrationCoefficients == null) ? 0 : cameraCalibrationCoefficients.hashCode());
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result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
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return result;
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}
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@Override
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public boolean equals(Object obj) {
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if (this == obj) return true;
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if (obj == null) return false;
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if (getClass() != obj.getClass()) return false;
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AprilTagDetectionCudaPipeParams other = (AprilTagDetectionCudaPipeParams) obj;
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if (family != other.family) return false;
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if (cameraCalibrationCoefficients != other.cameraCalibrationCoefficients) return false;
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if (detectorParams == null) {
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return other.detectorParams == null;
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} else return detectorParams.equals(other.detectorParams);
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}
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}

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