diff --git a/Code/OpenMV Code/Test_code/April_tag.py b/Code/OpenMV Code/Test_code/April_tag.py
index df9f5eb903f49736aeefb17dd9f9a83251be74a5..54ac4fb81cc1c061968fbd1e152c6eb49bf2892b 100644
--- a/Code/OpenMV Code/Test_code/April_tag.py
+++ b/Code/OpenMV Code/Test_code/April_tag.py
@@ -1,6 +1,3 @@
-# Untitled - By: polar - Wed Oct 6 2021
-
-import sensor, image, time
import image, network, math, rpc, sensor, struct, tf, ucollections, pyb
#from pyb import UART,
@@ -29,56 +26,92 @@ TAG_SIZE = 138 #length of inner black border of tag in mm (if printing to fill n
MAX_TAGS = 2
XRES = 320
YRES = 240
-SIZE = 16.3
+SIZE = 15.8 # unit: cm
f_x = (2.8 / 3.673) * XRES # find_apriltags defaults to this if not set 3.984
f_y = (2.8 / 2.738) * YRES # find_apriltags defaults to this if not set
c_x = XRES * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)
c_y = YRES * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5)
-def apriltags():
- red_led.off()
- green_led.on()
+#################### constants and functions for AprilTags ####################
+
+
+def change_tag_size(size):
+ TAG_SIZE = size
+ #return size
+
+def degrees(radians):
+ return (180 * radians) / math.pi
+
+def dist_conversion(z):
+ #returns the distance in mm
+ z = z*100*2
+ scale = TAG_SIZE/138
+ res_scale = (240/X_RES + 240/Y_RES)/2
+ return z*scale*res_scale
+
+def xy_to_mm(tag1_cx, tag1_cy, tag2_cx, tag2_cy, tag3_cx, tag3_cy):
+ #find the actual distance between tag1 and tag3
+ mm_distx = 590 #x dist in mm between two tags (premeasured)
+ mm_disty = 1 #y dist ^ (lol can't be 0 or the eqn breaks)
+ pixel_distx = tag1_cx - tag2_cx #dist between two tags cx (in pixels)
+ pixel_disty = tag1_cy - tag2_cy #same but cy
+ target_distx = tag1_cx - tag3_cx #dist between tag1 cx and object cx
+ target_disty = tag1_cy - tag3_cy #same but cy
+ #unless that shit is constant or passed in, yikes
+ #the 2.8 is a scaling factor based on lens size of cam
+ distx = target_distx*mm_distx/pixel_distx/2.8
+ disty = target_disty*mm_disty/pixel_disty/2.8
+ return (distx, disty) #in mm
+
+#returns a list of the x,y centroid, distance, and rotation for 2 tags of a certain ID
+
+
+def ATDistance(val,size):
+ #val = value from apriltag reading
+ #size = apriltag square length in cm
+
+ new_val = -10*val*size/16.3
+ return new_val
+
+def goalfinder(data):
sensor.set_pixformat(sensor.RGB565)
- sensor.set_framesize(sensor.QQVGA)
+ sensor.set_framesize(sensor.QVGA) # we run out of memory if the resolution is much bigger...
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
- #need to hardcode tag size for each ID
- LENS_MM = 2.8
- LENS_TO_CAM_MM = 22
-
- # datas = struct.unpack("<bb", data)
- # id1 = datas[0]
- id1 = 1
- #add more options based on what tag size will actually be
- #this is default size for now
- tagsize1 = 157
- if id1 == 0:
- tagsize1 = 138
- #sensor.set_pixformat(sensor.GRAYSCALE)
- #sensor.set_framesize(sensor.QVGA) # we run out of memory if the resolution is much bigger...
- #sensor.set_windowing((X_RES, Y_RES)) # Look at center 160x120 pixels of the VGA resolution.
+ # goal_id = struct.unpack("<bbb", data)
+ goal_id = data
+ nearest_tag = [0,0,0,float('inf'),0,0,0]
img = sensor.snapshot()
-
- f_x = (LENS_MM / 3.984) * X_RES # find_apriltags defaults to this if not set
- f_y = (LENS_MM / 2.952) * Y_RES # find_apriltags defaults to this if not set
- c_x = X_RES * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)
- c_y = Y_RES * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5)
-
- tags = [0, 0, 0]
- #n_tags = 0
+ img.draw_cross(160, 120, color = (255, 0, 0))
for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11
img.draw_rectangle(tag.rect(), color = (255, 0, 0))
img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
- dist = dist_conversion(tag.z_translation())
- img.draw_string(tag.cx(), tag.cy(), str(dist))
- if tag.id() == id1:
- print(tag.id())
- TAG_SIZE = tagsize1
- tags[0:2] = [int(tag.cx()), int(tag.cy()), int(degrees(tag.z_rotation()))]
- red_led.on()
- green_led.off()
- return struct.pack("<hhh", tags[0], tags[1], tags[2])
-
-if __name__ == '__main__':
- while True:
- apriltags()
\ No newline at end of file
+
+ for i in goal_id:
+ if tag.id() == i and ATDistance(tag.z_translation(),SIZE) < nearest_tag[3]:
+ nearest_tag[0] = tag.id()
+ #nearest_tag[1] = tag.x_translation()
+ #nearest_tag[2] = tag.y_translation()
+ nearest_tag[1] = tag.cx()
+ nearest_tag[2] = tag.cy()
+ nearest_tag[3] = ATDistance(tag.z_translation(),SIZE)
+ nearest_tag[4] = tag.x_rotation()
+ nearest_tag[5] = tag.y_rotation()
+ nearest_tag[6] = tag.z_rotation()
+ #check to see if there's a tag in frame
+ if nearest_tag[3] == float('inf'):
+ # return struct.pack("<hhhhhhh", nearest_tag)
+ print(nearest_tag)
+ else:
+ print("nearest tag id is ", nearest_tag[0], " with the distance", nearest_tag[3], " cm.")
+ print("position x,y:",tag.x_translation(),tag.y_translation())
+ print("position x,y:",tag.cx(), tag.cy())
+ # return struct.pack("<hhhhhhh", nearest_tag)
+
+
+# test
+
+while True:
+ data = [0,1,2]
+
+ goalfinder(data)
diff --git a/Code/OpenMV Code/Test_code/April_tag_with_CtlBd.py b/Code/OpenMV Code/Test_code/April_tag_with_CtlBd.py
new file mode 100644
index 0000000000000000000000000000000000000000..4af523e6b748821d2f7b97ecff9eebcc59d29122
--- /dev/null
+++ b/Code/OpenMV Code/Test_code/April_tag_with_CtlBd.py
@@ -0,0 +1,122 @@
+
+import image, network, math, rpc, sensor, struct, tf, ucollections, pyb
+#from pyb import UART,
+import ubinascii
+
+sensor.reset()
+sensor.set_pixformat(sensor.RGB565)
+sensor.set_framesize(sensor.QVGA)
+sensor.set_auto_gain(False) # must turn this off to prevent image washout...
+sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
+sensor.skip_frames(time = 2000)
+
+red_led = pyb.LED(1)
+green_led = pyb.LED(2)
+blue_led = pyb.LED(3)
+red_led.off()
+green_led.off()
+blue_led.off() #put the LEDs into a known state
+red_led.on() #turn the LED to red so that we know it is on
+
+interface = rpc.rpc_i2c_slave(slave_addr=0x12)
+
+#Constants needed
+MAX_BLOBS = 4
+TAG_SIZE = 138 #length of inner black border of tag in mm (if printing to fill normal paper, = 138mm)
+MAX_TAGS = 2
+XRES = 320
+YRES = 240
+SIZE = 15.8 # unit: cm
+f_x = (2.8 / 3.673) * XRES # find_apriltags defaults to this if not set 3.984
+f_y = (2.8 / 2.738) * YRES # find_apriltags defaults to this if not set
+c_x = XRES * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)
+c_y = YRES * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5)
+
+#################### constants and functions for AprilTags ####################
+
+
+def change_tag_size(size):
+ TAG_SIZE = size
+ #return size
+
+def degrees(radians):
+ return (180 * radians) / math.pi
+
+def dist_conversion(z):
+ #returns the distance in mm
+ z = z*100*2
+ scale = TAG_SIZE/138
+ res_scale = (240/X_RES + 240/Y_RES)/2
+ return z*scale*res_scale
+
+def xy_to_mm(tag1_cx, tag1_cy, tag2_cx, tag2_cy, tag3_cx, tag3_cy):
+ #find the actual distance between tag1 and tag3
+ mm_distx = 590 #x dist in mm between two tags (premeasured)
+ mm_disty = 1 #y dist ^ (lol can't be 0 or the eqn breaks)
+ pixel_distx = tag1_cx - tag2_cx #dist between two tags cx (in pixels)
+ pixel_disty = tag1_cy - tag2_cy #same but cy
+ target_distx = tag1_cx - tag3_cx #dist between tag1 cx and object cx
+ target_disty = tag1_cy - tag3_cy #same but cy
+ #unless that shit is constant or passed in, yikes
+ #the 2.8 is a scaling factor based on lens size of cam
+ distx = target_distx*mm_distx/pixel_distx/2.8
+ disty = target_disty*mm_disty/pixel_disty/2.8
+ return (distx, disty) #in mm
+
+#returns a list of the x,y centroid, distance, and rotation for 2 tags of a certain ID
+
+
+def ATDistance(val,size):
+ #val = value from apriltag reading
+ #size = apriltag square length in cm
+
+ new_val = -10*val*size/16.3
+ return new_val
+
+def goalfinder(data):
+ sensor.set_pixformat(sensor.RGB565)
+ sensor.set_framesize(sensor.QVGA) # we run out of memory if the resolution is much bigger...
+ sensor.set_auto_gain(False) # must turn this off to prevent image washout...
+ sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
+ # goal_id = struct.unpack("<bbb", data)
+ goal_id = data
+ nearest_tag = [0,0,0,float('inf'),0,0,0]
+ img = sensor.snapshot()
+ img.draw_cross(160, 120, color = (255, 0, 0))
+ for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11
+ img.draw_rectangle(tag.rect(), color = (255, 0, 0))
+ img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
+
+ for i in goal_id:
+ if tag.id() == i and ATDistance(tag.z_translation(),SIZE) < nearest_tag[3]:
+ nearest_tag[0] = tag.id()
+ #nearest_tag[1] = tag.x_translation()
+ #nearest_tag[2] = tag.y_translation()
+ nearest_tag[1] = tag.cx()
+ nearest_tag[2] = tag.cy()
+ nearest_tag[3] = ATDistance(tag.z_translation(),SIZE)
+ nearest_tag[4] = tag.x_rotation()
+ nearest_tag[5] = tag.y_rotation()
+ nearest_tag[6] = tag.z_rotation()
+ #check to see if there's a tag in frame
+ return struct.pack("<hhhhhhh", nearest_tag)
+ """
+ if nearest_tag[3] == float('inf'):
+ print(nearest_tag)
+ else:
+ print("nearest tag id is ", nearest_tag[0], " with the distance", nearest_tag[3], " cm.")
+ print("position x,y:",tag.x_translation(),tag.y_translation())
+ print("position x,y:",tag.cx(), tag.cy())
+ """
+
+
+
+# Register call backs.
+
+interface.register_callback(goalfinder)
+
+# Once all call backs have been registered we can start
+# processing remote events. interface.loop() does not return.
+
+interface.loop()
+