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Move error bits/decision margin into apriltag detector itself #15

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Move error bits/decision margin into apriltag detector itself #15

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eb687ad
Remove a bunch of prints
mcm001 Sep 25, 2022
2d16e4d
Update AprilTagJNI.cpp
mcm001 Sep 26, 2022
7495607
Move decision margin/hamming into apritag
mcm001 Nov 16, 2022
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82 changes: 20 additions & 62 deletions AprilTagJNI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@

#include <vector>
#include <algorithm>
#include <math.h>

struct DetectorState
{
Expand All @@ -28,7 +29,8 @@ extern "C"
{

JNIEXPORT jlong JNICALL Java_org_photonvision_vision_apriltag_AprilTagJNI_AprilTag_1Create(JNIEnv *env,
jclass cls, jstring jstr, jdouble decimate, jdouble blur, jint threads, jboolean debug, jboolean refine_edges)
jclass cls, jstring jstr, jdouble decimate, jdouble blur, jint threads, jboolean debug, jboolean refine_edges, jint min_cluster_pixels,
jint maxErrorBits, jint extraDecisionMargin)
{
// Initialize tag detector with options
apriltag_family_t *tf = NULL;
Expand Down Expand Up @@ -91,6 +93,9 @@ extern "C"
td->nthreads = threads;
td->debug = debug;
td->refine_edges = refine_edges;
td->qtp.min_cluster_pixels = (int) min_cluster_pixels;
td->maxErrorBits = maxErrorBits;
td->extraDecisionMargin = extraDecisionMargin;

env->ReleaseStringUTFChars(jstr, famname);

Expand Down Expand Up @@ -225,12 +230,13 @@ extern "C"
jdouble pose1RotMat[9] = {0};
jdouble pose2RotMat[9] = {0};

// Row major so inner loop is rows
for (int i = 0; i < 9; i++) {
if (pose1.R)
if (pose1.R) {
pose1RotMat[i] = pose1.R->data[i];
if (pose2.R)
}
if (pose2.R) {
pose2RotMat[i] = pose2.R->data[i];
}
}

// And translation a 3x1 vector (todo check axis order)
Expand Down Expand Up @@ -260,12 +266,10 @@ extern "C"
pose1transArr, pose1rotArr, err1,
pose2transArr, pose2rotArr, err2);

// // I think this prevents us from leaking new double arrays every time
// TODO we don't seem to need this... or at least, it doesnt leak rn
// env->ReleaseDoubleArrayElements(harr, h, 0);
// env->ReleaseDoubleArrayElements(carr, corners, 0);

// return nullptr;

return ret;
}

Expand All @@ -274,8 +278,8 @@ extern "C"
jint rows, jint cols,
jboolean doPoseEstimation, jdouble tagWidthMeters, jdouble fx, jdouble fy, jdouble cx, jdouble cy, jint nIters)
{
if (!pData)
{
// No image, can't do anything
if (!pData) {
return nullptr;
}

Expand All @@ -286,11 +290,10 @@ extern "C"
(uint8_t *)pData};

// Get our detector
// printf("Finding detector at idx %i\n", detectIdx);
auto state = std::find_if(detectors.begin(), detectors.end(), [&](DetectorState& s) { return s.id == detectIdx; });
if (state == detectors.end())
if (state == detectors.end()) {
return nullptr;
// printf("Found detector %llu, end %llu!\n", state, detectors.end());
}

// And run the detector on our new image
zarray_t *detections = apriltag_detector_detect(state->td, &im);
Expand All @@ -314,69 +317,28 @@ extern "C"
// Add our detected targets to the array
for (size_t i = 0; i < size; ++i)
{
apriltag_detection_t *det;
apriltag_detection_t *det = {0};
zarray_get(detections, i, &det);
// printf("Got %i\n", det);

if (det != nullptr)
{
double err1 = 9999.0; //Should get overwritten if pose estimation is happening
double err2 = 9999.0;
double err1 = HUGE_VAL; //Should get overwritten if pose estimation is happening
double err2 = HUGE_VAL;
if (doPoseEstimation) {
// Feed results to the pose estimator
apriltag_detection_info_t info { det, tagWidthMeters, fx, fy, cx, cy };
estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2, nIters);

if (pose1.t && pose1.t->data) {
printf("Trans 1: ");
for (int i = 0; i < 3; i++) printf("%f ", pose1.t->data[i]);
printf("\n");
}
if (pose2.t && pose2.t->data) {
printf("Trans 2: ");
for (int i = 0; i < 3; i++) printf("%f ", pose2.t->data[i]);
printf("\n");
}
printf("Error 1 %f Error 2 %f\n", err1, err2);
}

jobject obj = MakeJObject(env, det, pose1, pose2, err1, err2);

env->SetObjectArrayElement(jarr, i, obj);
// printf("Set element of array %i and idx %i to %i\n", &jarr, i, obj);
}
}

// Now that stuff's in our array, we can clean up native memory
// Now that stuff's in our Java-side array, we can clean up native memory
apriltag_detections_destroy(detections);

// TODO do I need to do this
// if (pose1.R) {
// printf("Rotation 1: ");
// for (int i = 0; i < 9; i++) printf("%f ", pose1.R->data[i]);
// printf("\n");
// matd_destroy(pose1.R);
// }
// if (pose2.R) {
// printf("Rotation 2: ");
// for (int i = 0; i < 9; i++) printf("%f ", pose2.R->data[i]);
// printf("\n");
// matd_destroy(pose2.R);
// }
// if (pose1.t) {
// printf("Trans 1: ");
// for (int i = 0; i < 3; i++) printf("%f ", pose1.t->data[i]);
// printf("\n");
// // matd_destroy(pose1.t);
// }
// if (pose2.t) {
// printf("Trans 2: ");
// for (int i = 0; i < 3; i++) printf("%f ", pose2.t->data[i]);
// printf("\n");
// // matd_destroy(pose2.t);
// }

// printf("Returning %i\n", jarr);

return jarr;
}

Expand All @@ -389,8 +351,6 @@ extern "C"

if(state == detectors.end()) return;

// printf("Destroying detector FR\n", detectIdx);

if (state->td)
{
apriltag_detector_destroy(state->td);
Expand All @@ -403,7 +363,5 @@ extern "C"
}

detectors.erase(detectors.begin() + detectIdx);
// printf("New len %i elements:\n", detectors.size());
// std::for_each(detectors.begin(), detectors.end(), [](DetectorState &s){printf("id %i\n", s.id);});
}
}
2 changes: 1 addition & 1 deletion AprilTagJNI.h
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6 changes: 5 additions & 1 deletion apriltag.c
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Original file line number Diff line number Diff line change
Expand Up @@ -916,7 +916,11 @@ static void quad_decode_task(void *_u)

float decision_margin = quad_decode(td, family, im, quad, &entry, task->im_samples);

if (decision_margin >= 0 && entry.hamming < 255) {
if (decision_margin >= 0 && entry.hamming < 255
// Additions (Matt/Photon): Check decision margin and hamming
&& entry.hamming <= td->maxErrorBits
&& decision_margin >= td->extraDecisionMargin) {

apriltag_detection_t *det = calloc(1, sizeof(apriltag_detection_t));

det->family = family;
Expand Down
5 changes: 5 additions & 0 deletions apriltag.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,11 @@ struct apriltag_detector

// Used for thread safety.
pthread_mutex_t mutex;

// Photon additions (matt): extra params for max bits corrected,
// and extra decision margin
int maxErrorBits;
int extraDecisionMargin;
};

// Represents the detection of a tag. These are returned to the user
Expand Down