Updated marker code for 24-25 and fixed bugs from previous!

systemetric · Oct 12, 2024 · 5dd5796 · 5dd5796
1 parent ec8c84e
commit 5dd5796
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Showing 3 changed files with 16 additions and 29 deletions.
diff --git a/robot/apriltags3.py b/robot/apriltags3.py
@@ -21,7 +21,7 @@
 import numpy as np
 import scipy.spatial.transform as transform
 
-from robot.game_config import MARKER
+from robot.game_config import MARKER, MARKER_TYPE
 
 
 ######################################################################
@@ -435,7 +435,7 @@ def detect(self, img, estimate_tag_pose=False, camera_params=None):
                 if camera_params is None:
                     raise ValueError(
                         "camera_params must be provided to detect if estimate_tag_pose is set to True")
-                tag_size = MARKER(tag.id).size
+                tag_size = MARKER.get_size(tag.id)
 
                 camera_fx, camera_fy, camera_cx, camera_cy = [
                     c for c in camera_params]

diff --git a/robot/game_config/markers.py b/robot/game_config/markers.py
@@ -14,6 +14,9 @@
 Byee!
  - Holly (2023-2024)
 
+
+Don't know what to say. - Nathan Gill (2024 - 2025)
+No semi-colons please - Scott Wilson (2024 - 2025)
 [Put your future messages here]
 """
 
@@ -24,10 +27,10 @@ class MARKER_TYPE(enum.Enum): # Keep something like this to determine if a marke
 
 class BASE_MARKER: # Base marker class that POTATO_MARKER and ARENA_MARKER derive from.
     team_marker_colors: dict = { # Colour definitions for each team defined in TEAMS
-        TEAM.RUBY: (255, 0, 0), # RED
+        TEAM.RUBY: (0, 0, 255), # RED
         TEAM.JADE: (0, 255, 0), # GREEN
-        TEAM.TOPAZ: (255, 255, 0), # YELLOW
-        TEAM.DIAMOND: (0, 0, 255), # BLUE
+        TEAM.TOPAZ: (0, 255, 255), # YELLOW
+        TEAM.DIAMOND: (255, 0, 0), # BLUE
     }
 
     def __init__(
@@ -48,10 +51,10 @@ def __repr__(self) -> str:
     @property
     def bounding_box_color(self) -> tuple:
         if self.type == MARKER_TYPE.ARENA: # If it is a wall
-            return tuple(reversed((125, 249, 225))) # Turquoise
-        elif self.owning_team==TEAM.ARENA: # If it is a Hot Potato (game object owned by ARENA)
+            return tuple(reversed((225, 249, 125))) # Turquoise
+        elif self.owning_team==TEAM.ARENA: # If it is a Sheep (game object owned by ARENA)
             return tuple(reversed((255,255,255))) # White
-        else: # If it is a Jacket Potato (game object owned by a team.)
+        else: # If it is a Jewel (game object owned by a team.)
             return tuple(reversed(self.team_marker_colors[self.owning_team])) # Picks the team colour from above
 
 class ARENA_MARKER(BASE_MARKER): # Not much going on here. This represents a wall.
@@ -119,22 +122,6 @@ def by_id(id: int, team: typing.Union[TEAM, None] = None) -> BASE_MARKER: # team
         elif id == 24 or id == 25 or id == 50:
             owning_team = TEAM["T0"]
         else:
-            owning_team = None
-
-#        ARENA_WALL_LOWER_ID = 40
-#        if id >= ARENA_WALL_LOWER_ID:
- #           return ARENA_MARKER(id)
- #       
-  #      wrappingId = id % 20 # Make sure that the ID range wraps after 20 values.
-   #     if wrappingId<4: # If it is a Jacket Potato (has a team)
-    #        owning_team = TEAM[f"T{wrappingId}"] # Set to the corresponding TEAM enum.
-     #   else: # If it is a Hot Potato (Has no team)
-      #      owning_team = TEAM["ARENA"]
-
-        return TARGET_MARKER(id, owning_team)
-
-## TESTING ##
+            raise Exception("AHHHHHH!")
 
-#print(f"{MARKER.get_size(0)}, {MARKER.get_size(30)}")
-#for i in range(0, 200):
-#   print(f"ID: {i}, {MARKER.by_id(i)}")
+        return TARGET_MARKER(id, owning_team)
diff --git a/robot/vision.py b/robot/vision.py
@@ -359,14 +359,14 @@ def _draw_bounding_box(self, frame, detections):
         """
         polygon_is_closed = True
         for detection in detections:
-            marker_info = MARKER(detection.id, self.zone)
+            marker_info = MARKER.by_id(detection.id, self.zone)
             marker_info_colour = marker_info.bounding_box_color
             marker_code = detection.id
 
             # The reverse is because OpenCV expects BGR but we use RGB
-            colour = reversed(marker_info_colour
+            colour = tuple(reversed(marker_info_colour
                               if marker_info_colour is not None
-                              else DEFAULT_BOUNDING_BOX_COLOUR)
+                              else DEFAULT_BOUNDING_BOX_COLOUR))
 
             # need to have this EXACT integer_corners syntax due to opencv bug
             # https://stackoverflow.com/questions/17241830/