add custom apriltag

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 project(BOS CXX C CUDA)
 
-set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_BUILD_TYPE Debug)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

src/camera/disk_camera.h

@@ -20,7 +20,7 @@ struct CompareTimestampedFramePath {
   }
 };
 
-class DiskCamera : ICamera {
+class DiskCamera : public ICamera {
  public:
   DiskCamera(std::string image_folder_path);
   void GetFrame(cv::Mat& frame) override;

src/test/CMakeLists.txt

@@ -25,6 +25,9 @@ target_link_libraries(gamepiece_test PRIVATE gamepiece yolo camera utils localiz
 add_executable(nvidia_apriltag_test nvidia_apriltag_test.cc)
 target_link_libraries(nvidia_apriltag_test PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils yolo vpi utils)
 
+add_executable(custom_apriltag_test custom_apriltag_test.cc)
+target_link_libraries(custom_apriltag_test PRIVATE ${OpenCV_LIBS} utils)
+
 add_executable(absl_flag_test absl_flag_test.cc)
 target_link_libraries(absl_flag_test absl::flags absl::flags_parse)
 

src/test/apriltag_detect_test.cc

@@ -1,11 +1,14 @@
 #include <fstream>
+#include <memory>
 #include <nlohmann/json.hpp>
+#include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc.hpp>
 #include "apriltag/apriltag.h"
 #include "apriltag/tag36h11.h"
 #include "src/camera/camera_constants.h"
 #include "src/camera/cscore_streamer.h"
 #include "src/camera/cv_camera.h"
+#include "src/camera/disk_camera.h"
 #include "src/camera/select_camera.h"
 #include "src/utils/camera_utils.h"
 #include "third_party/971apriltag/971apriltag.h"
@@ -46,21 +49,19 @@ auto main() -> int {
   camera::CscoreStreamer streamer("apriltag_detect_test", 4971, 30, 640, 480,
                                   false);
 
-  camera::Camera camera_config = camera::SelectCameraConfig();
+  camera::Camera config = camera::SelectCameraConfig();
+  cv::Mat frame = cv::imread("apriltag2.png");
+  cv::Mat gray;
 
-  auto intrinsics = utils::read_intrinsics(
-      camera::camera_constants[camera_config].intrinsics_path);
+  auto intrinsics =
+      utils::read_intrinsics(camera::camera_constants[config].intrinsics_path);
 
   auto gpu_detector_ = new frc971::apriltag::GpuDetector(
-      640, 480, apriltag_detector_, camera_matrix_from_json(intrinsics),
+      frame.cols, frame.rows, apriltag_detector_,
+      camera_matrix_from_json(intrinsics),
       distortion_coefficients_from_json(intrinsics));
-  camera::Camera config = camera::SelectCameraConfig();
-  std::unique_ptr<camera::ICamera> camera = camera::GetCameraStream(config);
-  cv::Mat frame;
-  cv::Mat gray;
 
   while (true) {
-    camera->GetFrame(frame);
     cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
     gpu_detector_->DetectGrayHost((unsigned char*)gray.ptr());
     const zarray_t* detections = gpu_detector_->Detections();