Switched Camera encoder

Author: ds12a

PiSideCode/Camera/CameraConfigs/ConfigSettings_platform-fc880000-usb-usb-0-1-1-0-video-index0.json

@@ -1 +1 @@
-{"Resolution": [1600, 1200], "Brightness": -30.0, "Exposure": 2566.0}
+{"Resolution": [1600, 1200], "Brightness": 30.0, "Exposure": 642.0}

PiSideCode/Camera/camera.py

@@ -195,12 +195,13 @@ def setResolution(self, identifier, resolution):
         # os.system(f"v4l2-ctl -d /dev/v4l/by-path/{identifier} --set-fmt-video=width={resolution[0]},height={resolution[1]}")
         self.info[identifier].cam.set(cv2.CAP_PROP_FRAME_HEIGHT, resolution[1])
         self.info[identifier].cam.set(cv2.CAP_PROP_FRAME_WIDTH, resolution[0])
-        self.info[identifier].cam.set(
-            cv2.CAP_PROP_FOURCC,
-            cv2.VideoWriter_fourcc(
-                *("MJPG" if "MJPG" in self.info[identifier].validFormats else "GREY")
-            ),
-        )
+        # self.info[identifier].cam.set(
+        #     cv2.CAP_PROP_FOURCC,
+        #     cv2.VideoWriter_fourcc(
+        #         *("MJPG" if "MJPG" in self.info[identifier].validFormats else "GREY")
+        #     ),
+        # )
+        self.info[identifier].cam.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
         self.info[identifier].cam.set(cv2.CAP_PROP_FPS, 30)  # Lower can be better
         resolution = tuple(resolution)
 

PiSideCode/Processing/Processing.py

@@ -3,6 +3,7 @@
 import logging
 import wpimath.geometry as wpi
 import numpy as np
+import math
 
 
 class Processor:
@@ -67,8 +68,8 @@ def makePoseObject(temp):
                     temp["rotation"]["quaternion"]["Y"],
                     temp["rotation"]["quaternion"]["Z"],
                 )
-            ),
-        )
+            ).rotateBy(wpi.Rotation3d(0, 0, math.radians(180))))
+        
 
     # ROT MUST BE A 3x3 ROTATION MATRIX
     def getTransform(trans, rot):
@@ -78,7 +79,7 @@ def getTransform(trans, rot):
 
     def getTagTransform(jsonID):
         pose = Processor.makePoseObject(jsonID)
-        rot = pose.rotation()
+        rot = pose.rotation().rotateBy(wpi.Rotation3d(0,0,math.radians(180)))
         translation = np.asarray([pose.X(), pose.Y(), pose.Z()]).reshape(3, 1)
         rot, _ = cv2.Rodrigues(np.asarray([rot.X(), rot.Y(), rot.Z()]).reshape(3, 1))
         return Processor.getTransform(translation, rot)
@@ -229,7 +230,7 @@ def imagePose(self, images, K, D, layout, arucoDetector):
                     if len(ids) > 1:
                         ambig.append(2767)
 
-                if len(ids) == 1:
+                if len(ids) == 0:
                     tempc1 = np.asarray(
                         [self.squareLength / 2, self.squareLength / 2, 0]
                     )

PiSideCode/SystemData.json

@@ -1 +1 @@
-{"TeamNumber": 2767, "TableName": "WallEye", "ip": "10.27.67.11", "BoardDim": [7, 7], "TagSize": 0.157}
+{"TeamNumber": 2767, "TableName": "Walleye", "ip": "10.27.67.11", "BoardDim": [7, 7], "TagSize": 0.168275}