commit 1fc51faaa13d141b1b611b312f7ff8b967bcf307
author Austin Schuh <austin.linux@gmail.com> Mon Jan 01 12:34:00 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Jan 04 18:02:00 2024 -0800
tree 6afdac6d7cd573dec011b64c38de00338578d415
parent 8de7def4d13bc5309534877e95462e0a4100db0c

Actually detect apriltags

This does the line fits for the borders, finds the best up to 10
candidate corners, and picks the best one.  It then does the final
filtering to pick which quads to evaluate, evaluates them, and then uses
aprilrobotics to refine and report out the solution.

There's a small (1e-3) discrepency on some of the tags to track down,
but overall it works pretty well.  Takes 4ms to process the imx296
images.

Change-Id: I6cff5654252897f46def422c021b1dce74036476
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

WORKSPACE

diff --git a/WORKSPACE b/WORKSPACE
index d76d359..913d969 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -1562,6 +1562,20 @@
     url = "https://software.frc971.org/Build-Dependencies/2023_arducam_apriltag_test_images.tar.gz",
 )
 
+http_file(
+    name = "orin_image_apriltag",
+    downloaded_file_path = "orin_image_apriltag.bfbs",
+    sha256 = "c86604fd0b1301b301e299b1bba2573af8c586413934a386a2bd28fd9b037b84",
+    url = "https://software.frc971.org/Build-Dependencies/orin_image_apriltag.bfbs",
+)
+
+http_file(
+    name = "orin_large_image_apriltag",
+    downloaded_file_path = "orin_large_gs_apriltag.bfbs",
+    sha256 = "d933adac0d6c205c574791060be73701ead05977ff5dd9f6f4eadb45817c3ccb",
+    url = "https://software.frc971.org/Build-Dependencies/orin_large_gs_apriltag.bfbs",
+)
+
 http_archive(
     name = "libedgetpu",
     build_file = "//third_party:libedgetpu/libedgetpu.BUILD",