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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| # AprilTag | ||
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| ## Adding new field to AprilTagFields | ||
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| ### Adding field JSON | ||
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| 1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag` | ||
| 1. See docstring in `convert_apriltag_layouts.py` for more | ||
| 2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON | ||
| 3. That script overwrites all generated JSONs, so undo undesired changes if necessary | ||
| 4. Update the field dimensions at the bottom of the JSON | ||
| 1. Length should be in meters from alliance wall to alliance wall | ||
| 2. Width should be in meters from inside guardrail plastic to plastic | ||
|
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| ### Java updates | ||
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| 1. Update `src/main/java/edu/wpi/first/apriltag/AprilTagFields.java` | ||
| 1. Add enum value for new field to `AprilTagFields` | ||
| 2. Update `AprilTagFields.kDefaultField` if necessary | ||
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| ### C++ updates | ||
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| 1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h` | ||
| 1. Add enum value for new field to `AprilTagFields` | ||
| 2. Update `AprilTagFields::kDefaultField` if necessary | ||
| 2. Update `src/main/native/cpp/AprilTagFields.cpp` | ||
| 1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()` | ||
| 2. Add case for new field to switch in `LoadAprilTagLayoutField()` |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| #!/usr/bin/env python3 | ||
|
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| """ | ||
| This script converts all AprilTag field layout CSV files in | ||
| src/main/native/resources/edu/wpi/first/apriltag to the JSON format | ||
| AprilTagFields expects. | ||
| The input CSV has the following format: | ||
| * Columns: ID, X, Y, Z, Rotation | ||
| * ID is a positive integer | ||
| * X, Y, and Z are decimal inches | ||
| * Rotation is yaw in degrees | ||
| The values come from a table in the layout marking diagram (e.g., | ||
| https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf). | ||
| """ | ||
|
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| import csv | ||
| import json | ||
| import os | ||
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| from wpimath import geometry, units | ||
| import numpy as np | ||
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| def main(): | ||
| # Find AprilTag field layout CSVs | ||
| filenames = [ | ||
| os.path.join(dp, f) | ||
| for dp, dn, fn in os.walk("src/main/native/resources/edu/wpi/first/apriltag") | ||
| for f in fn | ||
| if f.endswith(".csv") | ||
| ] | ||
|
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| for filename in filenames: | ||
| json_data = {"tags": [], "field": {"length": 0.0, "width": 0.0}} | ||
|
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| # Read CSV and fill in JSON data | ||
| with open(filename, newline="") as csvfile: | ||
| reader = csv.reader(csvfile, delimiter=",") | ||
|
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| # Skip header | ||
| next(reader) | ||
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| for row in reader: | ||
| # Unpack row elements | ||
| id = int(row[0]) | ||
| x = float(row[1]) | ||
| y = float(row[2]) | ||
| z = float(row[3]) | ||
| rotation = float(row[4]) | ||
|
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| # Turn yaw into quaternion | ||
| q = geometry.Rotation3d( | ||
| units.radians(0.0), | ||
| units.radians(0.0), | ||
| units.degreesToRadians(rotation), | ||
| ).getQuaternion() | ||
|
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| json_data["tags"].append( | ||
| { | ||
| "ID": id, | ||
| "pose": { | ||
| "translation": { | ||
| "x": units.inchesToMeters(x), | ||
| "y": units.inchesToMeters(y), | ||
| "z": units.inchesToMeters(z), | ||
| }, | ||
| "rotation": { | ||
| "quaternion": { | ||
| "W": q.W(), | ||
| "X": q.X(), | ||
| "Y": q.Y(), | ||
| "Z": q.Z(), | ||
| } | ||
| }, | ||
| }, | ||
| } | ||
| ) | ||
|
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| # Write JSON | ||
| with open(filename.replace(".csv", ".json"), "w") as f: | ||
| json.dump(json_data, f, indent=2) | ||
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| if __name__ == "__main__": | ||
| main() |
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