Actually set detector params

PhotonVision · Oct 19, 2023 · e7eecbc · e7eecbc
1 parent ab68283
commit e7eecbc
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diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -48,10 +48,18 @@ public ArucoDetector getDetector() {
         return detector;
     }
 
+    /**
+     * Get a copy of the current parameters being used. Must next call setParams to update the
+     * underlying detector object!
+     */
     public DetectorParameters getParams() {
         return params;
     }
 
+    public void setParams(DetectorParameters params) {
+        detector.setDetectorParameters(params);
+    }
+
     /**
      * Detect fiducial tags in the grayscaled image using the {@link ArucoDetector} in this class.
      * Parameters for detection can be modified with {@link #setDetectorParams(DetectorParameters)}.

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -107,6 +107,8 @@ public void setParams(ArucoDetectionPipeParams newParams) {
             detectParams.set_useAruco3Detection(newParams.useAruco3);
             detectParams.set_minSideLengthCanonicalImg(newParams.aruco3MinCanonicalImgSide);
             detectParams.set_minMarkerLengthRatioOriginalImg((float) newParams.aruco3MinMarkerSideRatio);
+
+            photonDetector.setParams(detectParams);
         }
 
         super.setParams(newParams);