From e7eecbcf84a283cb1843278a6afc2d269282e950 Mon Sep 17 00:00:00 2001
From: Matthew Morley <matthew.morley.ca@gmail.com>
Date: Wed, 18 Oct 2023 21:42:36 -0400
Subject: [PATCH] Actually set detector params

---
 .../photonvision/vision/aruco/PhotonArucoDetector.java    | 8 ++++++++
 .../photonvision/vision/pipe/impl/ArucoDetectionPipe.java | 2 ++
 2 files changed, 10 insertions(+)

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
index f0f8eaba8b..acab02a176 100644
--- 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
index 3d97e506ce..1ea4fcd2ca 100644
--- 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);