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Add QuadThresholdParameters to AprilTag config #1519

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merged 6 commits into from
Nov 4, 2024
Merged

Add QuadThresholdParameters to AprilTag config #1519

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72700a0
add QuadTheshholdParameters
crschardt Nov 4, 2024
3a702bc
set the QuadThresholdParameters on the detector
crschardt Nov 4, 2024
7371e45
reset minClusterPixels to the 2024 value (for now)
crschardt Nov 4, 2024
99c5d3a
spotless
crschardt Nov 4, 2024
30644cd
set all the things
crschardt Nov 4, 2024
6b8bae3
auto generated hashCode and equals
crschardt Nov 4, 2024
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1 change: 1 addition & 0 deletions photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ protected List<AprilTagDetection> process(CVMat in) {
public void setParams(AprilTagDetectionPipeParams newParams) {
if (this.params == null || !this.params.equals(newParams)) {
m_detector.setConfig(newParams.detectorParams);
m_detector.setQuadThresholdParameters(newParams.quadParams);

m_detector.clearFamilies();
m_detector.addFamily(newParams.family.getNativeName());
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30 changes: 27 additions & 3 deletions photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
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Expand Up @@ -23,10 +23,15 @@
public class AprilTagDetectionPipeParams {
public final AprilTagFamily family;
public final AprilTagDetector.Config detectorParams;
public final AprilTagDetector.QuadThresholdParameters quadParams;

public AprilTagDetectionPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config) {
public AprilTagDetectionPipeParams(
AprilTagFamily tagFamily,
AprilTagDetector.Config config,
AprilTagDetector.QuadThresholdParameters quadParams) {
this.family = tagFamily;
this.detectorParams = config;
this.quadParams = quadParams;
}

@Override
Expand All @@ -45,8 +50,27 @@ public boolean equals(Object obj) {
if (getClass() != obj.getClass()) return false;
AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
if (family != other.family) return false;

boolean sameQuadParams = false;
boolean sameDetectorParams = false;
if (detectorParams == null) {
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return other.detectorParams == null;
} else return detectorParams.equals(other.detectorParams);
if (other.detectorParams == null) {
sameDetectorParams = true;
} else {
return false;
}
} else {
sameDetectorParams = detectorParams.equals(other.detectorParams);
}
if (quadParams == null) {
if (other.quadParams == null) {
sameQuadParams = true;
} else {
return false;
}
} else {
sameQuadParams = quadParams.equals(other.quadParams);
}
return (sameDetectorParams) && (sameQuadParams);
}
}
7 changes: 6 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
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Expand Up @@ -87,7 +87,12 @@ protected void setPipeParamsImpl() {
config.refineEdges = settings.refineEdges;
config.quadSigma = (float) settings.blur;
config.quadDecimate = settings.decimate;
aprilTagDetectionPipe.setParams(new AprilTagDetectionPipeParams(settings.tagFamily, config));

var quadParams = new AprilTagDetector.QuadThresholdParameters();
quadParams.minClusterPixels = 5;
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aprilTagDetectionPipe.setParams(
new AprilTagDetectionPipeParams(settings.tagFamily, config, quadParams));

if (frameStaticProperties.cameraCalibration != null) {
var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat();
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