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[AprilTags] Reduce default iterations to 40 (#726)

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Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
This commit is contained in:
Matt
2023-01-11 16:32:31 -05:00
committed by GitHub
parent 39f6ab8805
commit 073714f0bc
2 changed files with 2 additions and 2 deletions
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2
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
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@@ -30,7 +30,7 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
public int threads = 4; // Multiple threads seems to be better performance on most platforms
public boolean debug = false;
public boolean refineEdges = true;
public int numIterations = 200;
public int numIterations = 40;
public int hammingDist = 0;
public int decisionMargin = 35;

2
photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
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@@ -130,7 +130,7 @@ public class AprilTagTest {
// these numbers are not *accurate*, but they are known and expected
var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
Assertions.assertEquals(4, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(4.14, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(2, pose.getTranslation().getY(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
}