From 073714f0bc5dc7686af8a4b9d7728737212b14b8 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 11 Jan 2023 16:32:31 -0500 Subject: [PATCH] [AprilTags] Reduce default iterations to 40 (#726) Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com> --- .../photonvision/vision/pipeline/AprilTagPipelineSettings.java | 2 +- .../java/org/photonvision/vision/pipeline/AprilTagTest.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java index f476b640f..4821c7b75 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java @@ -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; diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java index bcafe7c29..23f494428 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java @@ -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); }