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Fix aruco draw (#1468)

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Someone hard-coded the 16h5 model. Additionally, the April tag pipeline
redistorts the points before drawing them, so let's do that as well.
This commit is contained in:
Cameron (3539)
2024-10-14 20:15:08 -04:00
committed by GitHub
parent 48fc88c5e9
commit 189da52a77
2 changed files with 2 additions and 2 deletions
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1
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dArucoPipe.java
View File

@@ -30,6 +30,7 @@ public class Draw3dArucoPipe extends Draw3dTargetsPipe {
FrameDivisor divisor) {
super(shouldDraw, cameraCalibrationCoefficients, targetModel, divisor);
this.shouldDrawHull = false;
this.redistortPoints = true;
}
}
}

3
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
View File

@@ -24,7 +24,6 @@ import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.DualOffsetValues;
import org.photonvision.vision.pipe.impl.*;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TargetModel;
import org.photonvision.vision.target.TrackedTarget;
/**
@@ -108,7 +107,7 @@ public class OutputStreamPipeline {
new Draw3dArucoPipe.Draw3dArucoParams(
settings.outputShouldDraw,
frameStaticProperties.cameraCalibration,
TargetModel.kAprilTag6in_16h5,
settings.targetModel,
settings.streamingFrameDivisor);
draw3dArucoPipe.setParams(draw3dArucoParams);