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Add QuadThresholdParameters to AprilTag config (#1519)

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This works around a change made to the default QuadThresholdParameters in the WPILib AprilTagDetector for 2025.
https://github.com/wpilibsuite/allwpilib/pull/6847
This commit is contained in:
Craig Schardt
2024-11-03 21:53:53 -06:00
committed by GitHub
parent fc8ecac376
commit 625dacb020
3 changed files with 29 additions and 4 deletions
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1
photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
View File

@@ -59,6 +59,7 @@ public class AprilTagDetectionPipe
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());

16
photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
View File

@@ -23,10 +23,15 @@ import org.photonvision.vision.apriltag.AprilTagFamily;
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
@@ -35,6 +40,7 @@ public class AprilTagDetectionPipeParams {
int result = 1;
result = prime * result + ((family == null) ? 0 : family.hashCode());
result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
result = prime * result + ((quadParams == null) ? 0 : quadParams.hashCode());
return result;
}
@@ -46,7 +52,11 @@ public class AprilTagDetectionPipeParams {
AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
if (family != other.family) return false;
if (detectorParams == null) {
return other.detectorParams == null;
} else return detectorParams.equals(other.detectorParams);
if (other.detectorParams != null) return false;
} else if (!detectorParams.equals(other.detectorParams)) return false;
if (quadParams == null) {
if (other.quadParams != null) return false;
} else if (!quadParams.equals(other.quadParams)) return false;
return true;
}
}

16
photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
View File

@@ -87,7 +87,21 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
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();
// 5 was the default minClusterPixels in WPILib prior to 2025
// increasing it causes detection problems when decimate > 1
quadParams.minClusterPixels = 5;
// these are the same as the values in WPILib 2025
// setting them here to prevent upstream changes from changing behavior of the detector
quadParams.maxNumMaxima = 10;
quadParams.criticalAngle = 45 * Math.PI / 180.0;
quadParams.maxLineFitMSE = 10.0f;
quadParams.minWhiteBlackDiff = 5;
quadParams.deglitch = false;
aprilTagDetectionPipe.setParams(
new AprilTagDetectionPipeParams(settings.tagFamily, config, quadParams));
if (frameStaticProperties.cameraCalibration != null) {
var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat();