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Bump wpilib versions to 2024 beta 1 (#947)

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This commit is contained in:
Matt
2023-10-15 12:17:40 -04:00
committed by GitHub
parent 82e3da622f
commit 9991f8670c
52 changed files with 125 additions and 115 deletions
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15
photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
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@@ -17,10 +17,9 @@
package org.photonvision.vision.aruco;
import org.opencv.aruco.Aruco;
import org.opencv.aruco.ArucoDetector;
import org.opencv.aruco.DetectorParameters;
import org.opencv.aruco.Dictionary;
import org.opencv.objdetect.ArucoDetector;
import org.opencv.objdetect.DetectorParameters;
import org.opencv.objdetect.Objdetect;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
@@ -31,7 +30,7 @@ public class ArucoDetectorParams {
private int m_iterations = -1;
private double m_accuracy = -1;
DetectorParameters parameters = DetectorParameters.create();
DetectorParameters parameters = new DetectorParameters();
ArucoDetector detector;
public ArucoDetectorParams() {
@@ -39,7 +38,9 @@ public class ArucoDetectorParams {
setCornerAccuracy(25);
setCornerRefinementMaxIterations(100);
detector = new ArucoDetector(Dictionary.get(Aruco.DICT_APRILTAG_16h5), parameters);
detector =
new ArucoDetector(
Objdetect.getPredefinedDictionary(Objdetect.DICT_APRILTAG_16h5), parameters);
}
public void setDecimation(float decimate) {
@@ -56,7 +57,7 @@ public class ArucoDetectorParams {
public void setCornerRefinementMaxIterations(int iters) {
if (iters == m_iterations || iters <= 0) return;
parameters.set_cornerRefinementMethod(Aruco.CORNER_REFINE_SUBPIX);
parameters.set_cornerRefinementMethod(Objdetect.CORNER_REFINE_SUBPIX);
parameters.set_cornerRefinementMaxIterations(iters); // 200
m_iterations = iters;

2
photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
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@@ -24,8 +24,8 @@ import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import java.util.ArrayList;
import org.opencv.aruco.Aruco;
import org.opencv.aruco.ArucoDetector;
import org.opencv.core.Mat;
import org.opencv.objdetect.ArucoDetector;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

4
photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
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@@ -19,8 +19,8 @@ package org.photonvision.vision.pipe.impl;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.opencv.aruco.DetectorParameters;
import org.opencv.core.Mat;
import org.opencv.objdetect.DetectorParameters;
import org.photonvision.vision.aruco.ArucoDetectionResult;
import org.photonvision.vision.aruco.PhotonArucoDetector;
import org.photonvision.vision.pipe.CVPipe;
@@ -45,6 +45,6 @@ public class ArucoDetectionPipe
}
public DetectorParameters getParameters() {
return params == null ? null : params.detectorParams.get_params();
return params == null ? null : params.detectorParams.getDetectorParameters();
}
}

2
photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
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@@ -18,7 +18,7 @@
package org.photonvision.vision.pipe.impl;
import java.util.Objects;
import org.opencv.aruco.ArucoDetector;
import org.opencv.objdetect.ArucoDetector;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
public class ArucoDetectionPipeParams {