From c45c2a0a1f94749a24dcf77261bcd1736286cba9 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Tue, 18 Mar 2025 02:44:07 -0400 Subject: [PATCH] Refactor how AprilTag images are made in sim --- .../org/photonvision/simulation/VideoSimUtil.java | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java index 325a2ab2c..89face676 100644 --- a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java +++ b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java @@ -39,7 +39,6 @@ import java.util.Map; import org.opencv.core.Core; import org.opencv.core.CvType; import org.opencv.core.Mat; -import org.opencv.core.MatOfByte; import org.opencv.core.MatOfPoint; import org.opencv.core.MatOfPoint2f; import org.opencv.core.Point; @@ -103,16 +102,8 @@ public class VideoSimUtil { */ private static Mat get36h11TagImage(int id) { RawFrame frame = AprilTag.generate36h11AprilTagImage(id); - - var buf = frame.getData(); - byte[] arr = new byte[buf.remaining()]; - buf.get(arr); - // frame.close(); - - var mat = new MatOfByte(arr).reshape(1, 10).submat(new Rect(0, 0, 10, 10)); - mat.dump(); - - return mat; + return new Mat( + frame.getHeight(), frame.getWidth(), CvType.CV_8UC1, frame.getData(), frame.getStride()); } /** Gets the points representing the marker(black square) corners. */