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Refactor how AprilTag images are made in sim

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This commit is contained in:
Gold856
2025-03-18 02:44:07 -04:00
committed by Matt Morley
parent b86217a59a
commit c45c2a0a1f
1 changed files with 2 additions and 11 deletions
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13
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
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@@ -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. */