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Restore original Aruco refinement behavior #1688

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Restore original Aruco refinement behavior #1688

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65 changes: 5 additions & 60 deletions photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,6 @@
package org.photonvision.vision.pipe.impl;

import java.util.List;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.core.Size;
import org.opencv.core.TermCriteria;
import org.opencv.imgproc.Imgproc;
import org.opencv.objdetect.Objdetect;
import org.photonvision.vision.aruco.ArucoDetectionResult;
import org.photonvision.vision.aruco.PhotonArucoDetector;
Expand All @@ -38,11 +31,6 @@ public class ArucoDetectionPipe
// ArucoDetector wrapper class
private final PhotonArucoDetector photonDetector = new PhotonArucoDetector();

// Ratio multiplied with image size and added to refinement window size
private static final double kRefineWindowImageRatio = 0.004;
// Ratio multiplied with max marker diagonal length and added to refinement window size
private static final double kRefineWindowMarkerRatio = 0.03;

@Override
protected List<ArucoDetectionResult> process(CVMat in) {
var imgMat = in.getMat();
Expand All @@ -54,47 +42,6 @@ protected List<ArucoDetectionResult> process(CVMat in) {
}

var detections = photonDetector.detect(imgMat);
// manually do corner refinement ourselves
if (params.useCornerRefinement) {
for (var detection : detections) {
double[] xCorners = detection.getXCorners();
double[] yCorners = detection.getYCorners();
Point[] cornerPoints =
new Point[] {
new Point(xCorners[0], yCorners[0]),
new Point(xCorners[1], yCorners[1]),
new Point(xCorners[2], yCorners[2]),
new Point(xCorners[3], yCorners[3])
};
double bltr =
Math.hypot(
cornerPoints[2].x - cornerPoints[0].x, cornerPoints[2].y - cornerPoints[0].y);
double brtl =
Math.hypot(
cornerPoints[3].x - cornerPoints[1].x, cornerPoints[3].y - cornerPoints[1].y);
double minDiag = Math.min(bltr, brtl);
int halfWindowLength =
(int) Math.ceil(kRefineWindowImageRatio * Math.min(imgMat.rows(), imgMat.cols()));
halfWindowLength += (int) (minDiag * kRefineWindowMarkerRatio);
// dont do refinement on small markers
if (halfWindowLength < 4) continue;
var halfWindowSize = new Size(halfWindowLength, halfWindowLength);
var ptsMat = new MatOfPoint2f(cornerPoints);
var criteria =
new TermCriteria(3, params.refinementMaxIterations, params.refinementMinErrorPx);
Imgproc.cornerSubPix(imgMat, ptsMat, halfWindowSize, new Size(-1, -1), criteria);
cornerPoints = ptsMat.toArray();
for (int i = 0; i < cornerPoints.length; i++) {
var pt = cornerPoints[i];
xCorners[i] = pt.x;
yCorners[i] = pt.y;
// If we want to debug the refinement window, draw a rectangle on the image
if (params.debugRefineWindow) {
drawCornerRefineWindow(imgMat, pt, halfWindowLength);
}
}
}
}
return List.of(detections);
}

Expand All @@ -114,6 +61,11 @@ public void setParams(ArucoDetectionPipeParams newParams) {

detectParams.set_errorCorrectionRate(newParams.errorCorrectionRate);

detectParams.set_cornerRefinementMethod(
newParams.useCornerRefinement
? Objdetect.CORNER_REFINE_SUBPIX
: Objdetect.CORNER_REFINE_NONE);

detectParams.set_useAruco3Detection(newParams.useAruco3);
detectParams.set_minSideLengthCanonicalImg(newParams.aruco3MinCanonicalImgSide);
detectParams.set_minMarkerLengthRatioOriginalImg((float) newParams.aruco3MinMarkerSideRatio);
Expand All @@ -128,13 +80,6 @@ public PhotonArucoDetector getPhotonDetector() {
return photonDetector;
}

private void drawCornerRefineWindow(Mat outputMat, Point corner, int windowSize) {
int thickness = (int) (Math.ceil(Math.max(outputMat.cols(), outputMat.rows()) * 0.003));
var pt1 = new Point(corner.x - windowSize, corner.y - windowSize);
var pt2 = new Point(corner.x + windowSize, corner.y + windowSize);
Imgproc.rectangle(outputMat, pt1, pt2, new Scalar(0, 0, 255), thickness);
}

@Override
public void release() {
photonDetector.release();
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