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Remove distortion logs #712

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Merged
merged 3 commits into from
Jan 7, 2023
Merged

Remove distortion logs #712

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c2683ce
remove distortion logs
amquake Jan 7, 2023
175c959
spotless
amquake Jan 7, 2023
e4c7ac4
Run spotless
mcm001 Jan 7, 2023
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17 changes: 4 additions & 13 deletions photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagPoseEstimatorPipe.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
import edu.wpi.first.apriltag.AprilTagPoseEstimate;
import edu.wpi.first.apriltag.AprilTagPoseEstimator;
import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
import java.util.Arrays;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
Expand Down Expand Up @@ -51,14 +50,11 @@ protected AprilTagPoseEstimate process(AprilTagDetection in) {
for (int i = 0; i < 4; i++) {
corners[i] = new Point(in.getCornerX(i), in.getCornerY(i));
}
System.out.println("Before: " + Arrays.toString(corners));
// And shove into our matofpoints
temp.fromArray(corners);

System.out.println("Size " + temp.size().toString());

// Probably overwrites what was in temp before. I hope
Calib3d.undistortPoints(
Calib3d.undistortImagePoints(
temp,
temp,
params.calibration.getCameraIntrinsicsMat(),
Expand All @@ -70,14 +66,9 @@ protected AprilTagPoseEstimate process(AprilTagDetection in) {
// Apriltagdetection expects an array in form [x1 y1 x2 y2 ...]
var fixedCorners = new double[8];
for (int i = 0; i < 4; i++) {
// https://stackoverflow.com/questions/8499984/how-to-undistort-points-in-camera-shot-coordinates-and-obtain-corresponding-undi
// perform transformation.
// In fact this is equivalent to multiplication to camera matrix

fixedCorners[i * 2] = corners[i].x * params.config.fx + params.config.cx;
fixedCorners[i * 2 + 1] = corners[i].y * params.config.fy + params.config.cy;
fixedCorners[i * 2] = corners[i].x;
fixedCorners[i * 2 + 1] = corners[i].y;
}
System.out.println("After: " + Arrays.toString(fixedCorners));

// Create a new Detection with the fixed corners
var corrected =
Expand All @@ -91,7 +82,7 @@ protected AprilTagPoseEstimate process(AprilTagDetection in) {
in.getCenterY(),
fixedCorners);

return m_poseEstimator.estimateOrthogonalIteration(in, params.nIters);
return m_poseEstimator.estimateOrthogonalIteration(corrected, params.nIters);
}

@Override
Expand Down