ChArUco: adjust detector params, hide unused (#1463)

PhotonVision · Oct 13, 2024 · 48fc88c · 48fc88c
1 parent 30ee913
commit 48fc88c
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diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
@@ -56,6 +56,11 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
         int i = 0;
         for (var target : in.getRight()) {
             for (var c : target.getTargetCorners()) {
+                if (c.x < 0 || c.y < 0) {
+                    // Skip if the corner is less than zero
+                    continue;
+                }
+
                 c =
                         new Point(
                                 c.x / params.divisor.value.doubleValue(), c.y / params.divisor.value.doubleValue());

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -116,6 +116,11 @@ public void createObjectPoints() {
                             Objdetect.getPredefinedDictionary(params.tagFamily.getValue()));
             board.setLegacyPattern(params.useOldPattern);
             detector = new CharucoDetector(board);
+            detector.getDetectorParameters().set_adaptiveThreshConstant(10);
+            detector.getDetectorParameters().set_adaptiveThreshWinSizeMin(11);
+            detector.getDetectorParameters().set_adaptiveThreshWinSizeStep(40);
+            detector.getDetectorParameters().set_adaptiveThreshWinSizeMax(91);
+
         } else {
             logger.error("Can't create pattern for unknown board type " + params.type);
         }