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| author | Omar Rizwan <omar@omar.website> | 2023-07-25 18:54:31 +0000 |
|---|---|---|
| committer | Naveen Michaud-Agrawal <naveen.michaudagrawal@gmail.com> | 2023-09-22 21:58:57 +0000 |
| commit | 1bcb36bfd6cdd9eec57cc2750a8c6a6d54fa010c (patch) | |
| tree | 9c1d02d28ca4a4519c6f714db665c62ce94d8be8 /virtual-programs | |
| parent | Update folk-cwervo host wifi (diff) | |
| download | folk-1bcb36bfd6cdd9eec57cc2750a8c6a6d54fa010c.tar.gz folk-1bcb36bfd6cdd9eec57cc2750a8c6a6d54fa010c.zip | |
Refactor AprilTags to make an object
Diffstat (limited to 'virtual-programs')
| -rw-r--r-- | virtual-programs/apriltags.folk | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk index 8bdd415a..69fcf51c 100644 --- a/virtual-programs/apriltags.folk +++ b/virtual-programs/apriltags.folk @@ -1,9 +1,10 @@ if {$::isLaptop} return +set tagfamily "tagStandard52h13" + # Plain detector. Runs on entire camera frame. set mainDetectorProcess [On process { source pi/AprilTags.tcl - AprilTags::init # TODO: Clean this up. We retract these so that we don't bounce # statements back to the main Folk process that it sends us. @@ -18,9 +19,10 @@ set mainDetectorProcess [On process { Wish $::thisProcess shares statements like \ [list /someone/ claims $::thisProcess has pid /pid/] + set detector [AprilTags new $tagfamily] When the camera frame is /grayFrame/ at /timestamp/ { set aprilTime [time { - set tags [AprilTags::detect $grayFrame] + set tags [$detector detect $grayFrame] }] Claim $::thisProcess detects tags $tags at $timestamp in time $aprilTime } @@ -30,7 +32,6 @@ set mainDetectorProcess [On process { # old camera frame. On process { source pi/AprilTags.tcl - AprilTags::init # TODO: Clean this up. We retract these so that we don't bounce # statements back to the main Folk process that it sends us. @@ -65,6 +66,8 @@ On process { } } + set detector [AprilTags new $tagfamily] + When the camera frame is /grayFrame/ at /timestamp/ & \ /process/ detects tags /prevTags/ at /something/ in time /something/ { @@ -89,7 +92,7 @@ On process { set subimage [subimage $grayFrame $x $y [- $x1 $x] [- $y1 $y]] set aprilTime [+ $aprilTime [baretime { - foreach tag [AprilTags::detect $subimage] { + foreach tag [$detector detect $subimage] { dict with tag { set center [vec2 add $center [list $x $y]] set corners [lmap corner $corners {vec2 add $corner [list $x $y]}] |