From 1bcb36bfd6cdd9eec57cc2750a8c6a6d54fa010c Mon Sep 17 00:00:00 2001
From: Omar Rizwan <omar@omar.website>
Date: Tue, 25 Jul 2023 14:54:31 -0400
Subject: Refactor AprilTags to make an object

---
 virtual-programs/apriltags.folk | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

(limited to 'virtual-programs')

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]}]
-- 
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