commit 10b7b0212ad68b983193c0c2deca1d5457a8fa21
author Yash Chainani <yashchainani28@gmail.com> Wed Feb 22 14:34:04 2023 -0800
committer Yash Chainani <yashchainani28@gmail.com> Sat Mar 04 17:44:11 2023 -0800
tree 08517fe17468ddbfd8a71b30676b366b75652d8d
parent 0fb427bcceab89e9dc3b86c2db89ed9e886d86fe

Add apriltag detection tests

Write tests to test accuracy of apriltag positions

Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I4bef2c993f220a9550d78f70f1fbeb25456c5e7f

y2023/vision/aprilrobotics.cc

diff --git a/y2023/vision/aprilrobotics.cc b/y2023/vision/aprilrobotics.cc
index ec743c5..bd1c5fd 100644
--- a/y2023/vision/aprilrobotics.cc
+++ b/y2023/vision/aprilrobotics.cc
@@ -26,12 +26,13 @@
     : calibration_data_(event_loop),
       image_size_(0, 0),
       ftrace_(),
-      image_callback_(event_loop, channel_name,
-                      [&](cv::Mat image_color_mat,
-                          const aos::monotonic_clock::time_point eof) {
-                        HandleImage(image_color_mat, eof);
-                      },
-                      chrono::milliseconds(5)),
+      image_callback_(
+          event_loop, channel_name,
+          [&](cv::Mat image_color_mat,
+              const aos::monotonic_clock::time_point eof) {
+            HandleImage(image_color_mat, eof);
+          },
+          chrono::milliseconds(5)),
       target_map_sender_(
           event_loop->MakeSender<frc971::vision::TargetMap>("/camera")),
       image_annotations_sender_(
@@ -275,8 +276,8 @@
     }
   }
 
-  foxglove::ImageAnnotations::Builder annotation_builder(*builder.fbb());
   const auto corners_offset = builder.fbb()->CreateVector(foxglove_corners);
+  foxglove::ImageAnnotations::Builder annotation_builder(*builder.fbb());
   annotation_builder.add_points(corners_offset);
   builder.CheckOk(builder.Send(annotation_builder.Finish()));