Refactored sending ImageAnnotations to allow corner-by-corner build
Gives us ability to send different colors, line types, thicknesses for each corner set
Made a few things const that probably should have been
Change-Id: Idb50c1c80f4daf37df2a48de225f306c9477d4f8
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index fd371c7..bf9265b 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -40,6 +40,9 @@
// Undistorts the april tag corners using the camera calibration
void UndistortDetection(apriltag_detection_t *det) const;
+ // Helper function to store detection points in vector of Point2f's
+ std::vector<cv::Point2f> MakeCornerVector(const apriltag_detection_t *det);
+
std::vector<Detection> DetectTags(cv::Mat image,
aos::monotonic_clock::time_point eof);