Send april corners for foxglove displaying
Deleted AprilDebug and switched to foxglove image annotations.
Also made the displayed points a more visible color (pink).
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ifb89784d00c80406237587acf17c40424632069b
diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index 66b0aac..bbc1661 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -17,7 +17,6 @@
#include "third_party/apriltag/apriltag_pose.h"
#include "third_party/apriltag/tag16h5.h"
#include "y2023/constants/constants_generated.h"
-#include "y2023/vision/april_debug_generated.h"
DECLARE_int32(team_number);
@@ -36,7 +35,7 @@
void UndistortDetection(apriltag_detection_t *det) const;
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> DetectTags(
- cv::Mat image);
+ cv::Mat image, aos::monotonic_clock::time_point eof);
const std::optional<cv::Mat> extrinsics() const { return extrinsics_; }
const cv::Mat intrinsics() const { return intrinsics_; }
@@ -64,7 +63,7 @@
frc971::vision::ImageCallback image_callback_;
aos::Sender<frc971::vision::TargetMap> target_map_sender_;
- aos::Sender<y2023::vision::AprilDebug> april_debug_sender_;
+ aos::Sender<foxglove::ImageAnnotations> image_annotations_sender_;
};
} // namespace vision