Bumped version

Bumped the version to 1.3.1 Removed the remap function from USBCamera USBCamera now only undistorts using cv.undistort() Signed-off-by: Alex Pereira <[email protected]>
PIE-Cubed · Jun 22, 2023 · 1deb64d · 1deb64d
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diff --git a/frc_apriltags/apriltags.py b/frc_apriltags/apriltags.py
@@ -27,7 +27,7 @@ def __init__(self, size: int = 6) -> None:
         self.comms = NetworkCommunications()
 
         # Creates a pupil apriltags detector
-        self.detector = pupil_apriltags.Detector(families = "tag16h5", nthreads = 10, quad_decimate = 1.0, quad_sigma = 0.0, refine_edges = 2.0, decode_sharpening = 1.00)
+        self.detector = pupil_apriltags.Detector(families = "tag16h5")
 
         # Variables
         self.tagSize   = Units.inchesToMeters(size)
@@ -38,9 +38,9 @@ def __init__(self, size: int = 6) -> None:
 
     def detectTags(self, stream, camera_matrix, vizualization: int = 0):
         """
-        Detects AprilTags in a stream using pupil_apriltags.
+        Detects AprilTags in a stream using ``pupil_apriltags``.
 
-        :param stream: The images generated by reading a VideoCapture.
+        :param stream: The images generated by reading a ``VideoCapture``.
         :param camera_matrix: The camera's intrinsic calibration matrix.
         :param vizualization: 0 - Highlight, 1 - Highlight + Boxes, 2 - Highlight + Axes, 3 - Highlight + Boxes + Axes.
         :return: The detection result.
@@ -55,14 +55,14 @@ def detectTags(self, stream, camera_matrix, vizualization: int = 0):
         # Define the intrinsic parameters of the camera
         intrinsic_properties = (camera_matrix[0, 0], camera_matrix[1, 1], camera_matrix[0, 2], camera_matrix[1, 2])  # fx, fy, cx, cy
 
-        # Detect the AprilTags in the image with Pupil Apriltags
-        detections = self.detector.detect(gray, estimate_tag_pose = True, camera_params = intrinsic_properties, tag_size = self.tagSize)
+        # Detect the AprilTags in the image with pupil_apriltags
+        detections = self.detector.detect(img = gray, estimate_tag_pose = True, camera_params = intrinsic_properties, tag_size = self.tagSize)
 
         # Variables to use in detections
         results = []
         maxError = 1e-3
         maxHamming = 1
-        minConfidence = 30
+        minConfidence = 50
 
         # Variables to use in sorting the data
         best = None
@@ -141,7 +141,7 @@ def getPose3D(self, poseMatrix = None):
         """
         Calculates a WPILib ``Pose3d`` from the PupilApriltags matrix.
 
-        :param poseMatrix: A 3x4 ``numpy.ndarray()``.
+        :param poseMatrix: A 3x4 ``numpy.ndarray``.
         :return: A ``Pose3d`` object.
         """
         # Variables

diff --git a/frc_apriltags/camera.py b/frc_apriltags/camera.py
@@ -110,45 +110,6 @@ def calibrateCamera(self, dirPath: str):
         # Get results
         ret, self.camMatrix, self.camdistortion, rvecs, tvecs = self.calibrate.calibrateCamera()
 
-    def undistort(self):
-        """
-        Undistorts an image using cv.undistort().
-
-        :return: The undistorted stream.
-        """
-        # Creates a cameraMatrix
-        newCameraMatrix, roi = cv.getOptimalNewCameraMatrix(self.camMatrix, self.camdistortion, self.resolution, 1, self.resolution)
-
-        # Undistorts the image
-        undistortedStream = cv.undistort(self.getStream(), self.camMatrix, self.camdistortion, None, newCameraMatrix)
-
-        # Crops the image
-        x, y, w, h = roi
-        undistortedStream = undistortedStream[y:y+h, x:x+w]
-
-        return undistortedStream
-
-    def rectify(self):
-        """
-        Undistorts an image using cv.remap().
-
-        :return: The undistorted stream.
-        """
-        # Creates a cameraMatrix
-        newCameraMatrix, roi = cv.getOptimalNewCameraMatrix(self.camMatrix, self.camdistortion, self.resolution, 1, self.resolution)
-
-        # Unpacks the ROI data
-        x, y, w, h = roi
-
-        # Undistorts the image
-        mapx, mapy = cv.initUndistortRectifyMap(self.camMatrix, self.camdistortion, None, newCameraMatrix, (w,h), 5)
-        undistortedStream = cv.remap(self.getStream(), mapx, mapy, cv.INTER_LINEAR)
-
-        # Crop the image
-        undistortedStream = undistortedStream[y:y+h, x:x+w]
-
-        return undistortedStream
-
     def getStream(self):
         """
         Gets the stream from this camera's capture.
@@ -160,18 +121,21 @@ def getStream(self):
 
         return self.stream
 
-    def getUndistortedStream(self, algorithm: int = 1):
+    def getUndistortedStream(self):
         """
         Gets the undistorted stream from this camera's capture.
 
-        :param algorithm: 0 to use ``cv.undistort()``, 1 to use ``cv.remap()``
         :return: The undistorted stream.
         """
-        # Undistorts the stream
-        if (algorithm == 0):
-            self.stream = self.undistort()
-        elif (algorithm == 1): 
-            self.stream = self.rectify()
+        # Creates a cameraMatrix
+        newCameraMatrix, roi = cv.getOptimalNewCameraMatrix(self.camMatrix, self.camdistortion, self.resolution, 1, self.resolution)
+
+        # Undistorts the image
+        undistortedStream = cv.undistort(self.getStream(), self.camMatrix, self.camdistortion, None, newCameraMatrix)
+
+        # Crops the image
+        x, y, w, h = roi
+        self.undistortedStream = undistortedStream[y:y+h, x:x+w]
 
         return self.stream
 

diff --git a/pyproject.toml b/pyproject.toml
@@ -17,7 +17,7 @@ name = "frc-apriltags"  # Required
 #
 # For a discussion on single-sourcing the version, see
 # https://packaging.python.org/guides/single-sourcing-package-version/
-version = "1.3.0" # Required
+version = "1.3.1" # Required
 
 # This is a one-line description or tagline of what your project does. This
 # corresponds to the "Summary" metadata field: