Remove custom corner refinement

Author: Gold856

photon-client/src/components/dashboard/tabs/ArucoTab.vue

@@ -65,15 +65,6 @@ const interactiveCols = computed(() =>
         (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshConstant: value }, false)
       "
     />
-    <pv-switch
-      v-model="currentPipelineSettings.useCornerRefinement"
-      label="Refine Corners"
-      tooltip="Further refine the initial corners with subpixel accuracy."
-      :switch-cols="interactiveCols"
-      @update:modelValue="
-        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ useCornerRefinement: value }, false)
-      "
-    />
     <pv-switch
       v-model="currentPipelineSettings.debugThreshold"
       label="Debug Threshold"

photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java

@@ -19,12 +19,6 @@
 
 import java.util.List;
 import org.opencv.core.Mat;
-import org.opencv.core.MatOfPoint2f;
-import org.opencv.core.Point;
-import org.opencv.core.Scalar;
-import org.opencv.core.Size;
-import org.opencv.core.TermCriteria;
-import org.opencv.imgproc.Imgproc;
 import org.photonvision.jni.ArucoNanoV5Detector;
 import org.photonvision.jni.ArucoNanoV5Detector.DetectionResult;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
@@ -35,12 +29,6 @@
 public class ArucoDetectionPipe
         extends CVPipe<CVMat, List<ArucoDetectionResult>, ArucoDetectionPipeParams>
         implements Releasable {
-
-    // Ratio multiplied with image size and added to refinement window size
-    private static final double kRefineWindowImageRatio = 0.004;
-    // Ratio multiplied with max marker diagonal length and added to refinement window size
-    private static final double kRefineWindowMarkerRatio = 0.03;
-
     @Override
     protected List<ArucoDetectionResult> process(CVMat in) {
         var imgMat = in.getMat();
@@ -50,64 +38,14 @@ protected List<ArucoDetectionResult> process(CVMat in) {
             // give up is best we can do here
             return List.of();
         }
-
-        var detections = detect(imgMat);
-        // manually do corner refinement ourselves
-        if (params.useCornerRefinement) {
-            for (var detection : detections) {
-                double[] xCorners = detection.getXCorners();
-                double[] yCorners = detection.getYCorners();
-                Point[] cornerPoints = {
-                    new Point(xCorners[0], yCorners[0]),
-                    new Point(xCorners[1], yCorners[1]),
-                    new Point(xCorners[2], yCorners[2]),
-                    new Point(xCorners[3], yCorners[3])
-                };
-                double bltr =
-                        Math.hypot(
-                                cornerPoints[2].x - cornerPoints[0].x, cornerPoints[2].y - cornerPoints[0].y);
-                double brtl =
-                        Math.hypot(
-                                cornerPoints[3].x - cornerPoints[1].x, cornerPoints[3].y - cornerPoints[1].y);
-                double minDiag = Math.min(bltr, brtl);
-                int halfWindowLength =
-                        (int) Math.ceil(kRefineWindowImageRatio * Math.min(imgMat.rows(), imgMat.cols()));
-                halfWindowLength += (int) (minDiag * kRefineWindowMarkerRatio);
-                // dont do refinement on small markers
-                if (halfWindowLength < 4) continue;
-                var halfWindowSize = new Size(halfWindowLength, halfWindowLength);
-                var ptsMat = new MatOfPoint2f(cornerPoints);
-                var criteria =
-                        new TermCriteria(3, params.refinementMaxIterations, params.refinementMinErrorPx);
-                Imgproc.cornerSubPix(imgMat, ptsMat, halfWindowSize, new Size(-1, -1), criteria);
-                cornerPoints = ptsMat.toArray();
-                for (int i = 0; i < cornerPoints.length; i++) {
-                    var pt = cornerPoints[i];
-                    xCorners[i] = pt.x;
-                    yCorners[i] = pt.y;
-                    // If we want to debug the refinement window, draw a rectangle on the image
-                    if (params.debugRefineWindow) {
-                        drawCornerRefineWindow(imgMat, pt, halfWindowLength);
-                    }
-                }
-            }
-        }
-        return detections;
+        return detect(imgMat);
     }
 
     @Override
     public void setParams(ArucoDetectionPipeParams newParams) {
         super.setParams(newParams);
     }
 
-
-    private void drawCornerRefineWindow(Mat outputMat, Point corner, int windowSize) {
-        int thickness = (int) (Math.ceil(Math.max(outputMat.cols(), outputMat.rows()) * 0.003));
-        var pt1 = new Point(corner.x - windowSize, corner.y - windowSize);
-        var pt2 = new Point(corner.x + windowSize, corner.y + windowSize);
-        Imgproc.rectangle(outputMat, pt1, pt2, new Scalar(0, 0, 255), thickness);
-    }
-
     public static List<ArucoDetectionResult> detect(Mat in) {
         DetectionResult[] ret = ArucoNanoV5Detector.detect(in);
 
@@ -117,6 +55,5 @@ public static List<ArucoDetectionResult> detect(Mat in) {
     }
 
     @Override
-    public void release() {
-    }
+    public void release() {}
 }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java

@@ -30,22 +30,6 @@ public class ArucoDetectionPipeParams {
     public int threshMaxSize = 91;
     public double threshConstant = 10;
 
-    /**
-     * If obtained corners should be iteratively refined. This should always be on for 3D estimation.
-     */
-    public boolean useCornerRefinement = true;
-
-    /** Maximum corner refinement iterations. */
-    public int refinementMaxIterations = 30;
-
-    /**
-     * Minimum error (accuracy) for corner refinement in pixels. When a corner refinement iteration
-     * moves the corner by less than this value, the refinement is considered finished.
-     */
-    public double refinementMinErrorPx = 0.005;
-
-    public boolean debugRefineWindow = false;
-
     @Override
     public boolean equals(Object o) {
         if (this == o) return true;
@@ -55,22 +39,11 @@ public boolean equals(Object o) {
                 && threshMinSize == that.threshMinSize
                 && threshStepSize == that.threshStepSize
                 && threshMaxSize == that.threshMaxSize
-                && threshConstant == that.threshConstant
-                && useCornerRefinement == that.useCornerRefinement
-                && refinementMaxIterations == that.refinementMaxIterations
-                && refinementMinErrorPx == that.refinementMinErrorPx;
+                && threshConstant == that.threshConstant;
     }
 
     @Override
     public int hashCode() {
-        return Objects.hash(
-                tagFamily,
-                threshMinSize,
-                threshStepSize,
-                threshMaxSize,
-                threshConstant,
-                useCornerRefinement,
-                refinementMaxIterations,
-                refinementMinErrorPx);
+        return Objects.hash(tagFamily, threshMinSize, threshStepSize, threshMaxSize, threshConstant);
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java

@@ -96,9 +96,6 @@ protected void setPipeParamsImpl() {
         params.threshMaxSize = threshMaxSize;
         params.threshConstant = settings.threshConstant;
 
-        params.useCornerRefinement = settings.useCornerRefinement;
-        params.refinementMaxIterations = settings.refineNumIterations;
-        params.refinementMinErrorPx = settings.refineMinErrorPx;
         arucoDetectionPipe.setParams(params);
 
         if (frameStaticProperties.cameraCalibration != null) {

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipelineSettings.java

@@ -30,11 +30,6 @@ public class ArucoPipelineSettings extends AdvancedPipelineSettings {
     public int threshStepSize = 40;
     public double threshConstant = 10;
     public boolean debugThreshold = false;
-
-    public boolean useCornerRefinement = true;
-    public int refineNumIterations = 30;
-    public double refineMinErrorPx = 0.005;
-
     public boolean doMultiTarget = false;
     public boolean doSingleTargetAlways = false;
 

photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java

@@ -19,9 +19,8 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import java.io.IOException;
-
 import edu.wpi.first.math.geometry.Translation3d;
+import java.io.IOException;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.ConfigManager;
@@ -55,7 +54,8 @@ public void testApriltagFacingCamera() {
 
         var frameProvider =
                 new FileFrameProvider(
-                        TestUtils.getTestImagesPath(false).resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path),
+                        TestUtils.getTestImagesPath(false)
+                                .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path),
                         TestUtils.WPI2024Images.FOV,
                         TestUtils.get2023LifeCamCoeffs(true));
         frameProvider.requestFrameThresholdType(pipeline.getThresholdType());