From d83ccff03d61fa212100c79551578b64d087db2d Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 24 Jan 2024 16:12:44 +0100
Subject: [PATCH] 4.6

---
 aruco/ArucoDetector.cpp | 26 +++++++++++++++-----------
 aruco/ArucoDetector.h   |  8 ++++----
 arucoDetector.cpp       |  2 +-
 3 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index f813dc8..f93c68f 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -3,12 +3,12 @@
 ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
 {
     // opencv 4.8
-    this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
-    this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
-    this->parameters = cv::aruco::DetectorParameters();
+    // this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
+    // this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+    // this->parameters = cv::aruco::DetectorParameters();
 
     // 4.6
-    // this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+    this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
 
 
     this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
@@ -73,11 +73,6 @@ void ArucoDetector::addArucoTag(const ArucoTag& tag)
 
 std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> ArucoDetector::detectArucoTags(std::vector<ArucoTag> tags)
 {
-    if (tags.empty())
-    {
-        tags = this->arucoTags;
-    }
-
     if (!started)
     {
         std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
@@ -85,6 +80,11 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
         return result;
     }
 
+    if (tags.empty())
+    {
+        tags = this->arucoTags;
+    }
+
     cv::Mat frame;
     cap >> frame;  // Capture frame from the camera
 
@@ -102,10 +102,10 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
     std::vector<std::vector<cv::Point2f>> markerCorners;
 
     // 4.6
-    // cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
+    cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
 
     // opencv 4.8
-    detector.detectMarkers(frame, markerCorners, markerIds);
+    // detector.detectMarkers(frame, markerCorners, markerIds);
 
     if (!markerIds.empty())
     {
@@ -208,6 +208,10 @@ void ArucoDetector::solarPanelDetector(const ArucoTag& tag, cv::Mat translationM
     {
         std::cout << "Yellow side" << std::endl;
     }
+    else
+    {
+        std::cout << "Mid" << std::endl;
+    }
 
     // BLUE => 90, YELLOW => -90
 }
diff --git a/aruco/ArucoDetector.h b/aruco/ArucoDetector.h
index 32aebc3..3f05eeb 100644
--- a/aruco/ArucoDetector.h
+++ b/aruco/ArucoDetector.h
@@ -14,12 +14,12 @@ class ArucoDetector {
     cv::VideoCapture cap;
 
     // 4.6
-    // cv::Ptr<cv::aruco::Dictionary> dictionary;
+    cv::Ptr<cv::aruco::Dictionary> dictionary;
 
     // 4.8
-    cv::aruco::Dictionary dictionary;
-    cv::aruco::DetectorParameters parameters;
-    cv::aruco::ArucoDetector detector;
+    // cv::aruco::Dictionary dictionary;
+    // cv::aruco::DetectorParameters parameters;
+    // cv::aruco::ArucoDetector detector;
 
     bool headless;
 
diff --git a/arucoDetector.cpp b/arucoDetector.cpp
index cbd0e9b..6bc298c 100644
--- a/arucoDetector.cpp
+++ b/arucoDetector.cpp
@@ -64,7 +64,7 @@ int main(int argc, char *argv[])
     auto solarPanel = ArucoTag(47, "Solar panel", 50, SOLAR_PANEL);
 
     while (true) {
-        const auto [code, res] = detector.detectArucoTags({solarPanel});
+        const auto [code, res] = detector.detectArucoTags({whiteFlower, purpleFlower, solarPanel});
 
         if (code == -2)
         {