From c1d9bec2c88126c2ad117e6b47e886cfce37376c Mon Sep 17 00:00:00 2001 From: "Kwabena W. Agyeman" Date: Sun, 8 Sep 2019 17:06:02 -0700 Subject: [PATCH] Disable 8-way connectivity Not neccessarily needed and takes 2-4x more processing power. If FPS is not a concern enable it. --- src/omv/boards/OPENMV2/imlib_config.h | 3 +++ src/omv/boards/OPENMV3/imlib_config.h | 3 +++ src/omv/boards/OPENMV4/imlib_config.h | 3 +++ src/omv/boards/OPENMV4R/imlib_config.h | 3 +++ src/omv/img/apriltag.c | 2 +- 5 files changed, 13 insertions(+), 1 deletion(-) diff --git a/src/omv/boards/OPENMV2/imlib_config.h b/src/omv/boards/OPENMV2/imlib_config.h index 91e663263..bc107e648 100644 --- a/src/omv/boards/OPENMV2/imlib_config.h +++ b/src/omv/boards/OPENMV2/imlib_config.h @@ -113,6 +113,9 @@ // Enable find_apriltags() (64 KB) //#define IMLIB_ENABLE_APRILTAGS +// Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity) +// #define IMLIB_ENABLE_FINE_APRILTAGS + // Enable high res find_apriltags() - uses more RAM // #define IMLIB_ENABLE_HIGH_RES_APRILTAGS diff --git a/src/omv/boards/OPENMV3/imlib_config.h b/src/omv/boards/OPENMV3/imlib_config.h index 13b40e12d..3ca1cc4e1 100644 --- a/src/omv/boards/OPENMV3/imlib_config.h +++ b/src/omv/boards/OPENMV3/imlib_config.h @@ -116,6 +116,9 @@ // Enable find_apriltags() (64 KB) #define IMLIB_ENABLE_APRILTAGS +// Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity) +// #define IMLIB_ENABLE_FINE_APRILTAGS + // Enable high res find_apriltags() - uses more RAM // #define IMLIB_ENABLE_HIGH_RES_APRILTAGS diff --git a/src/omv/boards/OPENMV4/imlib_config.h b/src/omv/boards/OPENMV4/imlib_config.h index a7e312ae9..74c2ceae6 100644 --- a/src/omv/boards/OPENMV4/imlib_config.h +++ b/src/omv/boards/OPENMV4/imlib_config.h @@ -116,6 +116,9 @@ // Enable find_apriltags() (64 KB) #define IMLIB_ENABLE_APRILTAGS +// Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity) +// #define IMLIB_ENABLE_FINE_APRILTAGS + // Enable high res find_apriltags() - uses more RAM // #define IMLIB_ENABLE_HIGH_RES_APRILTAGS diff --git a/src/omv/boards/OPENMV4R/imlib_config.h b/src/omv/boards/OPENMV4R/imlib_config.h index 0a15653d1..f2b16872a 100644 --- a/src/omv/boards/OPENMV4R/imlib_config.h +++ b/src/omv/boards/OPENMV4R/imlib_config.h @@ -116,6 +116,9 @@ // Enable find_apriltags() (64 KB) #define IMLIB_ENABLE_APRILTAGS +// Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity) +// #define IMLIB_ENABLE_FINE_APRILTAGS + // Enable high res find_apriltags() - uses more RAM #define IMLIB_ENABLE_HIGH_RES_APRILTAGS diff --git a/src/omv/img/apriltag.c b/src/omv/img/apriltag.c index d255308f5..635aa3441 100644 --- a/src/omv/img/apriltag.c +++ b/src/omv/img/apriltag.c @@ -10478,7 +10478,7 @@ zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im, bool ove DO_CONN(1, 0); DO_CONN(0, 1); -#ifdef IMLIB_ENABLE_HIGH_RES_APRILTAGS +#ifdef IMLIB_ENABLE_FINE_APRILTAGS // do 8 connectivity DO_CONN(-1, 1); DO_CONN(1, 1);