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Address empty object points bug during calibration

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Resolves failure mode where object points would be empty in all calibrations after the first.
This commit is contained in:
Matt
2020-12-08 17:46:45 -08:00
committed by GitHub
parent e4b6559b81
commit 0c3aeb409b
1 changed files with 8 additions and 1 deletions
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9
photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
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@@ -52,6 +52,10 @@ public class FindBoardCornersPipe
if (this.lastParams != null && this.lastParams.equals(this.params)) return;
this.lastParams = this.params;
this.objectPoints.release();
this.objectPoints = null;
this.objectPoints = new MatOfPoint3f();
/*If using a chessboard, then the pattern size if the inner corners of the board. For example, the pattern size of a 9x9 chessboard would be 8x8
If using a dot board, then the pattern size width is the sum of the bottom 2 rows and the height is the left or right most column
For example, a 5x4 dot board would have a pattern size of 11x4
@@ -138,6 +142,9 @@ public class FindBoardCornersPipe
var outBoardCorners = new MatOfPoint2f();
boardCorners.copyTo(outBoardCorners);
var objPts = new MatOfPoint2f();
objectPoints.copyTo(objPts);
// Get the size of the inFrame
this.imageSize = new Size(inFrame.width(), inFrame.height());
@@ -156,7 +163,7 @@ public class FindBoardCornersPipe
// this.listOfImagePoints.add(boardCorners);
// }
return Triple.of(inFrame.size(), objectPoints, outBoardCorners);
return Triple.of(inFrame.size(), objPts, outBoardCorners);
}
public static class FindCornersPipeParams {