From 14e3babd2a3870739524b5ae97e804bacaeae7af Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 2 Jan 2020 11:27:34 -0800
Subject: [PATCH] remove contor from tracked target

---
 .../vision/pipeline/impl/StandardCVPipeline.java           | 2 --
 .../vision/pipeline/pipes/Draw2dContoursPipe.java          | 7 -------
 .../vision/pipeline/pipes/GroupContoursPipe.java           | 2 --
 3 files changed, 11 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
index d92fe9076..402a41cc0 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
@@ -254,7 +254,6 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta
         public double yaw = 0.0;
         public double area = 0.0;
         public RotatedRect minAreaRect;
-        public MatOfPoint2f contour;
 
         // 3d stuff
         public Pose2d cameraRelativePose = new Pose2d();
@@ -265,7 +264,6 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta
         public Pair<RotatedRect, RotatedRect> leftRightRotatedRect = null;
 
         public void release() {
-            contour.release();
             rVector.release();
             tVector.release();
             imageCornerPoints.release();
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
index 559f7cbdb..d1aaf6fb2 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
@@ -76,12 +76,6 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<StandardCVPipelin
                         Imgproc.rectangle(input.getLeft(), new Point(box.x, box.y), new Point((box.x + box.width), (box.y + box.height)), Helpers.colorToScalar(settings.maximumBoxColor), settings.boxOutlineSize);
                     }
 
-                    if(settings.showContor) {
-                        MatOfPoint matOfPoint = new MatOfPoint();
-                        matOfPoint.fromArray(target.contour.toArray());
-                        Imgproc.drawContours(input.getLeft(), List.of(matOfPoint), 0, new Scalar(255, 255, 255));
-                    }
-
 //                    contour.release();
                 }
             }
@@ -104,6 +98,5 @@ public class Draw2dContoursPipe implements Pipe<Pair<Mat, List<StandardCVPipelin
         public Color centroidColor = Color.GREEN;
         public Color rotatedBoxColor = Color.BLUE;
         public Color maximumBoxColor = Color.RED;
-        public boolean showContor = true;
     }
 }
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
index 9d96a053c..5580fcfd4 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -59,7 +59,6 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<StandardCV
                             RotatedRect rect = Imgproc.minAreaRect(contour);
                             var target = new StandardCVPipeline.TrackedTarget();
                             target.minAreaRect = rect;
-                            target.contour = contour;
                             groupedContours.add(target);
                         }
                     });
@@ -90,7 +89,6 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<StandardCV
                                 RotatedRect rect = Imgproc.minAreaRect(contour);
                                 var target = new StandardCVPipeline.TrackedTarget();
                                 target.minAreaRect = rect;
-                                target.contour = contour;
 
                                 target.leftRightDualTargetPair =
                                         Pair.of(Imgproc.boundingRect(firstContour),