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hard code 2020 corner finder

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Matt
2020-01-04 23:45:14 -08:00
parent 6b7aaa2326
commit 155ad6f70a
2 changed files with 3 additions and 1 deletions
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1
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
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@@ -83,6 +83,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
var point = new Point(it.imageCornerPoints.get(i, 0));
Imgproc.circle(image, point, 4, new Scalar(0, 255, 0), 5);
}
Imgproc.circle(image, it.minAreaRect.center, 4, new Scalar(200, 0, 100), 5);
// sketch out floor
Imgproc.line(image, pts.get(0), pts.get(1), new Scalar(0, 255, 0), 3);

3
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -107,7 +107,8 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
long processStartNanos = System.nanoTime();
poseList.clear();
for(var target: targets) {
var corners = (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
var corners = find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
if(corners == null) continue;
var pose = calculatePose(corners, target);
if(pose != null) poseList.add(pose);
}