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add back dual target 2019 support

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Matt
2020-02-26 10:10:33 -08:00
parent 293edfe770
commit 15f9fe5861
1 changed files with 6 additions and 1 deletions
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7
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -116,7 +116,12 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
Imgproc.cvtColor(image, greyImg, Imgproc.COLOR_BGR2GRAY);
poseList.clear();
for(var target: targets) {
var corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
MatOfPoint2f corners;
if(target.leftRightRotatedRect == null) {
corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
} else {
corners = findCorner2019(target);
}
// var corners = findCorner2019(target);
if(corners == null) continue;