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Add MutatingPipe (#44)

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* Add MutatingPipe, use references in MutatingPipes

* Apply spotless

* Fix NPE in ColoredShapePipeline
This commit is contained in:
Banks T
2020-07-18 20:15:58 -04:00
committed by GitHub
parent d8d6c13679
commit 1b7ece994a
16 changed files with 127 additions and 161 deletions
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11
photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
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@@ -30,11 +30,9 @@ import org.opencv.core.Size;
import org.opencv.highgui.HighGui;
import org.opencv.imgcodecs.Imgcodecs;
import org.photonvision.common.util.TestUtils;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.pipe.CVPipeResult;
import org.photonvision.vision.pipe.impl.Calibrate3dPipe;
import org.photonvision.vision.pipe.impl.FindBoardCornersPipe;
@@ -57,16 +55,15 @@ public class Calibrate3dPipeTest {
FindBoardCornersPipe findBoardCornersPipe = new FindBoardCornersPipe();
findBoardCornersPipe.setParams(
new FindBoardCornersPipe.FindCornersPipeParams(11, 4, false, 15));
CVPipeResult<List<List<Mat>>> findBoardCornersPipeOutput = findBoardCornersPipe.apply(frames);
var findBoardCornersPipeOutput = findBoardCornersPipe.run(frames);
Calibrate3dPipe calibrate3dPipe = new Calibrate3dPipe();
calibrate3dPipe.setParams(new Calibrate3dPipe.CalibratePipeParams(new Size(640, 480)));
CVPipeResult<CameraCalibrationCoefficients> calibrate3dPipeOutput =
calibrate3dPipe.apply(findBoardCornersPipeOutput.result);
assertTrue(calibrate3dPipeOutput.result.perViewErrors.length > 0);
var calibrate3dPipeOutput = calibrate3dPipe.run(findBoardCornersPipeOutput.output);
assertTrue(calibrate3dPipeOutput.output.perViewErrors.length > 0);
System.out.println(
"Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.result.perViewErrors));
"Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.output.perViewErrors));
}
@Test