From 20209059b1094e9269b00bd14306264f4dc0300d Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sun, 26 Jan 2020 21:55:40 -0800
Subject: [PATCH] Set the box corner mat from the mat in settings

---
 chameleon-server/chameleon-vision.iml         | 20 +++++++++++++++++++
 .../pipeline/impl/StandardCVPipeline.java     |  1 +
 .../pipeline/pipes/DrawSolvePNPPipe.java      |  4 ++++
 3 files changed, 25 insertions(+)

diff --git a/chameleon-server/chameleon-vision.iml b/chameleon-server/chameleon-vision.iml
index e863282a1..7b2231adb 100644
--- a/chameleon-server/chameleon-vision.iml
+++ b/chameleon-server/chameleon-vision.iml
@@ -15,6 +15,26 @@
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.61" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.61" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-common:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-api:1.7.28" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-server:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-http:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-util:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-io:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-webapp:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-xml:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-servlet:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-security:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-server:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-common:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-api:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-client:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-client:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-servlet:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: io.javalin:javalin:3.7.0" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-common:1.3.61" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains:annotations:13.0" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.3.61" level="project" />
     <orderEntry type="library" name="Maven: org.slf4j:slf4j-api:1.7.28" level="project" />
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 bfa0eb790..b2d7993d4 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
@@ -139,6 +139,7 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta
 
             solvePNPPipe.setConfig(settings, cameraCapture.getCurrentCalibrationData(), cameraCapture.getProperties().getTilt());
             drawSolvePNPPipe.setConfig(cameraCapture.getCurrentCalibrationData());
+            drawSolvePNPPipe.setTargetBox(settings.targetCornerMat);
 
         }
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
index f2511ffc3..728a420f0 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
@@ -78,6 +78,10 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
         ));
     }
 
+    public void setTargetBox(MatOfPoint3f cornerMat) {
+        this.boxCornerMat = cornerMat;
+    }
+
     private Mat cameraMatrix = new Mat();
     private MatOfDouble distortionCoefficients = new MatOfDouble();