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Add accuracy to solvePNP approx poly dp

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Matt
2020-02-26 09:54:21 -08:00
parent 7aa04ae622
commit 293edfe770
2 changed files with 8 additions and 4 deletions
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2
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
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@@ -33,7 +33,7 @@ public class StandardCVPipelineSettings extends CVPipelineSettings {
// 3d stuff
public MatOfPoint3f targetCornerMat = new MatOfPoint3f();
public Number accuracy = 2;
public Number accuracy = 5;
private static MatOfPoint3f hexTargetMat = new MatOfPoint3f();
static {

10
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -38,6 +38,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
MatOfPoint2f boundingBoxResultMat = new MatOfPoint2f();
MatOfPoint2f polyOutput = new MatOfPoint2f();
private Mat greyImg = new Mat();
private double accuracyPercentage = 0.2;
public SolvePNPPipe(StandardCVPipelineSettings settings, CameraCalibrationConfig calibration, Rotation2d tilt) {
super();
@@ -88,6 +89,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
// TODO add proper year differentiation
tilt_angle = tilt.getRadians();
this.objPointsMat = settings.targetCornerMat;
this.accuracyPercentage = settings.accuracy.doubleValue();
}
private void setCameraCoeffs(CameraCalibrationConfig settings) {
@@ -114,7 +116,7 @@ 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);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
var corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
// var corners = findCorner2019(target);
if(corners == null) continue;
@@ -165,7 +167,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
* @param target the target.
* @return The four outermost tape corners.
*/
private MatOfPoint2f find2020VisionTarget(StandardCVPipeline.TrackedTarget target) {
private MatOfPoint2f find2020VisionTarget(StandardCVPipeline.TrackedTarget target, double accuracyPercentage) {
if(target.rawContour.cols() < 1) return null;
var centroid = target.minAreaRect.center;
@@ -179,7 +181,9 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
// Can be tuned to allow/disallow hulls
// Approx is the number of vertices
// Ramer–Douglas–Peucker algorithm
Imgproc.approxPolyDP(target.rawContour, polyOutput, 0.01 * peri, true);
// we want a number between 0 and 0.16 out of a percentage from 0 to 100
// so take accuracy and divide by 600
Imgproc.approxPolyDP(target.rawContour, polyOutput, accuracyPercentage / 600.0 * peri, true);
var area = Imgproc.moments(polyOutput);