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[WIP] Polygon and Circle Detection (#100)

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* Created FindPolygonPipe and DetectPolygonPipeline

* Return CVShape based off approxDP

* Added fromSides method to ContourShape

* Use enums

* Use harris detector

* Switch back to approxpolydp

* Added colourshape pipeline

* Added pipeline test

* Finsihed triangle/quad/custom polygon detection

* Circle detection

* Revert "Circle detection"

This reverts commit f6b2fe785d69b16ca1466a13073dce72a0d54570.

* Added shape drawings to draw2dcontourspipe

* Added circledetection pipe params

* apply spotless

* Added colourtoscalar outside of loop

* Added powercell testing images from ML library

* Powercell tracking works

* Added gradle to gitnore

* Added solvepnp to circles

* Reordered pipes and pipe params

* Fixed tests

* Apply spotless

* chmod gradlew

* gradle wrapper

* Removed commits from gradle

* Fix typo in ColoredShapePipeline

* Apply Spotless

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
This commit is contained in:
Xzibit
2020-06-15 23:35:10 -04:00
committed by GitHub
parent 9d10c610ec
commit 388228b9e8
32 changed files with 970 additions and 46 deletions
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47
chameleon-server/src/main/java/com/chameleonvision/common/util/TestUtils.java
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@@ -77,6 +77,41 @@ public class TestUtils {
}
}
public enum PolygonTestImages {
kPolygons;
public final Path path;
Path getPath() {
var filename = this.toString().substring(1).toLowerCase();
return Path.of("polygons", filename + ".png");
}
PolygonTestImages() {
this.path = getPath();
}
}
public enum PowercellTestImages {
kPowercell_test_1,
kPowercell_test_2,
kPowercell_test_3,
kPowercell_test_4,
kPowercell_test_5,
kPowercell_test_6;
public final Path path;
Path getPath() {
var filename = this.toString().substring(1).toLowerCase();
return Path.of(filename + ".png");
}
PowercellTestImages() {
this.path = getPath();
}
}
private static Path getResourcesFolderPath() {
return Path.of("src", "test", "resources").toAbsolutePath();
}
@@ -89,6 +124,10 @@ public class TestUtils {
return getResourcesFolderPath().resolve("calibration");
}
public static Path getPowercellPath() {
return getTestImagesPath().resolve("polygons").resolve("powercells");
}
public static Path getWPIImagePath(WPI2020Image image) {
return getTestImagesPath().resolve(image.path);
}
@@ -97,6 +136,14 @@ public class TestUtils {
return getTestImagesPath().resolve(image.path);
}
public static Path getPolygonImagePath(PolygonTestImages image) {
return getTestImagesPath().resolve(image.path);
}
public static Path getPowercellImagePath(PowercellTestImages image) {
return getPowercellPath().resolve(image.path);
}
public static void loadLibraries() {
try {
CameraServerCvJNI.forceLoad();