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Send corners of min area rectangles (#382)

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Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2022-01-10 20:31:36 -08:00
committed by GitHub
parent e6d8e05b91
commit 3ad476bc28
12 changed files with 215 additions and 99 deletions
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15
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -24,10 +24,12 @@ import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.Supplier;
import org.opencv.core.Point;
import org.photonvision.common.dataflow.CVPipelineResultConsumer;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TrackedTarget;
@@ -209,9 +211,20 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
var ret = new ArrayList<PhotonTrackedTarget>();
for (var t : targets) {
var points = new Point[4];
t.getMinAreaRect().points(points);
var cornerList = new ArrayList<TargetCorner>();
for (int i = 0; i < 4; i++) cornerList.add(new TargetCorner(points[i].x, points[i].y));
ret.add(
new PhotonTrackedTarget(
t.getYaw(), t.getPitch(), t.getArea(), t.getSkew(), t.getCameraToTarget()));
t.getYaw(),
t.getPitch(),
t.getArea(),
t.getSkew(),
t.getCameraToTarget(),
cornerList));
}
return ret;
}

2
photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
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@@ -108,7 +108,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
var sortContoursParams =
new SortContoursPipe.SortContoursParams(
settings.contourSortMode,
settings.outputShowMultipleTargets ? 5 : 1, // TODO don't hardcode?
settings.outputShowMultipleTargets ? 8 : 1, // TODO don't hardcode?
frameStaticProperties);
sortContoursPipe.setParams(sortContoursParams);

2
photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
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@@ -28,7 +28,7 @@ import org.photonvision.vision.opencv.*;
public class TrackedTarget implements Releasable {
public final Contour m_mainContour;
List<Contour> m_subContours; // can be empty
public List<Contour> m_subContours; // can be empty
private MatOfPoint2f m_approximateBoundingPolygon;