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Only use 4 corners

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This commit is contained in:
Matt
2020-02-21 13:01:08 -08:00
parent 6fe62f8e7d
commit 3b77f15de2
2 changed files with 52 additions and 28 deletions
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56
chameleon-client/package-lock.json generated
View File

@@ -3915,7 +3915,8 @@
"version": "4.6.0",
"resolved": "https://registry.npmjs.org/co/-/co-4.6.0.tgz",
"integrity": "sha1-bqa989hTrlTMuOR7+gvz+QMfsYQ=",
"dev": true
"dev": true,
"optional": true
},
"coa": {
"version": "2.0.2",
@@ -6308,7 +6309,8 @@
"ansi-regex": {
"version": "2.1.1",
"bundled": true,
"dev": true
"dev": true,
"optional": true
},
"aproba": {
"version": "1.2.0",
@@ -6517,7 +6519,8 @@
"minimist": {
"version": "0.0.8",
"bundled": true,
"dev": true
"dev": true,
"optional": true
},
"minipass": {
"version": "2.9.0",
@@ -6542,6 +6545,7 @@
"version": "0.5.1",
"bundled": true,
"dev": true,
"optional": true,
"requires": {
"minimist": "0.0.8"
}
@@ -6730,7 +6734,8 @@
"safe-buffer": {
"version": "5.1.2",
"bundled": true,
"dev": true
"dev": true,
"optional": true
},
"safer-buffer": {
"version": "2.1.2",
@@ -6786,6 +6791,7 @@
"version": "3.0.1",
"bundled": true,
"dev": true,
"optional": true,
"requires": {
"ansi-regex": "^2.0.0"
}
@@ -6829,12 +6835,14 @@
"wrappy": {
"version": "1.0.2",
"bundled": true,
"dev": true
"dev": true,
"optional": true
},
"yallist": {
"version": "3.1.1",
"bundled": true,
"dev": true
"dev": true,
"optional": true
}
}
},
@@ -10639,7 +10647,8 @@
"version": "4.0.8",
"resolved": "https://registry.npmjs.org/rx-lite/-/rx-lite-4.0.8.tgz",
"integrity": "sha1-Cx4Rr4vESDbwSmQH6S2kJGe3lEQ=",
"dev": true
"dev": true,
"optional": true
},
"rx-lite-aggregates": {
"version": "4.0.8",
@@ -14743,7 +14752,8 @@
},
"ansi-regex": {
"version": "2.1.1",
"bundled": true
"bundled": true,
"optional": true
},
"aproba": {
"version": "1.2.0",
@@ -14780,7 +14790,8 @@
},
"code-point-at": {
"version": "1.1.0",
"bundled": true
"bundled": true,
"optional": true
},
"concat-map": {
"version": "0.0.1",
@@ -14789,7 +14800,8 @@
},
"console-control-strings": {
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"bundled": true,
"optional": true
},
"core-util-is": {
"version": "1.0.2",
@@ -14892,7 +14904,8 @@
},
"inherits": {
"version": "2.0.3",
"bundled": true
"bundled": true,
"optional": true
},
"ini": {
"version": "1.3.5",
@@ -14902,6 +14915,7 @@
"is-fullwidth-code-point": {
"version": "1.0.0",
"bundled": true,
"optional": true,
"requires": {
"number-is-nan": "^1.0.0"
}
@@ -14921,11 +14935,13 @@
},
"minimist": {
"version": "0.0.8",
"bundled": true
"bundled": true,
"optional": true
},
"minipass": {
"version": "2.2.4",
"bundled": true,
"optional": true,
"requires": {
"safe-buffer": "^5.1.1",
"yallist": "^3.0.0"
@@ -14942,6 +14958,7 @@
"mkdirp": {
"version": "0.5.1",
"bundled": true,
"optional": true,
"requires": {
"minimist": "0.0.8"
}
@@ -15014,7 +15031,8 @@
},
"number-is-nan": {
"version": "1.0.1",
"bundled": true
"bundled": true,
"optional": true
},
"object-assign": {
"version": "4.1.1",
@@ -15024,6 +15042,7 @@
"once": {
"version": "1.4.0",
"bundled": true,
"optional": true,
"requires": {
"wrappy": "1"
}
@@ -15099,7 +15118,8 @@
},
"safe-buffer": {
"version": "5.1.1",
"bundled": true
"bundled": true,
"optional": true
},
"safer-buffer": {
"version": "2.1.2",
@@ -15129,6 +15149,7 @@
"string-width": {
"version": "1.0.2",
"bundled": true,
"optional": true,
"requires": {
"code-point-at": "^1.0.0",
"is-fullwidth-code-point": "^1.0.0",
@@ -15146,6 +15167,7 @@
"strip-ansi": {
"version": "3.0.1",
"bundled": true,
"optional": true,
"requires": {
"ansi-regex": "^2.0.0"
}
@@ -15184,11 +15206,13 @@
},
"wrappy": {
"version": "1.0.2",
"bundled": true
"bundled": true,
"optional": true
},
"yallist": {
"version": "3.0.2",
"bundled": true
"bundled": true,
"optional": true
}
}
},

24
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
View File

@@ -170,9 +170,9 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
// Ramer–Douglas–Peucker algorithm
Imgproc.approxPolyDP(target.rawContour, polyOutput, 0.01 * peri, true);
if(polyOutput.toList().size() != 8) {
return null;
}
// if(polyOutput.toList().size() != 8) {
// return null;
// }
var area = Imgproc.moments(polyOutput);
@@ -196,17 +196,17 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
var bl = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
var br = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
polyList = new ArrayList<>(polyList);
polyList.removeAll(List.of(tl, tr, bl, br));
var tl2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
var tr2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
var bl2 = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
var br2 = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
// polyList = new ArrayList<>(polyList);
// polyList.removeAll(List.of(tl, tr, bl, br));
//
// var tl2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
// var tr2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
//
// var bl2 = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
// var br2 = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
target2020ResultMat.release();
target2020ResultMat.fromList(List.of(tl, bl, br, tr, tr2, br2, bl2, tl2));
target2020ResultMat.fromList(List.of(tl, bl, br, tr));//, tr2, br2, bl2, tl2));
return target2020ResultMat;
} catch (NoSuchElementException e) {