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Only use 4 corners

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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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24
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -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) {