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Stream threading (#110)

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* Condense pipeline settings classes

* Add OutputStreamPipeline
This commit is contained in:
Banks T
2020-09-04 21:35:11 -04:00
committed by GitHub
parent 8a7318f5dd
commit 4c4b76a70e
10 changed files with 359 additions and 210 deletions
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6
photon-server/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
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@@ -96,9 +96,7 @@ public class CirclePNPTest {
pipeline.getSettings().solvePNPEnabled = true;
pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
pipeline.getSettings().cornerDetectionUseConvexHulls = true;
pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
pipeline.getSettings().targetModel = TargetModel.getCircleTarget(7);
pipeline.getSettings().cameraPitch = Rotation2d.fromDegrees(0.0);
pipeline.getSettings().outputShouldDraw = true;
pipeline.getSettings().outputShowMultipleTargets = false;
pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Single;
@@ -111,7 +109,9 @@ public class CirclePNPTest {
var frameProvider =
new FileFrameProvider(
TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
TestUtils.WPI2020Image.FOV);
TestUtils.WPI2020Image.FOV,
new Rotation2d(),
TestUtils.get2020LifeCamCoeffs(true));
CVPipelineResult pipelineResult = pipeline.run(frameProvider.get());
printTestResults(pipelineResult);