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fixed reversed box drawing in solvePNP

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This commit is contained in:
Matt
2020-02-21 16:55:34 -08:00
parent 3b77f15de2
commit 5ac9569082
3 changed files with 1 additions and 5 deletions
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2
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
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@@ -34,7 +34,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
private void setBox(MatOfPoint3f mat) {
boxCornerMat.release();
var list = mat.toList();
var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z - 6)).collect(Collectors.toList());
var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z + 6)).collect(Collectors.toList());
var finalList = new ArrayList<>(list);
finalList.addAll(auxList);
boxCornerMat.fromList(finalList);

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -170,10 +170,6 @@ 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;
// }
var area = Imgproc.moments(polyOutput);
if (area.get_m00() < 200) {