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Scale area to [0,1] out of total image size in pixels

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This commit is contained in:
Matt
2019-11-27 16:08:46 -08:00
parent bf3de38a2b
commit 5f8ca112a9
3 changed files with 20 additions and 5 deletions
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13
Main/chameleon-vision.iml
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@@ -13,6 +13,18 @@
</content>
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@@ -38,7 +50,6 @@
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3
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -94,6 +94,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
inputMat.copyTo(rawCameraMat);
// prepare pipes
camProps = cameraCapture.getProperties().getStaticProperties();
hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
rotateFlipPipe.setConfig(settings.rotationMode, settings.flipMode);
@@ -139,7 +140,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
Pair<List<RotatedRect>, Long> sortContoursResult = sortContoursPipe.run(groupContoursResult.getLeft());
totalPipelineTimeNanos += sortContoursResult.getRight();
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(sortContoursResult.getLeft());
Pair<List<Target2d>, Long> collect2dTargetsResult = collect2dTargetsPipe.run(Pair.of(sortContoursResult.getLeft(), camProps));
totalPipelineTimeNanos += collect2dTargetsResult.getRight();
// takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))

9
Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
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@@ -5,12 +5,13 @@ import com.chameleonvision.vision.pipeline.CVPipeline2d;
import com.chameleonvision.vision.enums.CalibrationMode;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.math3.util.FastMath;
import org.opencv.core.Mat;
import org.opencv.core.RotatedRect;
import java.util.ArrayList;
import java.util.List;
public class Collect2dTargetsPipe implements Pipe<List<RotatedRect>, List<CVPipeline2d.Target2d>> {
public class Collect2dTargetsPipe implements Pipe<Pair<List<RotatedRect>, CaptureStaticProperties>, List<CVPipeline2d.Target2d>> {
private CalibrationMode calibrationMode;
private CaptureStaticProperties camProps;
@@ -38,10 +39,12 @@ public class Collect2dTargetsPipe implements Pipe<List<RotatedRect>, List<CVPipe
}
@Override
public Pair<List<CVPipeline2d.Target2d>, Long> run(List<RotatedRect> input) {
public Pair<List<CVPipeline2d.Target2d>, Long> run(Pair<List<RotatedRect>, CaptureStaticProperties> inputPair) {
long processStartNanos = System.nanoTime();
targets.clear();
var input = inputPair.getLeft();
var imageArea = inputPair.getRight().imageArea;
if (input.size() > 0) {
for (RotatedRect r : input) {
@@ -64,7 +67,7 @@ public class Collect2dTargetsPipe implements Pipe<List<RotatedRect>, List<CVPipe
t.pitch = calculatePitch(r.center.y, t.calibratedY);
t.yaw = calculateYaw(r.center.x, t.calibratedX);
t.area = r.size.area();
t.area = r.size.area() / imageArea;
targets.add(t);
}