From 5f8ca112a9b11169c9f5665be568bb0af15dbd71 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 27 Nov 2019 16:08:46 -0800
Subject: [PATCH] Scale area to [0,1] out of total image size in pixels

---
 Main/chameleon-vision.iml                           | 13 ++++++++++++-
 .../vision/pipeline/CVPipeline2d.java               |  3 ++-
 .../vision/pipeline/pipes/Collect2dTargetsPipe.java |  9 ++++++---
 3 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/Main/chameleon-vision.iml b/Main/chameleon-vision.iml
index a0d6af26a..cafdd9cc1 100644
--- a/Main/chameleon-vision.iml
+++ b/Main/chameleon-vision.iml
@@ -13,6 +13,18 @@
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Maven: org.junit.jupiter:junit-jupiter-engine:5.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.apiguardian:apiguardian-api:1.1.0" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.platform:junit-platform-engine:1.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.opentest4j:opentest4j:1.2.0" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.platform:junit-platform-commons:1.5.2" level="project" />
+    <orderEntry type="library" name="Maven: org.junit.jupiter:junit-jupiter-api:5.5.2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxaarch64bionic:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxraspbian:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:linuxx86-64:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:osxx86-64:3.4.7-2" level="project" />
+    <orderEntry type="library" name="Maven: edu.wpi.first.thirdparty.frc2020.opencv:opencv-jni:windowsx86-64:3.4.7-2" level="project" />
     <orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />
@@ -38,7 +50,6 @@
     <orderEntry type="library" name="Maven: org.json:json:20190722" level="project" />
     <orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
     <orderEntry type="library" name="Maven: org.apache.commons:commons-math3:3.6.1" level="project" />
-    <orderEntry type="library" name="Maven: com.google.code.gson:gson:2.8.5" level="project" />
     <orderEntry type="library" name="Maven: org.msgpack:msgpack-core:0.8.18" level="project" />
     <orderEntry type="library" name="Maven: org.msgpack:jackson-dataformat-msgpack:0.8.18" level="project" />
     <orderEntry type="library" name="Maven: org.apache.commons:commons-lang3:3.9" level="project" />
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index 74cdd6a05..d257aaa3a 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -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))
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
index d1c0fb960..572e9e6e2 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
@@ -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);
             }