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Add 8 point target, track 4 more corners

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Matt
2020-02-21 12:17:23 -08:00
parent 9458e08e66
commit 6fe62f8e7d
2 changed files with 19 additions and 9 deletions
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6
chameleon-client/src/assets/FRCtargets.json
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@@ -3,7 +3,11 @@
[-19.625, 0],
[-9.819867, -17],
[9.819867, -17],
[19.625,0]
[19.625,0],
[17.316, 0],
[8.665867, -15],
[-9.819867, -15],
[-17.316, 0]
],
"2020 Loading Station": [
[-3.54,5.5],

22
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
View File

@@ -162,11 +162,11 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
// algorithm from team 4915
// Contour perimiter
// Contour perimeter
var peri = Imgproc.arcLength(target.rawContour, true);
// approximating a shape around the contours
// Can be tuned to allow/disallow hulls
// Approx is the number of verticies
// Approx is the number of vertices
// Ramer–Douglas–Peucker algorithm
Imgproc.approxPolyDP(target.rawContour, polyOutput, 0.01 * peri, true);
@@ -190,17 +190,23 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
try {
// top left and top right are the poly corners closest to the bouding box tl and tr
Point tl = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
Point tr = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
var tl = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
var tr = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
// var tl = polyList.stream().filter(point -> point.x < centroid.x && point.y < centroid.y).max(distanceProvider).get();
// var tr = polyList.stream().filter(point -> point.x > centroid.x && point.y < centroid.y).max(distanceProvider).get();
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();
target2020ResultMat.release();
target2020ResultMat.fromList(List.of(tl, bl, br, tr));
target2020ResultMat.fromList(List.of(tl, bl, br, tr, tr2, br2, bl2, tl2));
return target2020ResultMat;
} catch (NoSuchElementException e) {