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Update corner points to match limelight

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This commit is contained in:
Matt
2020-01-13 08:39:37 -08:00
parent a6654fa24b
commit 709752249d
2 changed files with 6 additions and 6 deletions
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8
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
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@@ -48,14 +48,14 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
public void set2020Box() {
boxCornerMat.release();
boxCornerMat = new MatOfPoint3f(
new Point3(-16.25, 0, 0),
new Point3(-19.625, 0, 0),
new Point3(-9.819867, -17, 0),
new Point3(9.819867, -17, 0),
new Point3(16.25, 0, 0),
new Point3(-16.25, 0, -6),
new Point3(19.625, 0, 0),
new Point3(-19.625, 0, -6),
new Point3(-9.819867, -17, -6),
new Point3(9.819867, -17, -6),
new Point3(16.25, 0, -6)
new Point3(19.625, 0, -6)
);
}

4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
View File

@@ -48,10 +48,10 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
if(isHighGoal) {
// tl, bl, br, tr is the order
List<Point3> corners = List.of(
new Point3(-16.25, 0, 0),
new Point3(-19.625, 0, 0),
new Point3(-9.819867, -17, 0),
new Point3(9.819867, -17, 0),
new Point3(16.25, 0, 0));
new Point3(19.625, 0, 0));
setObjectCorners(corners);
} else {
setBoundingBoxTarget(7, 11);