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Merge branch 'master' into dev

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Banks T
2020-01-22 14:11:20 -05:00
committed by GitHub
parent 4df2ec681f 0e2e950d18
commit 7eb4b56958
4 changed files with 4 additions and 18 deletions
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14
chameleon-server/chameleon-vision.iml
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@@ -12,20 +12,6 @@
</content>
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
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<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:linuxx86-64:2020.1.2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:osxx86-64:2020.1.2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cscore:cscore-jni:windowsx86-64:2020.1.2" level="project" />
<orderEntry type="library" name="Maven: edu.wpi.first.cameraserver:cameraserver-java:2020.1.2" level="project" />
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<orderEntry type="library" name="Maven: edu.wpi.first.wpiutil:wpiutil-java:2020.1.2" level="project" />
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1
chameleon-server/pom.xml
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@@ -5,6 +5,7 @@
<modelVersion>4.0.0</modelVersion>
<groupId>org.chameleon-vision.main</groupId>
<artifactId>chameleon-vision</artifactId>
<version>2.2-RELEASE</version>
<build>
<plugins>

4
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
View File

@@ -25,7 +25,6 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpiutil.CircularBuffer;
import org.apache.commons.lang3.tuple.Pair;
import org.opencv.core.Mat;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -212,9 +211,8 @@ public class VisionProcess {
}
center.add(bestTarget.minAreaRect.center.x);
center.add(bestTarget.minAreaRect.center.y);
} catch (ClassCastException ignored) {
}
} else {
pointMap.put("pitch", null);

3
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
View File

@@ -48,6 +48,7 @@ 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(-19.625, 0, 0),
new Point3(-9.819867, -17, 0),
new Point3(9.819867, -17, 0),
@@ -176,6 +177,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
tempMat2f.fromArray(hullPoints);
Imgproc.approxPolyDP(tempMat2f, polyOutput, 5, true);
var polyList = polyOutput.toList();
polyOutput.copyTo(target.approxPoly);
@@ -347,7 +349,6 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
var boundingBr = new Point (
xList.get(2), yList.get(2)
);
System.out.println("tl/br:\n" + boundingTl.toString() + "\n" + boundingBr.toString());
var slightlyBiggerTl = new Point(