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Expose detected tag corners (#702)

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Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
This commit is contained in:
Matt
2023-01-06 19:20:27 -08:00
committed by GitHub
parent 16ca2671f0
commit 967be84b4b
10 changed files with 291 additions and 48 deletions
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23
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -189,11 +189,21 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets) {
var ret = new ArrayList<PhotonTrackedTarget>();
for (var t : targets) {
var points = new Point[4];
t.getMinAreaRect().points(points);
var cornerList = new ArrayList<TargetCorner>();
for (int i = 0; i < 4; i++) cornerList.add(new TargetCorner(points[i].x, points[i].y));
var minAreaRectCorners = new ArrayList<TargetCorner>();
var detectedCorners = new ArrayList<TargetCorner>();
{
var points = new Point[4];
t.getMinAreaRect().points(points);
for (int i = 0; i < 4; i++) {
minAreaRectCorners.add(new TargetCorner(points[i].x, points[i].y));
}
}
{
var points = t.getTargetCorners();
for (int i = 0; i < points.size(); i++) {
detectedCorners.add(new TargetCorner(points.get(i).x, points.get(i).y));
}
}
ret.add(
new PhotonTrackedTarget(
@@ -205,7 +215,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
t.getBestCameraToTarget3d(),
t.getAltCameraToTarget3d(),
t.getPoseAmbiguity(),
cornerList));
minAreaRectCorners,
detectedCorners));
}
return ret;
}

2
photon-core/src/main/java/org/photonvision/vision/pipe/impl/CornerDetectionPipe.java
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@@ -47,7 +47,7 @@ public class CornerDetectionPipe
{
var targetCorners =
detectExtremeCornersByApproxPolyDp(target, params.calculateConvexHulls);
target.setCorners(targetCorners);
target.setTargetCorners(targetCorners);
break;
}
default:

2
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
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@@ -223,7 +223,7 @@ public class ColoredShapePipeline
collect2dTargetsResult.output.forEach(
shape -> {
shape.getMinAreaRect().points(rectPoints);
shape.setCorners(Arrays.asList(rectPoints));
shape.setTargetCorners(Arrays.asList(rectPoints));
});
sumPipeNanosElapsed += cornerDetectionResult.nanosElapsed;

4
photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
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@@ -41,7 +41,7 @@ public class TrackedTarget implements Releasable {
private MatOfPoint2f m_approximateBoundingPolygon;
private List<Point> m_targetCorners;
private List<Point> m_targetCorners = List.of();
private Point m_targetOffsetPoint;
private Point m_robotOffsetPoint;
@@ -289,7 +289,7 @@ public class TrackedTarget implements Releasable {
if (m_cameraRelativeRvec != null) m_cameraRelativeRvec.release();
}
public void setCorners(List<Point> targetCorners) {
public void setTargetCorners(List<Point> targetCorners) {
this.m_targetCorners = targetCorners;
}