Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-07-03 03:01:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix spotless divergence for FilterContoursPipe (#908)

Browse Source 
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Ryan Blue
2023-09-12 06:57:01 -04:00
committed by GitHub
parent 6e8e379b71
commit 9f3a735c59
1 changed files with 4 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
View File

@@ -19,7 +19,6 @@ package org.photonvision.vision.pipe.impl;
import java.util.ArrayList;
import java.util.List;
import org.opencv.core.RotatedRect;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.frame.FrameStaticProperties;
@@ -47,15 +46,6 @@ public class FilterContoursPipe
private void rejectOutliers(List<Contour> list, double xTol, double yTol) {
if (list.size() < 2) return; // Must have at least 2 points to reject outliers
/*
// Sort by X and find median
list.sort(Comparator.comparingDouble(c -> c.getCenterPoint().x));
double medianX = list.get(list.size() / 2).getCenterPoint().x;
if (list.size() % 2 == 0)
medianX = (medianX + list.get(list.size() / 2 - 1).getCenterPoint().x) / 2;
*/
double meanX = list.stream().mapToDouble(it -> it.getCenterPoint().x).sum() / list.size();
double stdDevX =
@@ -63,15 +53,6 @@ public class FilterContoursPipe
stdDevX /= (list.size() - 1);
stdDevX = Math.sqrt(stdDevX);
/*
// Sort by Y and find median
list.sort(Comparator.comparingDouble(c -> c.getCenterPoint().y));
double medianY = list.get(list.size() / 2).getCenterPoint().y;
if (list.size() % 2 == 0)
medianY = (medianY + list.get(list.size() / 2 - 1).getCenterPoint().y) / 2;
*/
double meanY = list.stream().mapToDouble(it -> it.getCenterPoint().y).sum() / list.size();
double stdDevY =
@@ -112,7 +93,8 @@ public class FilterContoursPipe
if (contourArea <= minFullness || contourArea >= maxFullness) return;
// Aspect Ratio Filtering.
double aspectRatio = TargetCalculations.getAspectRatio(contour.getMinAreaRect(), params.isLandscape);
double aspectRatio =
TargetCalculations.getAspectRatio(contour.getMinAreaRect(), params.isLandscape);
if (aspectRatio < params.getRatio().getFirst() || aspectRatio > params.getRatio().getSecond())
return;
@@ -134,7 +116,8 @@ public class FilterContoursPipe
DoubleCouple extent,
FrameStaticProperties camProperties,
double xTol,
double yTol, boolean isLandscape) {
double yTol,
boolean isLandscape) {
this.m_area = area;
this.m_ratio = ratio;
this.m_fullness = extent;