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Merge remote-tracking branch 'origin/dev' into dev

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ori agranat
2020-02-26 22:13:33 +02:00
parent bb2304040c 7a2d580480
commit aa028e7cf0
2 changed files with 8 additions and 3 deletions
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4
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
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@@ -144,8 +144,8 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
VisionManager.getCurrentUIVisionProcess().addCalibration(cal);
try {
System.out.printf("CALIBRATION SUCCESS! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
System.out.printf("CALIBRATION SUCCESS (with accuracy %s)! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
calibrationAccuracy, new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
} catch (JsonProcessingException e) {
e.printStackTrace();
}

7
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -116,7 +116,12 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
Imgproc.cvtColor(image, greyImg, Imgproc.COLOR_BGR2GRAY);
poseList.clear();
for(var target: targets) {
var corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
MatOfPoint2f corners;
if(target.leftRightRotatedRect == null) {
corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
} else {
corners = findCorner2019(target);
}
// var corners = findCorner2019(target);
if(corners == null) continue;