From 15f9fe586156479a90204eefda288ef3c11e9eb3 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 26 Feb 2020 10:10:33 -0800
Subject: [PATCH 1/2] add back dual target 2019 support

---
 .../vision/pipeline/pipes/SolvePNPPipe.java                | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index c637018f0..a59fa693c 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -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;
 

From 7a2d5804800c111e7f9104e6acd9fc2a34b49a32 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 26 Feb 2020 11:21:48 -0800
Subject: [PATCH 2/2] Update calibrate pipe to print calibration accuracy

---
 .../vision/pipeline/impl/Calibrate3dPipeline.java             | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
index 69403df67..e46a15bdb 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
@@ -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();
         }