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offset found corners by old tl position

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Matt
2020-01-01 23:32:25 -08:00
parent ea4712b033
commit bf54a2d53f
1 changed files with 9 additions and 1 deletions
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10
chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
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@@ -18,6 +18,7 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.Comparator;
import java.util.List;
import java.util.stream.Collectors;
public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>, List<StandardCVPipeline.TrackedTarget>> {
@@ -228,16 +229,23 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
var corners = new MatOfPoint();
Imgproc.goodFeaturesToTrack(croppedImage, corners, 8,0.5,5);
var cornerList = new ArrayList<>(corners.toList());
List<Point> cornerList = new ArrayList<>(corners.toList());
if(cornerList.size() != 8 && cornerList.size() != 4) return null;
cornerList.sort(leftRightComparator);
cornerList = cornerList.stream().map(point ->
new Point(point.x + slightlyBiggerTl.x, point.y + slightlyBiggerTl.y))
.collect(Collectors.toList());
// of these, we want the two leftmost and two rightmost points
var left1 = cornerList.get(0);
var left2 = cornerList.get(1);
var right1 = cornerList.get(0);
var right2 = cornerList.get(1);
// TODO maximize distance from the center rather than naively assume the leftmost and rightmost
// will have to do per quadrant
var leftOrder = left1.y < left2.y;
var rightOrder = right1.y < right2.y;