Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-22 01:11:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add backend code for sending points

Browse Source
This commit is contained in:
Matt
2020-01-15 12:04:14 -08:00
parent ec93c0225c
commit ddda8b17c3
1 changed files with 26 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
View File

@@ -18,8 +18,11 @@ import edu.wpi.cscore.VideoMode;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import io.javalin.http.Context;
import io.javalin.http.Handler;
import org.opencv.core.Point;
import org.opencv.core.Point3;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@@ -177,12 +180,31 @@ public class RequestHandler {
public static void onPnpModel(Context ctx) throws JsonProcessingException {
//noinspection unchecked
List<Object> points = kObjectMapper.readValue(ctx.body(), List.class);
List<List<Object>> points = kObjectMapper.readValue(ctx.body(), List.class);
// each entry should be an xy pair
for(Object point: points) {
//noinspection RedundantCast
point = (List<Object>) point;
var pointsList = new ArrayList<Point3>();
for(List<Object> point: points) {
double x, y;
try {
x = (Double) point.get(0);
} catch (ClassCastException e) {
x = (Integer) point.get(0);
}
try {
y = (Double) point.get(1);
} catch (ClassCastException e) {
y = (Integer) point.get(1);
}
var pointToAdd = new Point3(x, y, 0.0);
pointsList.add(pointToAdd);
}
System.out.println(pointsList.toString());
if(VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings instanceof StandardCVPipelineSettings) {
var settings = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings;
settings.targetCornerMat.fromList(pointsList);
var xxx = 4;
}
}
}