Move geometry lib to frc971/vision
Going to use for target mapping. Previously used this for 2022 vision.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Ifd9d13d3f9b0ea1aac42fb6c96ef2a5062b9f637
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 2f90513..3893ed6 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -6,10 +6,10 @@
#include "aos/network/team_number.h"
#include "aos/time/time.h"
+#include "frc971/vision/geometry.h"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
-#include "y2022/vision/geometry.h"
DEFINE_bool(
use_outdoors, true,
@@ -140,7 +140,7 @@
constexpr double kMaxBlobAngle = M_PI - kMinBlobAngle;
std::vector<std::vector<cv::Point>> blob_circle;
std::vector<BlobStats> blob_circle_stats;
- Circle circle;
+ frc971::vision::Circle circle;
// If we see more than this number of blobs after filtering based on
// color/size, the circle fit may detect noise so just return no blobs.
@@ -165,9 +165,10 @@
filtered_blobs[j], filtered_blobs[k], filtered_blobs[l]};
std::vector<BlobStats> current_stats{filtered_stats[j], filtered_stats[k],
filtered_stats[l]};
- const std::optional<Circle> current_circle =
- Circle::Fit({current_stats[0].centroid, current_stats[1].centroid,
- current_stats[2].centroid});
+ const std::optional<frc971::vision::Circle> current_circle =
+ frc971::vision::Circle::Fit({current_stats[0].centroid,
+ current_stats[1].centroid,
+ current_stats[2].centroid});
// Make sure that a circle could be created from the points
if (!current_circle) {