Attach the perimeter to the polygons.
Change-Id: Ic278b68e2e0481d88869946a08588651e884a882
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index 2bc41ac..14063c2 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -96,23 +96,23 @@
target_finder_.PreFilter(&imgs);
// Find polygons from blobs.
- std::vector<std::vector<Segment<2>>> raw_polys;
+ std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
ContourNode *contour = target_finder_.GetContour(blob);
if (draw_contours_) {
DrawContour(contour, {255, 0, 0});
}
- const ::std::vector<::Eigen::Vector2f> unwarped_contour =
+ ::std::vector<::Eigen::Vector2f> unwarped_contour =
target_finder_.UnWarpContour(contour);
if (draw_contours_) {
DrawContour(unwarped_contour, {0, 0, 255});
}
// Process to polygons.
- std::vector<Segment<2>> polygon =
- target_finder_.FillPolygon(unwarped_contour, draw_raw_poly_);
- if (polygon.empty()) {
+ const Polygon polygon = target_finder_.FindPolygon(
+ ::std::move(unwarped_contour), draw_raw_poly_);
+ if (polygon.segments.empty()) {
if (!draw_contours_) {
DrawBlob(blob, {255, 0, 0});
}
@@ -122,15 +122,16 @@
DrawBlob(blob, {0, 0, 255});
}
if (draw_raw_poly_) {
- std::vector<PixelRef> colors = GetNColors(polygon.size());
+ std::vector<PixelRef> colors = GetNColors(polygon.segments.size());
std::vector<Vector<2>> corners;
- for (size_t i = 0; i < polygon.size(); ++i) {
- corners.push_back(
- polygon[i].Intersect(polygon[(i + 1) % polygon.size()]));
+ for (size_t i = 0; i < polygon.segments.size(); ++i) {
+ corners.push_back(polygon.segments[i].Intersect(
+ polygon.segments[(i + 1) % polygon.segments.size()]));
}
- for (size_t i = 0; i < polygon.size(); ++i) {
- overlay_.AddLine(corners[i], corners[(i + 1) % polygon.size()],
+ for (size_t i = 0; i < polygon.segments.size(); ++i) {
+ overlay_.AddLine(corners[i],
+ corners[(i + 1) % polygon.segments.size()],
colors[i]);
}
}
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index 6d4a21e..3d1e91f 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -158,15 +158,15 @@
target_finder.PreFilter(&imgs);
constexpr bool verbose = false;
- ::std::vector<std::vector<Segment<2>>> raw_polys;
+ ::std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
ContourNode *contour = target_finder.GetContour(blob);
- const ::std::vector<::Eigen::Vector2f> unwarped_contour =
+ ::std::vector<::Eigen::Vector2f> unwarped_contour =
target_finder.UnWarpContour(contour);
- const ::std::vector<Segment<2>> polygon =
- target_finder.FillPolygon(unwarped_contour, verbose);
- if (!polygon.empty()) {
+ const Polygon polygon =
+ target_finder.FindPolygon(::std::move(unwarped_contour), verbose);
+ if (!polygon.segments.empty()) {
raw_polys.push_back(polygon);
}
}
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index 85cf452..e340702 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -90,8 +90,8 @@
// TODO: Try hierarchical merge for this.
// Convert blobs into polygons.
-std::vector<aos::vision::Segment<2>> TargetFinder::FillPolygon(
- const ::std::vector<::Eigen::Vector2f> &contour, bool verbose) {
+Polygon TargetFinder::FindPolygon(::std::vector<::Eigen::Vector2f> &&contour,
+ bool verbose) {
if (verbose) printf("Process Polygon.\n");
::std::vector<::Eigen::Vector2f> slopes;
@@ -249,7 +249,7 @@
if (verbose) printf("Edge Count (%zu).\n", edges.size());
// Run best-fits over each line segment.
- ::std::vector<Segment<2>> seg_list;
+ Polygon polygon;
if (edges.size() >= 3) {
for (size_t i = 0; i < edges.size(); ++i) {
// Include the corners in both line fits.
@@ -296,7 +296,7 @@
x /= norm;
y /= norm;
- seg_list.push_back(
+ polygon.segments.push_back(
Segment<2>(Vector<2>(mx, my), Vector<2>(mx + x, my + y)));
}
@@ -312,23 +312,24 @@
*/
}
}
- if (verbose) printf("Poly Count (%zu).\n", seg_list.size());
- return seg_list;
+ if (verbose) printf("Poly Count (%zu).\n", polygon.segments.size());
+ polygon.contour = ::std::move(contour);
+ return polygon;
}
// Convert segments into target components (left or right)
-std::vector<TargetComponent> TargetFinder::FillTargetComponentList(
- const std::vector<std::vector<Segment<2>>> &seg_list, bool verbose) {
- std::vector<TargetComponent> list;
+::std::vector<TargetComponent> TargetFinder::FillTargetComponentList(
+ const ::std::vector<Polygon> &seg_list, bool verbose) {
+ ::std::vector<TargetComponent> list;
TargetComponent new_target;
- for (const std::vector<Segment<2>> &poly : seg_list) {
+ for (const Polygon &poly : seg_list) {
// Reject missized pollygons for now. Maybe rectify them here in the future;
- if (poly.size() != 4) {
+ if (poly.segments.size() != 4) {
continue;
}
::std::vector<Vector<2>> corners;
for (size_t i = 0; i < 4; ++i) {
- Vector<2> corner = poly[i].Intersect(poly[(i + 1) % 4]);
+ Vector<2> corner = poly.segments[i].Intersect(poly.segments[(i + 1) % 4]);
if (::std::isnan(corner.x()) || ::std::isnan(corner.y())) {
break;
}
diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index 83a1ebd..ebae3b4 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -18,6 +18,11 @@
using aos::vision::Vector;
using aos::vision::ContourNode;
+struct Polygon {
+ ::std::vector<aos::vision::Segment<2>> segments;
+ ::std::vector<::Eigen::Vector2f> contour;
+};
+
class TargetFinder {
public:
TargetFinder();
@@ -34,13 +39,11 @@
::std::vector<::Eigen::Vector2f> UnWarpContour(ContourNode *start) const;
// Turn a blob into a polgygon.
- std::vector<aos::vision::Segment<2>> FillPolygon(
- const ::std::vector<::Eigen::Vector2f> &contour, bool verbose);
+ Polygon FindPolygon(::std::vector<::Eigen::Vector2f> &&contour, bool verbose);
// Turn a bloblist into components of a target.
std::vector<TargetComponent> FillTargetComponentList(
- const std::vector<std::vector<aos::vision::Segment<2>>> &seg_list,
- bool verbose);
+ const ::std::vector<Polygon> &seg_list, bool verbose);
// Piece the compenents together into a target.
std::vector<Target> FindTargetsFromComponents(
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index f67cea1..6dcf6c0 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -308,15 +308,15 @@
LOG(INFO, "Blobs: (%zu).\n", imgs.size());
constexpr bool verbose = false;
- ::std::vector<std::vector<Segment<2>>> raw_polys;
+ ::std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
ContourNode* contour = finder_.GetContour(blob);
- const ::std::vector<::Eigen::Vector2f> unwarped_contour =
+ ::std::vector<::Eigen::Vector2f> unwarped_contour =
finder_.UnWarpContour(contour);
- ::std::vector<Segment<2>> polygon =
- finder_.FillPolygon(unwarped_contour, verbose);
- if (!polygon.empty()) {
+ const Polygon polygon =
+ finder_.FindPolygon(::std::move(unwarped_contour), verbose);
+ if (!polygon.segments.empty()) {
raw_polys.push_back(polygon);
}
}