[WIP] Polygon and Circle Detection

[neel-j-dev]

Pipes

FindPolygonsPipe

• Input: List<Contour>
• Ouput:List<CVShape>

FilterPolygonsPipe

• Takes in List and outputs filtered List based off perimeter, area, and desired shape

FindCirclesPipe

• Input: Pair<Mat, List<Contour>>
• Ouput: List<CVShape>

Pipelines

• Fleshed out ColouredShapePipeline

Testing

Not too much testing done yet. TODOs for testing include:

• [x] Use powercell images from WPI's ML dataset
• [x] Use more FRC specific targets instead of perfect polygons

Triangles

Quadrilaterals

Circles

General Things left

• [x] Test more
• [x] Replace draw2dcontours pipe with draw2dshapes pipe
• [x] Add solvepnp support
• [x] Make HoughCircles params a part of FindCirclesPipe params

Results from power cell test images

Higher resolution and less blur give better results and you might need to play around with the cannyMaxThresh and accuracy to pick up circles and not duck tape/similar shapes wires. But filterShapesPipe should take care of it if you want to define a min Area, peri or the minDist, min/max radius in the FindCirclespipe.

Solvepnp

Tried to draw a cube enclosing the circle, but ran into a wall with that since drawing over a contour made it impossible. Instead, a single square worked nicely.

[mcm001]

Can you uncommit the stuff in .gradle?