Open Poppeseed opened 8 years ago
Looking into it a bit further, if you could publish a report of the actual points after a ConvexHull contour, it would likely solve this.
Yeah, I don't think there's a simple, efficient solution for finding bounding quadrilaterals. Publishing a list of points might be good, but I don't think NetworkTables supports 2D arrays, and even if it did array sizes are limited to 255 elements.
Maybe we can extract a single contour at a time and publish up to 255 x/y coords?
Yeah, without 2D arrays you'd be pretty limited. Having a criteria selection available (min/max area/width/height/etc) would probably work.
NetworkTables 3 can also send raw data, so GRIP could create their own raw data type for sending more complicated arrays. I would require code on the team end to decode, but at least the teams could get the data.
Since the Publish ContoursReport operation uses the boundingRect, any time you are not facing the target directly head on the report is a bit inaccurate. I'm not well-versed in OpenCV, but it seems the only way to currently get this sort of information is the Publish LinesReport operation, or a combination of the two.
Is it possible to add a new Publish ContoursReport operation that bounds using a quadrilateral instead of a rectangle?