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Add skew calculation support (#36)

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This is a breaking change to PhotonLib.
This commit is contained in:
Matt
2020-07-16 17:50:40 -07:00
committed by GitHub
parent 7bf5142fad
commit 061385f0b6
8 changed files with 107 additions and 215 deletions
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78
photon-server/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
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@@ -23,6 +23,7 @@ import org.apache.commons.math3.util.FastMath;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.opencv.core.*;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.frame.FrameStaticProperties;
@@ -93,4 +94,81 @@ public class TargetCalculationsTest {
assertEquals(4.3, result.x, 0.33, "Target offset x not as expected");
assertEquals(2.5, result.y, 0.05, "Target offset Y not as expected");
}
@Test
public void testSkewCalculation() {
// Setup
var isLandscape = true;
var rect = new RotatedRect(new Point(), new Size(10, 5), -10);
// Compute min area rect
var points = new Point[4];
rect.points(points);
var mat2f = new MatOfPoint2f(points);
var minAreaRect = Imgproc.minAreaRect(mat2f);
// Assert result
var result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(-10, result, 0.01);
// Setup
isLandscape = true;
rect = new RotatedRect(new Point(), new Size(10, 5), -70);
// Compute min area rect
points = new Point[4];
rect.points(points);
mat2f.release();
mat2f = new MatOfPoint2f(points);
minAreaRect = Imgproc.minAreaRect(mat2f);
// Assert result
result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(-70, result, 0.01);
// Setup
isLandscape = false;
rect = new RotatedRect(new Point(), new Size(5, 10), 10);
// Compute min area rect
points = new Point[4];
rect.points(points);
mat2f.release();
mat2f = new MatOfPoint2f(points);
minAreaRect = Imgproc.minAreaRect(mat2f);
// Assert result
result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(10, result, 0.01);
// Setup
isLandscape = false;
rect = new RotatedRect(new Point(), new Size(5, 10), 70);
// Compute min area rect
points = new Point[4];
rect.points(points);
mat2f.release();
mat2f = new MatOfPoint2f(points);
minAreaRect = Imgproc.minAreaRect(mat2f);
// Assert result
result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(70, result, 0.01);
// Setup
isLandscape = false;
rect = new RotatedRect(new Point(), new Size(5, 10), -70);
// Compute min area rect
points = new Point[4];
rect.points(points);
mat2f.release();
mat2f = new MatOfPoint2f(points);
minAreaRect = Imgproc.minAreaRect(mat2f);
// Assert result
result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(-70, result, 0.01);
}
}