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[OpenCVHelp] Use correct Rotation3d constructor (#934)

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This fixes a occasional division by zero
This commit is contained in:
Matt
2023-10-09 09:44:45 -04:00
committed by GitHub
parent 2881741226
commit 6e8e3a0cba
1 changed files with 5 additions and 6 deletions
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11
photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java
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@@ -27,7 +27,7 @@ package org.photonvision.estimation;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
@@ -142,16 +142,15 @@ public final class OpenCVHelp {
* @param rvecInput The rvec to create a Rotation3d from
*/
public static Rotation3d rvecToRotation(Mat rvecInput) {
// Get the 'rodriguez' (axis-angle, where the norm is the angle about the normalized direction
// of the vector)
float[] data = new float[3];
var wrapped = new Mat(rvecInput.rows(), rvecInput.cols(), CvType.CV_32F);
rvecInput.convertTo(wrapped, CvType.CV_32F);
wrapped.get(0, 0, data);
wrapped.release();
Vector<N3> axis = new Vector<>(Nat.N3());
axis.set(0, 0, data[0]);
axis.set(1, 0, data[1]);
axis.set(2, 0, data[2]);
return rotationEDNtoNWU(new Rotation3d(axis.div(axis.norm()), axis.norm()));
return rotationEDNtoNWU(new Rotation3d(VecBuilder.fill(data[0], data[1], data[2])));
}
public static Point avgPoint(Point[] points) {