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Fix misplaced crosshair when rotated +-90 degrees (#646)

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This commit is contained in:
Chris Gerth
2022-12-24 18:57:26 -06:00
committed by GitHub
parent 4fd7533456
commit 96006fc501
4 changed files with 21 additions and 5 deletions
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18
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
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@@ -27,6 +27,7 @@ import org.photonvision.common.util.ColorHelper;
import org.photonvision.vision.frame.FrameDivisor;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.DualOffsetValues;
import org.photonvision.vision.opencv.ImageRotationMode;
import org.photonvision.vision.pipe.MutatingPipe;
import org.photonvision.vision.target.RobotOffsetPointMode;
import org.photonvision.vision.target.TargetCalculations;
@@ -46,6 +47,13 @@ public class Draw2dCrosshairPipe
double y = params.frameStaticProperties.centerY;
double scale = params.frameStaticProperties.imageWidth / (double) params.divisor.value / 32.0;
if (this.params.rotMode == ImageRotationMode.DEG_270
|| this.params.rotMode == ImageRotationMode.DEG_90) {
var tmp = x;
x = y;
y = tmp;
}
switch (params.robotOffsetPointMode) {
case Single:
if (params.singleOffsetPoint.x != 0 && params.singleOffsetPoint.y != 0) {
@@ -87,15 +95,19 @@ public class Draw2dCrosshairPipe
public final boolean shouldDraw;
public final FrameStaticProperties frameStaticProperties;
public final ImageRotationMode rotMode;
public final RobotOffsetPointMode robotOffsetPointMode;
public final Point singleOffsetPoint;
public final DualOffsetValues dualOffsetValues;
private final FrameDivisor divisor;
public Draw2dCrosshairParams(
FrameStaticProperties frameStaticProperties, FrameDivisor divisor) {
FrameStaticProperties frameStaticProperties,
FrameDivisor divisor,
ImageRotationMode rotMode) {
shouldDraw = true;
this.frameStaticProperties = frameStaticProperties;
this.rotMode = rotMode;
robotOffsetPointMode = RobotOffsetPointMode.None;
singleOffsetPoint = new Point();
dualOffsetValues = new DualOffsetValues();
@@ -108,13 +120,15 @@ public class Draw2dCrosshairPipe
Point singleOffsetPoint,
DualOffsetValues dualOffsetValues,
FrameStaticProperties frameStaticProperties,
FrameDivisor divisor) {
FrameDivisor divisor,
ImageRotationMode rotMode) {
this.shouldDraw = shouldDraw;
this.frameStaticProperties = frameStaticProperties;
this.robotOffsetPointMode = robotOffsetPointMode;
this.singleOffsetPoint = singleOffsetPoint;
this.dualOffsetValues = dualOffsetValues;
this.divisor = divisor;
this.rotMode = rotMode;
}
}
}

3
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
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@@ -182,7 +182,8 @@ public class ColoredShapePipeline
settings.offsetSinglePoint,
dualOffsetValues,
frameStaticProperties,
settings.streamingFrameDivisor);
settings.streamingFrameDivisor,
settings.inputImageRotationMode);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
var draw3dTargetsParams =

2
photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
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@@ -50,7 +50,7 @@ public class DriverModePipeline
Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
new Draw2dCrosshairPipe.Draw2dCrosshairParams(
frameStaticProperties, settings.streamingFrameDivisor);
frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
resizeImagePipe.setParams(

3
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
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@@ -74,7 +74,8 @@ public class OutputStreamPipeline {
settings.offsetSinglePoint,
dualOffsetValues,
frameStaticProperties,
settings.streamingFrameDivisor);
settings.streamingFrameDivisor,
settings.inputImageRotationMode);
draw2dCrosshairPipe.setParams(draw2dCrosshairParams);
var draw3dTargetsParams =