From 971ff3ac40615e86409434ed07074d7bb79a0053 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 31 Mar 2022 22:51:14 -0400
Subject: [PATCH] Calculate aspect ratio using rotated rect (#447)

---
 .../src/views/PipelineViews/ContoursTab.vue     | 16 ++++++++++++++++
 .../vision/pipe/impl/FilterContoursPipe.java    | 13 ++++++-------
 .../vision/pipeline/ReflectivePipeline.java     |  4 +++-
 .../vision/target/TargetCalculations.java       | 17 +++++++++++++++++
 4 files changed, 42 insertions(+), 8 deletions(-)

diff --git a/photon-client/src/views/PipelineViews/ContoursTab.vue b/photon-client/src/views/PipelineViews/ContoursTab.vue
index 364bd6968..d04de02de 100644
--- a/photon-client/src/views/PipelineViews/ContoursTab.vue
+++ b/photon-client/src/views/PipelineViews/ContoursTab.vue
@@ -18,6 +18,14 @@
       step="0.1"
       @input="handlePipelineData('contourRatio')"
     />
+    <CVselect
+        v-model="contourTargetOrientation"
+        name="Target Orientation"
+        tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+        :list="['Portrait', 'Landscape']"
+        @input="handlePipelineData('contourTargetOrientation')"
+        @rollback="e=> rollback('contourTargetOrientation', e)"
+    />
     <CVrangeSlider
       v-if="currentPipelineType() !== 3"
       v-model="contourFullness"
@@ -203,6 +211,14 @@ export default {
         this.$store.commit("mutatePipeline", {"contourRatio": val});
       }
     },
+    contourTargetOrientation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourTargetOrientation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourTargetOrientation": val});
+      }
+    },
     contourFullness: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourFullness
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
index 19409c9d6..8ebd78d03 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
@@ -18,16 +18,14 @@
 package org.photonvision.vision.pipe.impl;
 
 import java.util.ArrayList;
-import java.util.Comparator;
 import java.util.List;
-import java.util.stream.Collectors;
-import org.opencv.core.Rect;
+
 import org.opencv.core.RotatedRect;
-import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.target.TargetCalculations;
 
 public class FilterContoursPipe
         extends CVPipe<List<Contour>, List<Contour>, FilterContoursPipe.FilterContoursParams> {
@@ -114,8 +112,7 @@ public class FilterContoursPipe
         if (contourArea <= minFullness || contourArea >= maxFullness) return;
 
         // Aspect Ratio Filtering.
-        Rect boundingRect = contour.getBoundingRect();
-        double aspectRatio = (double) boundingRect.width / boundingRect.height;
+        double aspectRatio = TargetCalculations.getAspectRatio(contour.getMinAreaRect(), params.isLandscape);
         if (aspectRatio < params.getRatio().getFirst() || aspectRatio > params.getRatio().getSecond())
             return;
 
@@ -129,6 +126,7 @@ public class FilterContoursPipe
         private final FrameStaticProperties m_frameStaticProperties;
         private final double xTol; // IQR tolerance for x
         private final double yTol; // IQR tolerance for x
+        public final boolean isLandscape;
 
         public FilterContoursParams(
                 DoubleCouple area,
@@ -136,13 +134,14 @@ public class FilterContoursPipe
                 DoubleCouple extent,
                 FrameStaticProperties camProperties,
                 double xTol,
-                double yTol) {
+                double yTol, boolean isLandscape) {
             this.m_area = area;
             this.m_ratio = ratio;
             this.m_fullness = extent;
             this.m_frameStaticProperties = camProperties;
             this.xTol = xTol;
             this.yTol = yTol;
+            this.isLandscape = isLandscape;
         }
 
         public DoubleCouple getArea() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index ac7476bed..f3da480ed 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -30,6 +30,7 @@ import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.PotentialTarget;
+import org.photonvision.vision.target.TargetOrientation;
 import org.photonvision.vision.target.TrackedTarget;
 
 /** Represents a pipeline for tracking retro-reflective targets. */
@@ -102,7 +103,8 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                         settings.contourFullness,
                         frameStaticProperties,
                         settings.contourFilterRangeX,
-                        settings.contourFilterRangeY);
+                        settings.contourFilterRangeY,
+                        settings.contourTargetOrientation == TargetOrientation.Landscape);
         filterContoursPipe.setParams(filterContoursParams);
 
         var groupContoursParams =
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
index a58be5f8b..2079abc56 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
@@ -111,6 +111,23 @@ public class TargetCalculations {
         }
     }
 
+    public static double getAspectRatio(RotatedRect rect, boolean isLandscape) {
+        if (rect.size.width == 0 || rect.size.height == 0) return 0;
+        double ratio = rect.size.width / rect.size.height;
+
+        // In landscape, we should be shorter than we are wide (that is, aspect ratio should be >1)
+        if (isLandscape && ratio < 1) {
+            ratio = 1.0 / ratio;
+        }
+
+        // If portrait, should always be taller than wide (ratio < 1)
+        else if (!isLandscape && ratio > 1) {
+            ratio = 1.0 / ratio;
+        }
+
+        return ratio;
+    }
+
     public static Point calculateDualOffsetCrosshair(
             DualOffsetValues dualOffsetValues, double currentArea) {
         boolean firstLarger = dualOffsetValues.firstPointArea >= dualOffsetValues.secondPointArea;