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[photon-lib] Fix incorrect tag visualization transforms (#1899)

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## Description

Fixes #1239

Tag image corners used in `VideoSimUtil` did not match the expected
corner order returned by the detection pipeline of [BL, BR, TR, TL],
causing the tag image to appear flipped.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [x] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR addresses a bug, a regression test for it is added
This commit is contained in:
Nolan Brown
2025-04-29 15:06:59 -07:00
committed by GitHub
parent c1b0c8a831
commit ae9f73130f
2 changed files with 8 additions and 6 deletions
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8
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
View File

@@ -84,14 +84,16 @@ public class VideoSimUtil {
* through a Mat, the point (0,0) actually represents the center of the top-left pixel and not the
* actual top-left corner.
*
* <p>Order of corners returned is: [BL, BR, TR, TL]
*
* @param size Size of image
*/
public static Point[] getImageCorners(Size size) {
return new Point[] {
new Point(-0.5, -0.5),
new Point(size.width - 0.5, -0.5),
new Point(-0.5, size.height - 0.5),
new Point(size.width - 0.5, size.height - 0.5),
new Point(-0.5, size.height - 0.5)
new Point(size.width - 0.5, -0.5),
new Point(-0.5, -0.5)
};
}

6
photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
View File

@@ -76,10 +76,10 @@ static std::unordered_map<int, cv::Mat> LoadAprilTagImages() {
static std::vector<cv::Point2f> GetImageCorners(const cv::Size& size) {
std::vector<cv::Point2f> retVal{};
retVal.emplace_back(cv::Point2f{-0.5f, -0.5f});
retVal.emplace_back(cv::Point2f{size.width - 0.5f, -0.5f});
retVal.emplace_back(cv::Point2f{size.width - 0.5f, size.height - 0.5f});
retVal.emplace_back(cv::Point2f{-0.5f, size.height - 0.5f});
retVal.emplace_back(cv::Point2f{size.width - 0.5f, size.height - 0.5f});
retVal.emplace_back(cv::Point2f{size.width - 0.5f, -0.5f});
retVal.emplace_back(cv::Point2f{-0.5f, -0.5f});
return retVal;
}