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Add Python test harness for openCVHelp class (#1557)

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This commit is contained in:
Lucien Morey
2024-11-15 03:10:08 +11:00
committed by GitHub
parent c04e13ef93
commit c50c657193
7 changed files with 450 additions and 12 deletions
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25
photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
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@@ -24,9 +24,32 @@ class RotTrlTransform3d:
def getRotation(self) -> Rotation3d:
return self.rot
def apply(self, trlToApply: Translation3d) -> Translation3d:
def applyTranslation(self, trlToApply: Translation3d) -> Translation3d:
return trlToApply.rotateBy(self.rot) + self.trl
def applyRotation(self, rotToApply: Rotation3d) -> Rotation3d:
return rotToApply + self.rot
def applyPose(self, poseToApply: Pose3d) -> Pose3d:
return Pose3d(
self.applyTranslation(poseToApply.translation()),
self.applyRotation(poseToApply.rotation()),
)
def applyTrls(self, rots: list[Rotation3d]) -> list[Rotation3d]:
retVal: list[Rotation3d] = []
for rot in rots:
retVal.append(self.applyRotation(rot))
return retVal
@classmethod
def makeRelativeTo(cls, pose: Pose3d) -> Self:
return cls(pose.rotation(), pose.translation()).inverse()
@classmethod
def makeBetweenPoses(cls, initial: Pose3d, last: Pose3d) -> Self:
return cls(
last.rotation() - initial.rotation(),
last.translation()
- initial.translation().rotateBy(last.rotation() - initial.rotation()),
)

2
photon-lib/py/photonlibpy/estimation/targetModel.py
View File

@@ -107,7 +107,7 @@ class TargetModel:
retVal = []
for vert in self.vertices:
retVal.append(basisChange.apply(vert))
retVal.append(basisChange.applyTranslation(vert))
return retVal

6
photon-lib/py/photonlibpy/simulation/simCameraProperties.py
View File

@@ -226,8 +226,8 @@ class SimCameraProperties:
def getVisibleLine(
self, camRt: RotTrlTransform3d, a: Translation3d, b: Translation3d
) -> typing.Tuple[float | None, float | None]:
relA = camRt.apply(a)
relB = camRt.apply(b)
relA = camRt.applyTranslation(a)
relB = camRt.applyTranslation(b)
if relA.X() <= 0.0 and relB.X() <= 0.0:
return (None, None)
@@ -279,7 +279,7 @@ class SimCameraProperties:
ipts[i] = None
break
if not ipts[i]:
if ipts[i] is None:
continue
for j in range(i - 1, 0 - 1):