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Fix offset point bug (#445)

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Fixes bug where offset point can be wrong
This commit is contained in:
Matt
2022-03-16 21:38:47 -07:00
committed by GitHub
parent 54fdd1db51
commit f4555dc545
2 changed files with 30 additions and 18 deletions
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29
photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
View File

@@ -54,26 +54,27 @@ public class TargetCalculations {
minAreaRect.points(vertices);
Point bl = getMiddle(vertices[0], vertices[1]);
Point tl = getMiddle(vertices[1], vertices[2]);
Point tr = getMiddle(vertices[2], vertices[3]);
Point br = getMiddle(vertices[3], vertices[0]);
boolean orientation;
if (isLandscape) {
orientation = minAreaRect.size.width > minAreaRect.size.height;
} else {
orientation = minAreaRect.size.width < minAreaRect.size.height;
}
Point bottom = getMiddle(vertices[0], vertices[1]);
Point left = getMiddle(vertices[1], vertices[2]);
Point top = getMiddle(vertices[2], vertices[3]);
Point right = getMiddle(vertices[3], vertices[0]);
boolean orientationCorrect = minAreaRect.size.width > minAreaRect.size.height;
if (!isLandscape) orientationCorrect = !orientationCorrect;
switch (offsetRegion) {
case Top:
return orientation ? tl : tr;
if (orientationCorrect) return (left.y < right.y) ? left : right;
else return (top.y < bottom.y) ? top : bottom;
case Bottom:
return orientation ? br : bl;
if (orientationCorrect) return (left.y > right.y) ? left : right;
else return (top.y > bottom.y) ? top : bottom;
case Left:
return orientation ? bl : tl;
if (orientationCorrect) return (top.x < bottom.x) ? top : bottom;
else return (left.x < right.x) ? left : right;
case Right:
return orientation ? tr : br;
if (orientationCorrect) return (top.x > bottom.x) ? top : bottom;
else return (left.x > right.x) ? left : right;
default:
return minAreaRect.center;
}

19
photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
View File

@@ -92,10 +92,21 @@ public class TargetCalculationsTest {
Size rectSize = new Size(10, 5);
double angle = 30;
RotatedRect rect = new RotatedRect(center, rectSize, angle);
Point result =
TargetCalculations.calculateTargetOffsetPoint(false, TargetOffsetPointEdge.Top, rect);
assertEquals(4.3, result.x, 0.33, "Target offset x not as expected");
assertEquals(2.5, result.y, 0.05, "Target offset Y not as expected");
// We pretend like x/y are in pixels, so the "top" is actually the bottom
var result =
TargetCalculations.calculateTargetOffsetPoint(true, TargetOffsetPointEdge.Top, rect);
assertEquals(1.25, result.x, 0.1, "Target offset x not as expected");
assertEquals(-2.17, result.y, 0.1, "Target offset Y not as expected");
result =
TargetCalculations.calculateTargetOffsetPoint(true, TargetOffsetPointEdge.Bottom, rect);
assertEquals(-1.25, result.x, 0.1, "Target offset x not as expected");
assertEquals(2.17, result.y, 0.1, "Target offset Y not as expected");
}
public static void main(String[] args) {
TestUtils.loadLibraries();
new TargetCalculationsTest().targetOffsetTest();
}
@Test