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added target offset test

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2020-05-27 21:36:36 +03:00
parent 9756420ce3
commit f9fa292260
3 changed files with 21 additions and 5 deletions
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1
chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
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@@ -6,7 +6,6 @@ import com.chameleonvision.common.vision.opencv.ContourSortMode;
import com.chameleonvision.common.vision.target.RobotOffsetPointMode;
import com.chameleonvision.common.vision.target.TargetOffsetPointEdge;
import com.chameleonvision.common.vision.target.TargetOrientation;
import com.fasterxml.jackson.annotation.JsonIgnore;
public class AdvancedPipelineSettings extends CVPipelineSettings {

3
chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
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@@ -62,8 +62,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
rotateImagePipe.setParams(rotateImageParams);
ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
new ErodeDilatePipe.ErodeDilateParams(
settings.erode, settings.dilate, 5);
new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
// TODO: add kernel size to pipeline settings
erodeDilatePipe.setParams(erodeDilateParams);

22
chameleon-server/src/test/java/com/chameleonvision/common/vision/target/TargetCalculationsTest.java
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@@ -2,9 +2,10 @@ package com.chameleonvision.common.vision.target;
import static org.junit.jupiter.api.Assertions.assertEquals;
import com.chameleonvision.common.util.TestUtils;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.opencv.core.Point;
import org.opencv.core.Size;
import org.opencv.core.*;
public class TargetCalculationsTest {
@@ -13,6 +14,11 @@ public class TargetCalculationsTest {
private static double CameraHorizontalFocalLength = 61;
private static double CameraVerticalFocalLength = 34.3;
@BeforeEach
public void Init() {
TestUtils.loadLibraries();
}
@Test
public void yawTest() {
var targetPixelOffsetX = 100;
@@ -36,4 +42,16 @@ public class TargetCalculationsTest {
assertEquals(2.607, pitch, 0.025, "Pitch not as expected");
}
@Test
public void targetOffsetTest() {
Point center = new Point(0, 0);
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");
}
}