From f9fa2922608952e9dc7ebaddb101b7c1ecdf5226 Mon Sep 17 00:00:00 2001
From: Unknown <oriagranat9@gmail.com>
Date: Wed, 27 May 2020 21:36:36 +0300
Subject: [PATCH] added target offset test

---
 .../pipeline/AdvancedPipelineSettings.java    |  1 -
 .../vision/pipeline/ReflectivePipeline.java   |  3 +--
 .../vision/target/TargetCalculationsTest.java | 22 +++++++++++++++++--
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
index 034adf34f..57837bdef 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/AdvancedPipelineSettings.java
@@ -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 {
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
index 421bc260a..60a95dc56 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/common/vision/pipeline/ReflectivePipeline.java
@@ -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);
 
diff --git a/chameleon-server/src/test/java/com/chameleonvision/common/vision/target/TargetCalculationsTest.java b/chameleon-server/src/test/java/com/chameleonvision/common/vision/target/TargetCalculationsTest.java
index 67d1a69eb..0a7a2eeac 100644
--- a/chameleon-server/src/test/java/com/chameleonvision/common/vision/target/TargetCalculationsTest.java
+++ b/chameleon-server/src/test/java/com/chameleonvision/common/vision/target/TargetCalculationsTest.java
@@ -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");
+    }
 }