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

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Merged
mcm001 merged 3 commits into from
Apr 29, 2025
Merged

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

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6d40a0e
change VideoSimUtil corner order
amquake Apr 15, 2025
8817dcf
format
amquake Apr 15, 2025
019e264
cpp
amquake Apr 15, 2025
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8 changes: 5 additions & 3 deletions photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
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Original file line number Diff line number Diff line change
Expand Up @@ -85,14 +85,16 @@ public static void updateVideoProp(CvSource video, SimCameraProperties prop) {
* 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)
};
}

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6 changes: 3 additions & 3 deletions photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
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Expand Up @@ -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;
}

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