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PhotonVision · Nov 11, 2024 · 07e4ddc · 07e4ddc
1 parent 177df76
commit 07e4ddc
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Showing 3 changed files with 10 additions and 12 deletions.
diff --git a/photon-lib/py/photonlibpy/estimation/openCVHelp.py b/photon-lib/py/photonlibpy/estimation/openCVHelp.py
@@ -1,5 +1,5 @@
 import math
-from typing import Any, Tuple
+from typing import Any
 
 import cv2 as cv
 import numpy as np
@@ -126,8 +126,8 @@ def solvePNP_Square(
         objectMat = np.array(OpenCVHelp.translationToTVec(modelTrls))
 
         alt: Transform3d | None = None
-        reprojectionError : cv.typing.MatLike | None = None
-        best : Transform3d = Transform3d()
+        reprojectionError: cv.typing.MatLike | None = None
+        best: Transform3d = Transform3d()
         alt: Transform3d | None = None
 
         for tries in range(2):
@@ -149,7 +149,9 @@ def solvePNP_Square(
                     OpenCVHelp.rVecToRotation(rvecs[1]),
                 )
 
-            if reprojectionError is not None and not math.isnan(reprojectionError[0, 0]):
+            if reprojectionError is not None and not math.isnan(
+                reprojectionError[0, 0]
+            ):
                 break
             else:
                 pt = imagePoints[0]
@@ -160,7 +162,7 @@ def solvePNP_Square(
         if reprojectionError is None or math.isnan(reprojectionError[0, 0]):
             print("SolvePNP_Square failed!")
             return None
-        
+
         if alt:
             return PnpResult(
                 best=best,

diff --git a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
@@ -216,9 +216,7 @@ def distance(target: VisionTargetSim):
 
         targets.sort(key=distance, reverse=True)
 
-        visibleTgts: list[
-            typing.Tuple[VisionTargetSim, np.ndarray]
-        ] = []
+        visibleTgts: list[typing.Tuple[VisionTargetSim, np.ndarray]] = []
         detectableTgts: list[PhotonTrackedTarget] = []
 
         camRt = RotTrlTransform3d.makeRelativeTo(cameraPose)
@@ -271,7 +269,7 @@ def distance(target: VisionTargetSim):
                     if i != t and i != l and i != b:
                         r = i
                 rect = cv.RotatedRect(
-                    (center[0,0], center[0,1]),
+                    (center[0, 0], center[0, 1]),
                     (
                         imagePoints[r, 0, 0] - lc[0, 0],
                         imagePoints[b, 0, 1] - imagePoints[t, 0, 1],

diff --git a/photon-lib/py/photonlibpy/simulation/simCameraProperties.py b/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
@@ -172,9 +172,7 @@ def getLatencyStdDev(self) -> seconds:
         return self.latencyStdDev
 
     def getContourAreaPercent(self, points: np.ndarray) -> float:
-        return (
-            cv.contourArea(cv.convexHull(points)) / self.getResArea() * 100.0
-        )
+        return cv.contourArea(cv.convexHull(points)) / self.getResArea() * 100.0
 
     def getPixelYaw(self, pixelX: float) -> Rotation2d:
         fx = self.camIntrinsics[0, 0]