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[wpiutil,cscore,apriltag] Fix RawFrame (wpilibsuite#6098)
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34 changes: 34 additions & 0 deletions
34
apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagGenerationTest.java
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// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
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package edu.wpi.first.apriltag; | ||
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import static org.junit.jupiter.api.Assertions.assertEquals; | ||
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import edu.wpi.first.util.PixelFormat; | ||
import org.junit.jupiter.api.Test; | ||
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class AprilTagGenerationTest { | ||
@Test | ||
void test36h11() { | ||
var frame = AprilTag.generate36h11AprilTagImage(1); | ||
assertEquals(PixelFormat.kGray, frame.getPixelFormat()); | ||
assertEquals(10, frame.getWidth()); | ||
assertEquals(10, frame.getHeight()); | ||
int stride = frame.getStride(); | ||
assertEquals(stride * 10, frame.getSize()); | ||
// check the diagonal values | ||
var data = frame.getData(); | ||
assertEquals(-1, data.get(stride * 0 + 0)); // outer border is white | ||
assertEquals(0, data.get(stride * 1 + 1)); // inner border is black | ||
assertEquals(-1, data.get(stride * 2 + 2)); | ||
assertEquals(-1, data.get(stride * 3 + 3)); | ||
assertEquals(-1, data.get(stride * 4 + 4)); | ||
assertEquals(0, data.get(stride * 5 + 5)); | ||
assertEquals(0, data.get(stride * 6 + 6)); | ||
assertEquals(-1, data.get(stride * 7 + 7)); | ||
assertEquals(0, data.get(stride * 8 + 8)); // inner border | ||
assertEquals(-1, data.get(stride * 9 + 9)); // outer border | ||
} | ||
} |
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