Replace convex isosceles trapezoid check with a simple convexity check (roll no longer generally zero unless at least 2-axis gimbal).

Author: hmakelin

gisnav/geo.py

@@ -208,38 +208,47 @@ def __init__(self, corners: np.ndarray, crs: str = _GeoObject.DEFAULT_CRS):
 
     def __post_init__(self):
         """Post-initialization validity checks"""
-        if not (self._geoseries[0].is_valid and self._is_convex_isosceles_trapezoid()):
-            raise GeoValueError(f'Not a valid convex isosceles trapezoid: {self._geoseries[0]}')
+        #if not (self._geoseries[0].is_valid and self._is_convex_isosceles_trapezoid()):
+        #    raise GeoValueError(f'Not a valid convex isosceles trapezoid: {self._geoseries[0]}')
+        if not (self._geoseries[0].is_valid and not self._is_convex()):
+            raise GeoValueError(f'Not a valid convex trapezoid: {self._geoseries[0]}')
 
-    def _is_convex_isosceles_trapezoid(self, diagonal_length_tolerance: float = 0.1) -> bool:
-        """Returns True if the quadrilateral is a convex isosceles trapezoid
+    def _is_convex(self) -> bool:
+        """Returns True if the geoseries is convex
 
-        .. note::
-            If the estimated field of view (FOV) is not a convex isosceles trapezoid, it is a sign that (1) the match
-            was bad or (2) the gimbal the camera is mounted on has not had enough time to stabilize (camera has
-            non-zero roll). Matches where the FOV is not a convex isosceles trapezoid should be rejected assuming we
-            can't tell (1) from (2) and that it is better to wait for a good position estimate than to use a bad one.
-
-        .. seealso::
-            :func:`.create_src_corners` for the assumed order of the quadrilateral corners.
-
-        :param diagonal_length_tolerance: Tolerance for relative length difference between trapezoid diagonals
-        :return: True if the quadrilateral is a convex isosceles trapezoid
+        :return: True if the geoseries is convex
         """
-        ul, ll, lr, ur = tuple(map(lambda pt: pt.squeeze().tolist(), self.coords))
-
-        # Check convexity (exclude self-crossing trapezoids)
-        # Note: inverted y-axis, origin at upper left corner of image
-        if not (ul[0] < ur[0] and ul[1] < ll[1] and lr[0] > ll[0] and lr[1] > ur[1]):
-            return False
-
-        # Check diagonals same length within tolerance
-        ul_lr_length = math.sqrt((ul[0] - lr[0]) ** 2 + (ul[1] - lr[1]) ** 2)
-        ll_ur_length = math.sqrt((ll[0] - ur[0]) ** 2 + (ll[1] - ur[1]) ** 2)
-        if abs((ul_lr_length / ll_ur_length) - 1) > diagonal_length_tolerance:
-            return False
-
-        return True
+        return self._geoseries[0].bounds == self._geoseries[0].convex_hull.bounds
+
+    #def _is_convex_isosceles_trapezoid(self, diagonal_length_tolerance: float = 0.1) -> bool:
+    #    """Returns True if the quadrilateral is a convex isosceles trapezoid
+    #
+    #    .. note::
+    #        If the estimated field of view (FOV) is not a convex isosceles trapezoid, it is a sign that (1) the match
+    #        was bad or (2) the gimbal the camera is mounted on has not had enough time to stabilize (camera has
+    #        non-zero roll). Matches where the FOV is not a convex isosceles trapezoid should be rejected assuming we
+    #        can't tell (1) from (2) and that it is better to wait for a good position estimate than to use a bad one.
+    #
+    #    .. seealso::
+    #        :func:`.create_src_corners` for the assumed order of the quadrilateral corners.
+    #
+    #    :param diagonal_length_tolerance: Tolerance for relative length difference between trapezoid diagonals
+    #    :return: True if the quadrilateral is a convex isosceles trapezoid
+    #    """
+    #    ul, ll, lr, ur = tuple(map(lambda pt: pt.squeeze().tolist(), self.coords))
+    #
+    #    # Check convexity (exclude self-crossing trapezoids)
+    #    # Note: inverted y-axis, origin at upper left corner of image
+    #    if not (ul[0] < ur[0] and ul[1] < ll[1] and lr[0] > ll[0] and lr[1] > ur[1]):
+    #        return False
+    #
+    #    # Check diagonals same length within tolerance
+    #    ul_lr_length = math.sqrt((ul[0] - lr[0]) ** 2 + (ul[1] - lr[1]) ** 2)
+    #    ll_ur_length = math.sqrt((ll[0] - ur[0]) ** 2 + (ll[1] - ur[1]) ** 2)
+    #    if abs((ul_lr_length / ll_ur_length) - 1) > diagonal_length_tolerance:
+    #        return False
+    #
+    #    return True
 
 
 class GeoValueError(ValueError):