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Rotate all solvePNP-ed poses to be 180 about Z facing camera (#500)

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* Rotate all solvePNP-ed poses to be 180 about Z facing camera

* Run spotless

* Fix test coordinate systems
This commit is contained in:
Matt
2022-10-16 20:48:30 -04:00
committed by GitHub
parent 5540bbf115
commit 07904589df
6 changed files with 38 additions and 22 deletions
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13
photon-server/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
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@@ -79,15 +79,14 @@ public class AprilTagTest {
var objZ = new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getX();
System.out.printf("Object x %.2f y %.2f z %.2f\n", objX, objY, objZ);
// We expect the object X axis to be to the right, or negative-Y in world space
// We expect the object X to be forward, or -X in world space
Assertions.assertEquals(
-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getY(), 0.08);
// We expect the object Y axis to be up, or +Z in world space
-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
// We expect the object Y axis to be right, or negative-Y in world space
Assertions.assertEquals(
1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getZ(), 0.08);
// We expect the object Z axis to towards the camera, or negative-X in world space
Assertions.assertEquals(
-1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getX(), 0.08);
-1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
// We expect the object Z axis to be up, or +Z in world space
Assertions.assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
}
private static void printTestResults(CVPipelineResult pipelineResult) {