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https://github.com/PhotonVision/photonvision
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Clean up TargetModel.java (#2460)
## Description `TargetModel.java` had some leftover code from #139 still present. This cleans up everything unused and also consolidates some redundant code to make the class more readable. ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_, including events that led to this PR - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [x] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends) - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added - [ ] If this PR adds a dependency, the license has been checked for compatibility and steps taken to follow it --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Alan Everett
@@ -69,97 +69,28 @@ public enum TargetModel implements Releasable {
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new Point3(Units.inchesToMeters(-19.625), Units.inchesToMeters(-8.5), 0),
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new Point3(Units.inchesToMeters(19.625), Units.inchesToMeters(-8.5), 0)),
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Units.inchesToMeters(12)),
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kCircularPowerCell7in(
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List.of(
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new Point3(
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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-Units.inchesToMeters(7) / 2,
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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Units.inchesToMeters(7) / 2,
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2)),
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0),
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k2022CircularCargoBall(
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List.of(
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new Point3(
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-Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2),
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new Point3(
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-Units.inchesToMeters(9.5) / 2,
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Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2),
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new Point3(
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Units.inchesToMeters(9.5) / 2,
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Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2),
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new Point3(
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Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2,
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-Units.inchesToMeters(9.5) / 2)),
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0),
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k2025Algae(
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List.of(
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new Point3(
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-Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2),
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new Point3(
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-Units.inchesToMeters(16.25) / 2,
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Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2),
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new Point3(
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Units.inchesToMeters(16.25) / 2,
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Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2),
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new Point3(
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Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2,
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-Units.inchesToMeters(16.25) / 2)),
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0),
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kCircularPowerCell7in(circleTargetCorners(Units.inchesToMeters(7)), 0),
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k2022CircularCargoBall(circleTargetCorners(Units.inchesToMeters(9.5)), 0),
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k2025Algae(circleTargetCorners(Units.inchesToMeters(16.25)), 0),
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// 2023 AprilTag, with 6 inch marker width (inner black square).
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// MIGRATION: 2023
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@Json.Alias({"k6in_16h5"})
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kAprilTag6in_16h5(
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// Corners of the tag's inner black square (excluding white border)
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List.of(
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new Point3(Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
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new Point3(-Units.inchesToMeters(3), Units.inchesToMeters(3), 0),
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new Point3(-Units.inchesToMeters(3), -Units.inchesToMeters(3), 0),
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new Point3(Units.inchesToMeters(3), -Units.inchesToMeters(3), 0)),
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Units.inchesToMeters(3 * 2)),
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squareTargetCorners(Units.inchesToMeters(6)), Units.inchesToMeters(6)),
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// 2024 AprilTag, with 6.5 inch marker width (inner black square).
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// MIGRATION: 2023
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@Json.Alias({"k6p5in_36h11", "k200mmAprilTag", "kAruco6p5in_36h11"})
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kAprilTag6p5in_36h11(
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// Corners of the tag's inner black square (excluding white border)
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List.of(
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new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
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Units.inchesToMeters(6.5));
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squareTargetCorners(Units.inchesToMeters(6.5)), Units.inchesToMeters(6.5));
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@Json.Ignore private final MatOfPoint3f realWorldTargetCoordinates;
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@Json.Ignore private final MatOfPoint3f visualizationBoxBottom = new MatOfPoint3f();
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@Json.Ignore private final MatOfPoint3f visualizationBoxTop = new MatOfPoint3f();
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private List<Point3> realWorldCoordinatesArray;
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private double boxHeight;
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TargetModel(MatOfPoint3f realWorldTargetCoordinates, double boxHeight) {
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this.realWorldTargetCoordinates = realWorldTargetCoordinates;
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this.realWorldCoordinatesArray = realWorldTargetCoordinates.toList();
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this.boxHeight = boxHeight;
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var bottomList = realWorldTargetCoordinates.toList();
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var topList = new ArrayList<Point3>();
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@@ -175,22 +106,6 @@ public enum TargetModel implements Releasable {
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this(listToMat(realWorldCoordinatesArray), boxHeight);
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}
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public List<Point3> getRealWorldCoordinatesArray() {
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return this.realWorldCoordinatesArray;
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}
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public double getBoxHeight() {
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return boxHeight;
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}
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public void setRealWorldCoordinatesArray(List<Point3> realWorldCoordinatesArray) {
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this.realWorldCoordinatesArray = realWorldCoordinatesArray;
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}
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public void setBoxHeight(double boxHeight) {
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this.boxHeight = boxHeight;
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}
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private static MatOfPoint3f listToMat(List<Point3> points) {
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var mat = new MatOfPoint3f();
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mat.fromList(points);
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@@ -209,15 +124,23 @@ public enum TargetModel implements Releasable {
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return visualizationBoxTop;
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}
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// public static TargetModel getCircleTarget(double Units.inchesToMeters(7)) {
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// var corners =
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// List.of(
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// new Point3(-Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2),
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// new Point3(-Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
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// new Point3(Units.inchesToMeters(7) / 2, radius / 2, -radius / 2),
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// new Point3(Units.inchesToMeters(7) / 2, -radius / 2, -radius / 2));
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// return new TargetModel(corners, 0);
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// }
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private static List<Point3> circleTargetCorners(double diameter) {
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double radius = diameter / 2;
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return List.of(
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new Point3(-radius, -radius, -radius),
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new Point3(-radius, radius, -radius),
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new Point3(radius, radius, -radius),
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new Point3(radius, -radius, -radius));
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}
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private static List<Point3> squareTargetCorners(double edgeLength) {
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double radius = edgeLength / 2;
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return List.of(
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new Point3(-radius, -radius, 0),
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new Point3(-radius, radius, 0),
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new Point3(radius, radius, 0),
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new Point3(radius, -radius, 0));
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}
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@Json.Value
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@Override
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@@ -62,7 +62,7 @@ public class TargetCalculationsTest {
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null);
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@BeforeAll
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public static void setup() {
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public static void init() {
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LoadJNI.loadLibraries();
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}
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@@ -0,0 +1,79 @@
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.vision.target;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import java.util.List;
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import org.junit.jupiter.api.BeforeAll;
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import org.junit.jupiter.api.Test;
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import org.opencv.core.Point3;
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import org.photonvision.common.LoadJNI;
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import org.wpilib.math.util.Units;
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public class TargetModelTest {
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@BeforeAll
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public static void init() {
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LoadJNI.loadLibraries();
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}
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@Test
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void testCircleTargetGeneration() {
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assertApproxEquals(
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List.of(
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new Point3(
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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-Units.inchesToMeters(7) / 2,
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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Units.inchesToMeters(7) / 2,
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2),
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new Point3(
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Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2,
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-Units.inchesToMeters(7) / 2)),
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TargetModel.kCircularPowerCell7in.getRealWorldTargetCoordinates().toList(),
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1E-6);
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}
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@Test
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void testSquareTargetGeneration() {
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assertApproxEquals(
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List.of(
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new Point3(-Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(-Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(Units.inchesToMeters(6.5 / 2.0), Units.inchesToMeters(6.5 / 2.0), 0),
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new Point3(Units.inchesToMeters(6.5 / 2.0), -Units.inchesToMeters(6.5 / 2.0), 0)),
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TargetModel.kAprilTag6p5in_36h11.getRealWorldTargetCoordinates().toList(),
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1E-6);
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}
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static void assertApproxEquals(List<Point3> expected, List<Point3> actual, double delta) {
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assertEquals(expected.size(), actual.size());
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for (int i = 0; i < actual.size(); i++) {
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assertEquals(expected.get(i).x, actual.get(i).x, delta, "Bad x for point %d".formatted(i));
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assertEquals(expected.get(i).y, actual.get(i).y, delta, "Bad y for point %d".formatted(i));
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assertEquals(expected.get(i).z, actual.get(i).z, delta, "Bad z for point %d".formatted(i));
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}
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}
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}
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@@ -20,7 +20,7 @@ package org.photonvision.vision.target;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import java.util.List;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.BeforeAll;
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import org.junit.jupiter.api.Test;
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import org.opencv.core.MatOfPoint;
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import org.opencv.core.Point;
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@@ -30,8 +30,8 @@ import org.photonvision.vision.opencv.Contour;
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import org.photonvision.vision.opencv.DualOffsetValues;
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public class TrackedTargetTest {
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@BeforeEach
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public void Init() {
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@BeforeAll
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public static void init() {
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LoadJNI.loadLibraries();
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}
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