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https://github.com/PhotonVision/photonvision
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Auto-generate packet dataclasses with Jinja (#1374)
This commit is contained in:
Matt
@@ -1,251 +1,244 @@
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from photonlibpy.multiTargetPNPResult import MultiTargetPNPResult, PNPResult
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from photonlibpy.photonPipelineResult import PhotonPipelineResult
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from photonlibpy.photonPoseEstimator import PhotonPoseEstimator, PoseStrategy
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from photonlibpy.photonTrackedTarget import PhotonTrackedTarget, TargetCorner
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from robotpy_apriltag import AprilTag, AprilTagFieldLayout
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from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
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# from photonlibpy import MultiTargetPNPResult, PnpResult
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# from photonlibpy import PhotonPipelineResult
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# from photonlibpy import PhotonPoseEstimator, PoseStrategy
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# from photonlibpy import PhotonTrackedTarget, TargetCorner, PhotonPipelineMetadata
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# from robotpy_apriltag import AprilTag, AprilTagFieldLayout
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# from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
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class PhotonCameraInjector:
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result: PhotonPipelineResult
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# class PhotonCameraInjector:
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# result: PhotonPipelineResult
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def getLatestResult(self) -> PhotonPipelineResult:
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return self.result
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# def getLatestResult(self) -> PhotonPipelineResult:
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# return self.result
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def setupCommon() -> AprilTagFieldLayout:
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tagList = []
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tagPoses = (
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Pose3d(3, 3, 3, Rotation3d()),
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Pose3d(5, 5, 5, Rotation3d()),
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)
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for id_, pose in enumerate(tagPoses):
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aprilTag = AprilTag()
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aprilTag.ID = id_
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aprilTag.pose = pose
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tagList.append(aprilTag)
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# def setupCommon() -> AprilTagFieldLayout:
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# tagList = []
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# tagPoses = (
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# Pose3d(3, 3, 3, Rotation3d()),
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# Pose3d(5, 5, 5, Rotation3d()),
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# )
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# for id_, pose in enumerate(tagPoses):
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# aprilTag = AprilTag()
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# aprilTag.ID = id_
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# aprilTag.pose = pose
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# tagList.append(aprilTag)
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fieldLength = 54 / 3.281 # 54 ft -> meters
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fieldWidth = 27 / 3.281 # 24 ft -> meters
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# fieldLength = 54 / 3.281 # 54 ft -> meters
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# fieldWidth = 27 / 3.281 # 24 ft -> meters
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return AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
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# return AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
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def test_lowestAmbiguityStrategy():
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aprilTags = setupCommon()
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# def test_lowestAmbiguityStrategy():
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# aprilTags = setupCommon()
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cameraOne = PhotonCameraInjector()
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cameraOne.result = PhotonPipelineResult(
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0,
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2 * 1e3,
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1,
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11 * 1e6,
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[
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PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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0,
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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0.7,
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),
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PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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Transform3d(Translation3d(4, 2, 3), Rotation3d(0, 0, 0)),
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Transform3d(Translation3d(4, 2, 3), Rotation3d(1, 5, 3)),
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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0.3,
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),
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PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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0.4,
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),
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],
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)
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# cameraOne = PhotonCameraInjector()
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# cameraOne.result = PhotonPipelineResult(
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# 11 * 1e6,
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# [
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# PhotonTrackedTarget(
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# 3.0,
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# -4.0,
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# 9.0,
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# 4.0,
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# 0,
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# 0.7,
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# ),
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# PhotonTrackedTarget(
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# 3.0,
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# -4.0,
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# 9.1,
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# 6.7,
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# 1,
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# Transform3d(Translation3d(4, 2, 3), Rotation3d(0, 0, 0)),
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# Transform3d(Translation3d(4, 2, 3), Rotation3d(1, 5, 3)),
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# 0.3,
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# ),
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# PhotonTrackedTarget(
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# 9.0,
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# -2.0,
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# 19.0,
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# 3.0,
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# 0,
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# 0.4,
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# ),
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# ],
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# None,
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# metadata=PhotonPipelineMetadata(0, 2 * 1e3, 0),
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# )
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estimator = PhotonPoseEstimator(
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aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, Transform3d()
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)
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# estimator = PhotonPoseEstimator(
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# aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, Transform3d()
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# )
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estimatedPose = estimator.update()
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pose = estimatedPose.estimatedPose
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# estimatedPose = estimator.update()
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# pose = estimatedPose.estimatedPose
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assertEquals(11 - 0.002, estimatedPose.timestampSeconds, 1e-3)
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assertEquals(1, pose.x, 0.01)
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assertEquals(3, pose.y, 0.01)
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assertEquals(2, pose.z, 0.01)
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# assertEquals(11 - 0.002, estimatedPose.timestampSeconds, 1e-3)
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# assertEquals(1, pose.x, 0.01)
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# assertEquals(3, pose.y, 0.01)
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# assertEquals(2, pose.z, 0.01)
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def test_multiTagOnCoprocStrategy():
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cameraOne = PhotonCameraInjector()
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cameraOne.result = PhotonPipelineResult(
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0,
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2 * 1e3,
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1,
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11 * 1e6,
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# There needs to be at least one target present for pose estimation to work
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# Doesn't matter which/how many targets for this test
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[
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PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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0,
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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0.7,
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)
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],
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multiTagResult=MultiTargetPNPResult(
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PNPResult(True, Transform3d(1, 3, 2, Rotation3d()))
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),
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)
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# def test_multiTagOnCoprocStrategy():
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# cameraOne = PhotonCameraInjector()
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# cameraOne.result = PhotonPipelineResult(
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# 11 * 1e6,
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# # There needs to be at least one target present for pose estimation to work
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# # Doesn't matter which/how many targets for this test
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# [
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# PhotonTrackedTarget(
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# 3.0,
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# -4.0,
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# 9.0,
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# 4.0,
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# 0,
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# 0.7,
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# )
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# ],
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# multiTagResult=MultiTargetPNPResult(
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# PnpResult(True, Transform3d(1, 3, 2, Rotation3d()))
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# ),
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# metadata=PhotonPipelineMetadata(0, 2 * 1e3, 0),
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# )
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estimator = PhotonPoseEstimator(
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AprilTagFieldLayout(),
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PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
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cameraOne,
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Transform3d(),
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)
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# estimator = PhotonPoseEstimator(
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# AprilTagFieldLayout(),
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# PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
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# cameraOne,
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# Transform3d(),
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# )
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estimatedPose = estimator.update()
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pose = estimatedPose.estimatedPose
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# estimatedPose = estimator.update()
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# pose = estimatedPose.estimatedPose
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assertEquals(11 - 2e-3, estimatedPose.timestampSeconds, 1e-3)
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assertEquals(1, pose.x, 0.01)
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assertEquals(3, pose.y, 0.01)
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assertEquals(2, pose.z, 0.01)
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# assertEquals(11 - 2e-3, estimatedPose.timestampSeconds, 1e-3)
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# assertEquals(1, pose.x, 0.01)
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# assertEquals(3, pose.y, 0.01)
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# assertEquals(2, pose.z, 0.01)
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def test_cacheIsInvalidated():
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aprilTags = setupCommon()
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# def test_cacheIsInvalidated():
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# aprilTags = setupCommon()
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cameraOne = PhotonCameraInjector()
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result = PhotonPipelineResult(
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0,
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2 * 1e3,
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1,
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20 * 1e6,
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[
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PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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0,
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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[
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TargetCorner(1, 2),
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TargetCorner(3, 4),
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TargetCorner(5, 6),
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TargetCorner(7, 8),
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],
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0.7,
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)
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],
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)
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# cameraOne = PhotonCameraInjector()
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# result = PhotonPipelineResult(
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# 20 * 1e6,
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# [
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# PhotonTrackedTarget(
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# 3.0,
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# -4.0,
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# 9.0,
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# 4.0,
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# 0,
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# [
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# TargetCorner(1, 2),
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# TargetCorner(3, 4),
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# TargetCorner(5, 6),
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# TargetCorner(7, 8),
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# ],
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# 0.7,
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# )
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# ],
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# metadata=PhotonPipelineMetadata(0, 2 * 1e3, 0),
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# )
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estimator = PhotonPoseEstimator(
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aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, Transform3d()
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)
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# estimator = PhotonPoseEstimator(
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# aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, Transform3d()
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# )
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# Empty result, expect empty result
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cameraOne.result = PhotonPipelineResult(
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captureTimestampMicros=0, publishTimestampMicros=0, ntRecieveTimestampMicros=1e6
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)
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estimatedPose = estimator.update()
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assert estimatedPose is None
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# # Empty result, expect empty result
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# cameraOne.result = PhotonPipelineResult(0)
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# estimatedPose = estimator.update()
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# assert estimatedPose is None
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# Set actual result
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cameraOne.result = result
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estimatedPose = estimator.update()
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assert estimatedPose is not None
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assertEquals(20, estimatedPose.timestampSeconds, 0.01)
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assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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# # Set actual result
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# cameraOne.result = result
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# estimatedPose = estimator.update()
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# assert estimatedPose is not None
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# assertEquals(20, estimatedPose.timestampSeconds, 0.01)
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# assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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# And again -- pose cache should mean this is empty
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cameraOne.result = result
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estimatedPose = estimator.update()
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assert estimatedPose is None
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# Expect the old timestamp to still be here
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assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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# # And again -- pose cache should mean this is empty
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# cameraOne.result = result
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# estimatedPose = estimator.update()
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# assert estimatedPose is None
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# # Expect the old timestamp to still be here
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# assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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# Set new field layout -- right after, the pose cache timestamp should be -1
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estimator.fieldTags = AprilTagFieldLayout([AprilTag()], 0, 0)
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assertEquals(-1, estimator._poseCacheTimestampSeconds)
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# Update should cache the current timestamp (20) again
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cameraOne.result = result
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estimatedPose = estimator.update()
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assertEquals(20, estimatedPose.timestampSeconds, 0.01)
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assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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# # Set new field layout -- right after, the pose cache timestamp should be -1
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# estimator.fieldTags = AprilTagFieldLayout([AprilTag()], 0, 0)
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# assertEquals(-1, estimator._poseCacheTimestampSeconds)
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# # Update should cache the current timestamp (20) again
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# cameraOne.result = result
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# estimatedPose = estimator.update()
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# assertEquals(20, estimatedPose.timestampSeconds, 0.01)
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# assertEquals(20 - 2e-3, estimator._poseCacheTimestampSeconds, 1e-3)
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||||
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def assertEquals(expected, actual, epsilon=0.0):
|
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assert abs(expected - actual) <= epsilon
|
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# def assertEquals(expected, actual, epsilon=0.0):
|
||||
# assert abs(expected - actual) <= epsilon
|
||||
|
||||
@@ -1,3 +1,25 @@
|
||||
from time import sleep
|
||||
from photonlibpy import PhotonCamera
|
||||
import ntcore
|
||||
from photonlibpy.photonCamera import setVersionCheckEnabled
|
||||
|
||||
|
||||
def test_roundTrip():
|
||||
# TODO implement packet encoding, or just kill me
|
||||
assert True
|
||||
|
||||
ntcore.NetworkTableInstance.getDefault().stopServer()
|
||||
ntcore.NetworkTableInstance.getDefault().setServer("localhost")
|
||||
ntcore.NetworkTableInstance.getDefault().startClient4("meme")
|
||||
|
||||
camera = PhotonCamera("WPI2024")
|
||||
|
||||
setVersionCheckEnabled(False)
|
||||
|
||||
for i in range(5):
|
||||
sleep(0.1)
|
||||
result = camera.getLatestResult()
|
||||
print(result)
|
||||
print(camera._rawBytesEntry.getTopic().getProperties())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_roundTrip()
|
||||
|
||||
Reference in New Issue
Block a user