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Auto-generate packet dataclasses with Jinja (#1374)

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This commit is contained in:
Matt
2024-08-31 13:44:19 -04:00
committed by GitHub
parent c19d54c633
commit 169595e56e
140 changed files with 4445 additions and 2097 deletions
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12
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
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@@ -177,7 +177,11 @@ public class OpenCVTest {
prop.getIntrinsics(), prop.getDistCoeffs(), camRt, target.getFieldVertices());
var pnpSim =
OpenCVHelp.solvePNP_SQUARE(
prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
prop.getIntrinsics(),
prop.getDistCoeffs(),
target.getModel().vertices,
targetCorners)
.get();
// check solvePNP estimation accuracy
assertSame(relTarget.getRotation(), pnpSim.best.getRotation());
@@ -212,7 +216,11 @@ public class OpenCVTest {
prop.getIntrinsics(), prop.getDistCoeffs(), camRt, target.getFieldVertices());
var pnpSim =
OpenCVHelp.solvePNP_SQPNP(
prop.getIntrinsics(), prop.getDistCoeffs(), target.getModel().vertices, targetCorners);
prop.getIntrinsics(),
prop.getDistCoeffs(),
target.getModel().vertices,
targetCorners)
.get();
// check solvePNP estimation accuracy
assertSame(relTarget.getRotation(), pnpSim.best.getRotation());

5
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
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@@ -37,10 +37,7 @@ class PhotonCameraTest {
var packet = new Packet(1);
var ret = new PhotonPipelineResult();
packet.setData(new byte[0]);
if (packet.getSize() < 1) {
return;
}
PhotonPipelineResult.serde.pack(packet, ret);
PhotonPipelineResult.photonStruct.pack(packet, ret);
});
}
}

16
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
View File

@@ -130,7 +130,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setRecieveTimestampMicros((long) (11 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (11 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, new Transform3d());
@@ -217,7 +217,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setRecieveTimestampMicros((long) (4 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (4 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -306,7 +306,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setRecieveTimestampMicros((long) (17 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (17 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -396,7 +396,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -478,7 +478,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setRecieveTimestampMicros((long) (7 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (7 * 1e6));
estimatedPose = estimator.update(cameraOne.result);
pose = estimatedPose.get().estimatedPose;
@@ -519,7 +519,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
result.setRecieveTimestampMicros((long) (20 * 1e6));
result.setReceiveTimestampMicros((long) (20 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -529,7 +529,7 @@ class PhotonPoseEstimatorTest {
// Empty result, expect empty result
cameraOne.result = new PhotonPipelineResult();
cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
cameraOne.result.setReceiveTimestampMicros((long) (1 * 1e6));
Optional<EstimatedRobotPose> estimatedPose = estimator.update(cameraOne.result);
assertFalse(estimatedPose.isPresent());
@@ -629,7 +629,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))))); // 3 3 3 ambig .4
cameraOne.result.setRecieveTimestampMicros(20 * 1000000);
cameraOne.result.setReceiveTimestampMicros(20 * 1000000);
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(

22
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -481,11 +481,12 @@ class VisionSystemSimTest {
visionSysSim.update(robotPose);
var results =
VisionEstimation.estimateCamPosePNP(
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout,
TargetModel.kAprilTag16h5);
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout,
TargetModel.kAprilTag16h5)
.get();
Pose3d pose = new Pose3d().plus(results.best);
assertEquals(5, pose.getX(), .01);
assertEquals(1, pose.getY(), .01);
@@ -500,11 +501,12 @@ class VisionSystemSimTest {
visionSysSim.update(robotPose);
results =
VisionEstimation.estimateCamPosePNP(
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout,
TargetModel.kAprilTag16h5);
camera.getCameraMatrix().get(),
camera.getDistCoeffs().get(),
camera.getLatestResult().getTargets(),
layout,
TargetModel.kAprilTag16h5)
.get();
pose = new Pose3d().plus(results.best);
assertEquals(5, pose.getX(), .01);
assertEquals(1, pose.getY(), .01);