Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Auto-generate packet dataclasses with Jinja (#1374)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
View File

@@ -439,9 +439,10 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
for (photon::PhotonTrackedTarget tar : targetSpan) {
targets.push_back(tar);
}
photon::PNPResult results = photon::VisionEstimation::EstimateCamPosePNP(
auto results = photon::VisionEstimation::EstimateCamPosePNP(
camEigen, distEigen, targets, layout, photon::kAprilTag16h5);
frc::Pose3d pose = frc::Pose3d{} + results.best;
ASSERT_TRUE(results);
frc::Pose3d pose = frc::Pose3d{} + results->best;
ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
@@ -460,11 +461,12 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
for (photon::PhotonTrackedTarget tar : targetSpan2) {
targets2.push_back(tar);
}
photon::PNPResult results2 = photon::VisionEstimation::EstimateCamPosePNP(
auto results2 = photon::VisionEstimation::EstimateCamPosePNP(
camEigen, distEigen, targets2, layout, photon::kAprilTag16h5);
frc::Pose3d pose2 = frc::Pose3d{} + results2.best;
ASSERT_NEAR(5, pose2.X().to<double>(), 0.01);
ASSERT_NEAR(1, pose2.Y().to<double>(), 0.01);
ASSERT_TRUE(results2);
frc::Pose3d pose2 = frc::Pose3d{} + results2->best;
ASSERT_NEAR(robotPose.X().to<double>(), pose2.X().to<double>(), 0.01);
ASSERT_NEAR(robotPose.Y().to<double>(), pose2.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
ASSERT_NEAR(units::degree_t{5}.convert<units::radians>().to<double>(),
pose2.Rotation().Z().to<double>(), 0.01);