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Expose object detection class id/conf in photonlib (#1266)

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* Implement class id/conf in photonlib

* Maybe fix things

* run lint

* Update Packet.java comments

* Update Packet.java comments again

* Update comments

* oops

* Update packet.py

---------

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
This commit is contained in:
Matt
2024-05-10 14:52:16 -04:00
committed by GitHub
parent 113951100e
commit 1708376df8
15 changed files with 172 additions and 34 deletions
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38
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
View File

@@ -73,6 +73,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.7,
@@ -92,6 +94,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.3,
@@ -111,6 +115,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.4,
@@ -154,6 +160,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -173,6 +181,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -192,6 +202,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
0.4,
@@ -239,6 +251,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -258,6 +272,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -277,6 +293,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
@@ -324,6 +342,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -343,6 +363,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -362,6 +384,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
@@ -401,6 +425,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -420,6 +446,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
0,
-1,
-1,
new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -439,6 +467,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.4, 2.4, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1, 2), new Rotation3d()),
0.4,
@@ -478,6 +508,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -545,6 +577,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -564,6 +598,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -583,6 +619,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,

42
photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
View File

@@ -61,21 +61,21 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(4_m, 2_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(4_m, 2_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -116,21 +116,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(4_m, 4_m, 4_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(5_m, 5_m, 5_m),
@@ -159,21 +159,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.2_m, 2.2_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -203,21 +203,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.2_m, 2.2_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -238,21 +238,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targetsThree{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 0,
3.0, -4.0, 9.1, 6.7, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.1_m, 1.9_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.4_m, 2.4_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1_m, 2_m),
@@ -278,21 +278,21 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -320,21 +320,21 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),