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[python] Correct time units (#1605)

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This commit is contained in:
James Ward
2024-11-29 03:12:52 +11:00
committed by GitHub
parent 7e9da4133d
commit 1dbd2e5990
5 changed files with 74 additions and 49 deletions
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38
photon-lib/py/test/visionSystemSim_test.py
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@@ -1,9 +1,8 @@
import math
import ntcore as nt
import pytest
from photonlibpy.estimation import TargetModel, VisionEstimation
from photonlibpy.photonCamera import PhotonCamera, setVersionCheckEnabled
from photonlibpy.photonCamera import PhotonCamera
from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
from robotpy_apriltag import AprilTag, AprilTagFieldLayout
from wpimath.geometry import (
@@ -18,12 +17,6 @@ from wpimath.geometry import (
from wpimath.units import feetToMeters, meters
@pytest.fixture(autouse=True)
def setupCommon() -> None:
nt.NetworkTableInstance.getDefault().startServer()
setVersionCheckEnabled(False)
def test_VisibilityCupidShuffle() -> None:
targetPose = Pose3d(Translation3d(15.98, 0.0, 2.0), Rotation3d(0, 0, math.pi))
@@ -32,6 +25,8 @@ def test_VisibilityCupidShuffle() -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
visionSysSim.addVisionTargets(
@@ -93,6 +88,8 @@ def test_NotVisibleVert1() -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
visionSysSim.addVisionTargets(
@@ -128,6 +125,8 @@ def test_NotVisibleVert2() -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, robotToCamera)
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(
4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0)
)
@@ -156,6 +155,8 @@ def test_NotVisibleTargetSize() -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
cameraSim.setMinTargetAreaPixels(20.0)
visionSysSim.addVisionTargets(
@@ -183,6 +184,8 @@ def test_NotVisibleTooFarLeds() -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
cameraSim.setMinTargetAreaPixels(1.0)
cameraSim.setMaxSightRange(10.0)
@@ -216,6 +219,9 @@ def test_YawAngles(expected_yaw) -> None:
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
cameraSim.setMinTargetAreaPixels(0.0)
visionSysSim.addVisionTargets(
@@ -250,6 +256,9 @@ def test_PitchAngles(expected_pitch) -> None:
camera = PhotonCamera("camera")
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(
640, 480, fovDiag=Rotation2d.fromDegrees(120.0)
)
@@ -316,8 +325,10 @@ def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
)
camera = PhotonCamera("camera")
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(
640, 480, fovDiag=Rotation2d.fromDegrees(160.0)
)
@@ -354,6 +365,9 @@ def test_MultipleTargets() -> None:
camera = PhotonCamera("camera")
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
cameraSim.setMinTargetAreaPixels(20.0)
@@ -451,6 +465,9 @@ def test_PoseEstimation() -> None:
camera = PhotonCamera("camera")
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, Transform3d())
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
cameraSim.setMinTargetAreaPixels(20.0)
@@ -525,6 +542,9 @@ def test_PoseEstimationRotated() -> None:
camera = PhotonCamera("camera")
cameraSim = PhotonCameraSim(camera)
visionSysSim.addCamera(cameraSim, robotToCamera)
# Set massive FPS so timing isn't an issue
cameraSim.prop.setFPS(1e6)
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
cameraSim.setMinTargetAreaPixels(20.0)