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Create timesync JNI for testing client (#1433)

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This commit is contained in:
Matt
2024-10-31 08:27:19 -07:00
committed by GitHub
parent 937bafa8e2
commit 37aaa49b32
69 changed files with 2252 additions and 368 deletions
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9
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -69,7 +69,7 @@ public class PhotonCameraSim implements AutoCloseable {
private final PhotonCamera cam;
NTTopicSet ts = new NTTopicSet();
private long heartbeatCounter = 0;
private long heartbeatCounter = 1;
/** This simulated camera's {@link SimCameraProperties} */
public final SimCameraProperties prop;
@@ -553,9 +553,10 @@ public class PhotonCameraSim implements AutoCloseable {
heartbeatCounter,
now - (long) (latencyMillis * 1000),
now,
// Pretend like we heard a pong recently
1000L + (long) ((Math.random() - 0.5) * 50),
detectableTgts,
multitagResult);
ret.setReceiveTimestampMicros(now);
return ret;
}
@@ -605,6 +606,8 @@ public class PhotonCameraSim implements AutoCloseable {
ts.cameraIntrinsicsPublisher.set(prop.getIntrinsics().getData(), receiveTimestamp);
ts.cameraDistortionPublisher.set(prop.getDistCoeffs().getData(), receiveTimestamp);
ts.heartbeatPublisher.set(heartbeatCounter++, receiveTimestamp);
ts.heartbeatPublisher.set(heartbeatCounter, receiveTimestamp);
heartbeatCounter += 1;
}
}

16
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
View File

@@ -38,6 +38,7 @@ import java.util.Map;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfByte;
import org.opencv.core.MatOfPoint;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
@@ -99,11 +100,18 @@ public class VideoSimUtil {
*
* @param id The fiducial id of the desired tag
*/
public static Mat get36h11TagImage(int id) {
private static Mat get36h11TagImage(int id) {
RawFrame frame = AprilTag.generate36h11AprilTagImage(id);
Mat result = new Mat(10, 10, CvType.CV_8UC1, frame.getData(), frame.getStride()).clone();
frame.close();
return result;
var buf = frame.getData();
byte[] arr = new byte[buf.remaining()];
buf.get(arr);
// frame.close();
var mat = new MatOfByte(arr).reshape(1, 10).submat(new Rect(0, 0, 10, 10));
mat.dump();
return mat;
}
/** Gets the points representing the marker(black square) corners. */