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[photonlib] Invert simulated target yaw (#1243)

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This commit is contained in:
amquake
2024-02-18 17:59:54 -08:00
committed by GitHub
parent 428f926ac2
commit 39216db143
4 changed files with 7 additions and 5 deletions
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2
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -431,7 +431,7 @@ public class PhotonCameraSim implements AutoCloseable {
detectableTgts.add(
new PhotonTrackedTarget(
Math.toDegrees(centerRot.getZ()),
-Math.toDegrees(centerRot.getZ()),
-Math.toDegrees(centerRot.getY()),
areaPercent,
Math.toDegrees(centerRot.getX()),

2
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
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@@ -260,7 +260,7 @@ class PhotonCameraSim {
std::vector<std::pair<double, double>> cornersDouble{cornersFloat.begin(),
cornersFloat.end()};
detectableTgts.emplace_back(PhotonTrackedTarget{
centerRot.Z().convert<units::degrees>().to<double>(),
-centerRot.Z().convert<units::degrees>().to<double>(),
-centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
pnpSim.best, pnpSim.alt, pnpSim.ambiguity, smallVec, cornersDouble});

3
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -256,7 +256,8 @@ class VisionSystemSimTest {
cameraSim.setMinTargetAreaPixels(0.0);
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
// If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(testYaw));
visionSysSim.update(robotPose);
var res = camera.getLatestResult();
assertTrue(res.hasTargets());

5
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
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@@ -220,8 +220,9 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
visionSysSim.AddVisionTargets({photon::VisionTargetSim{
targetPose, photon::TargetModel{0.5_m, 0.5_m}, 3}});
robotPose = frc::Pose2d{frc::Translation2d{10_m, 0_m},
frc::Rotation2d{-1 * GetParam()}};
// If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
robotPose =
frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}};
visionSysSim.Update(robotPose);
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
ASSERT_NEAR(GetParam().to<double>(),