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Run multitag on coprocessor (#816)

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This commit is contained in:
Matt
2023-10-17 10:20:00 -04:00
committed by GitHub
parent ededc4f130
commit 47bd077bbb
72 changed files with 1708 additions and 1801 deletions
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60
photon-lib/src/test/java/org/photonvision/PacketTest.java
View File

@@ -30,6 +30,8 @@ import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.targeting.MultiTargetPNPResults;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
@@ -127,4 +129,62 @@ class PacketTest {
Assertions.assertEquals(result2, b2);
}
@Test
public void testMultiTargetSerde() {
var result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
2,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))),
new PhotonTrackedTarget(
3.0,
-4.0,
9.1,
6.7,
3,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.25,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))),
new MultiTargetPNPResults(
new PNPResults(
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
List.of(1, 2, 3)));
Packet packet = new Packet(result.getPacketSize());
result.populatePacket(packet);
var result_deserialized = new PhotonPipelineResult();
result_deserialized.createFromPacket(packet);
Assertions.assertEquals(result, result_deserialized);
}
}

5
photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java
View File

@@ -84,7 +84,10 @@ public class ApriltagWorkbenchTest {
var pe =
new PhotonPoseEstimator(
tagLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP, cam, robotToCamera);
tagLayout,
PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
cam,
robotToCamera);
var field = new Field2d();
SmartDashboard.putData(field);

442
photon-lib/src/test/native/cpp/RobotPoseEstimatorTest.cpp
View File

@@ -1,442 +0,0 @@
/*
* MIT License
*
* Copyright (c) PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include <map>
#include <utility>
#include <vector>
#include <frc/apriltag/AprilTagFieldLayout.h>
#include <frc/geometry/Pose3d.h>
#include <frc/geometry/Rotation3d.h>
#include <frc/geometry/Transform3d.h>
#include <units/angle.h>
#include <units/length.h>
#include <wpi/SmallVector.h>
#include "gtest/gtest.h"
#include "photonlib/PhotonCamera.h"
#include "photonlib/PhotonPipelineResult.h"
#include "photonlib/PhotonTrackedTarget.h"
#include "photonlib/RobotPoseEstimator.h"
static wpi::SmallVector<std::pair<double, double>, 4> corners{
std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}};
static std::vector<std::pair<double, double>> detectedCorners{
std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}};
TEST(RobotPoseEstimatorTest, LowestAmbiguityStrategy) {
std::vector<frc::AprilTag> tags = {
{0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),
frc::Rotation3d())},
{1, frc::Pose3d(units::meter_t(5), units::meter_t(5), units::meter_t(5),
frc::Rotation3d())}};
std::shared_ptr<frc::AprilTagFieldLayout> aprilTags =
std::make_shared<frc::AprilTagFieldLayout>(tags, 54_ft, 27_ft);
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
cameras;
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
std::make_shared<photonlib::PhotonCamera>("test");
std::shared_ptr<photonlib::PhotonCamera> cameraTwo =
std::make_shared<photonlib::PhotonCamera>("test");
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 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}};
cameraOne->test = true;
cameraOne->testResult = {2_s, targets};
cameraOne->testResult.SetTimestamp(units::second_t(11));
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsTwo{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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)),
0.4, corners, detectedCorners}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
cameraTwo->testResult.SetTimestamp(units::second_t(units::second_t(16)));
cameras.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
cameras.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
photonlib::RobotPoseEstimator estimator(aprilTags,
photonlib::LOWEST_AMBIGUITY, cameras);
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(11, units::unit_cast<double>(estimatedPose.second) / 1000.0, .01);
EXPECT_NEAR(1, units::unit_cast<double>(pose.X()), .01);
EXPECT_NEAR(3, units::unit_cast<double>(pose.Y()), .01);
EXPECT_NEAR(2, units::unit_cast<double>(pose.Z()), .01);
}
TEST(RobotPoseEstimatorTest, ClosestToCameraHeightStrategy) {
std::vector<frc::AprilTag> tags = {
{0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),
frc::Rotation3d())},
{1, frc::Pose3d(units::meter_t(5), units::meter_t(5), units::meter_t(5),
frc::Rotation3d())},
};
std::shared_ptr<frc::AprilTagFieldLayout> aprilTags =
std::make_shared<frc::AprilTagFieldLayout>(tags, 54_ft, 27_ft);
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
cameras;
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
std::make_shared<photonlib::PhotonCamera>("test");
std::shared_ptr<photonlib::PhotonCamera> cameraTwo =
std::make_shared<photonlib::PhotonCamera>("test");
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 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}};
cameraOne->test = true;
cameraOne->testResult = {2_s, targets};
cameraOne->testResult.SetTimestamp(units::second_t(4));
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsTwo{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.4, corners, detectedCorners}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
cameraOne->testResult.SetTimestamp(units::second_t(12));
cameras.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 4_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
cameras.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
photonlib::RobotPoseEstimator estimator(
aprilTags, photonlib::CLOSEST_TO_CAMERA_HEIGHT, cameras);
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(12, units::unit_cast<double>(estimatedPose.second) / 1000.0, .01);
EXPECT_NEAR(4, units::unit_cast<double>(pose.X()), .01);
EXPECT_NEAR(4, units::unit_cast<double>(pose.Y()), .01);
EXPECT_NEAR(4, units::unit_cast<double>(pose.Z()), .01);
}
TEST(RobotPoseEstimatorTest, ClosestToReferencePoseStrategy) {
std::vector<frc::AprilTag> tags = {
{0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),
frc::Rotation3d())},
{1, frc::Pose3d(units::meter_t(5), units::meter_t(5), units::meter_t(5),
frc::Rotation3d())},
};
std::shared_ptr<frc::AprilTagFieldLayout> aprilTags =
std::make_shared<frc::AprilTagFieldLayout>(tags, 54_ft, 27_ft);
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
cameras;
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
std::make_shared<photonlib::PhotonCamera>("test");
std::shared_ptr<photonlib::PhotonCamera> cameraTwo =
std::make_shared<photonlib::PhotonCamera>("test");
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 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}};
cameraOne->test = true;
cameraOne->testResult = {2_s, targets};
cameraOne->testResult.SetTimestamp(units::second_t(4));
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsTwo{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.4, corners, detectedCorners}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
cameraTwo->testResult.SetTimestamp(units::second_t(17));
cameras.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
cameras.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
photonlib::RobotPoseEstimator estimator(
aprilTags, photonlib::CLOSEST_TO_REFERENCE_POSE, cameras);
estimator.SetReferencePose(
frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad)));
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(17, units::unit_cast<double>(estimatedPose.second) / 1000.0, .01);
EXPECT_NEAR(1, units::unit_cast<double>(pose.X()), .01);
EXPECT_NEAR(1.1, units::unit_cast<double>(pose.Y()), .01);
EXPECT_NEAR(.9, units::unit_cast<double>(pose.Z()), .01);
}
TEST(RobotPoseEstimatorTest, ClosestToLastPose) {
std::vector<frc::AprilTag> tags = {
{0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),
frc::Rotation3d())},
{1, frc::Pose3d(units::meter_t(5), units::meter_t(5), units::meter_t(5),
frc::Rotation3d())}};
std::shared_ptr<frc::AprilTagFieldLayout> aprilTags =
std::make_shared<frc::AprilTagFieldLayout>(tags, 54_ft, 27_ft);
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
cameras;
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
std::make_shared<photonlib::PhotonCamera>("test");
std::shared_ptr<photonlib::PhotonCamera> cameraTwo =
std::make_shared<photonlib::PhotonCamera>("test");
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 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}};
cameraOne->test = true;
cameraOne->testResult = {2_s, targets};
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsTwo{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.4, corners, detectedCorners}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
cameras.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
cameras.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
photonlib::RobotPoseEstimator estimator(
aprilTags, photonlib::CLOSEST_TO_LAST_POSE, cameras);
estimator.SetLastPose(
frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad)));
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targetsThree{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 0,
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}};
cameraOne->testResult = {2_s, targetsThree};
cameraOne->testResult.SetTimestamp(units::second_t(7));
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsFour{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.4, corners, detectedCorners}};
cameraTwo->testResult = {4_s, targetsFour};
cameraTwo->testResult.SetTimestamp(units::second_t(13));
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
camerasUpdated;
camerasUpdated.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
camerasUpdated.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
estimator.SetCameras(camerasUpdated);
estimatedPose = estimator.Update();
pose = estimatedPose.first;
EXPECT_NEAR(7.0, units::unit_cast<double>(estimatedPose.second) / 1000.0,
.01);
EXPECT_NEAR(.9, units::unit_cast<double>(pose.X()), .01);
EXPECT_NEAR(1.1, units::unit_cast<double>(pose.Y()), .01);
EXPECT_NEAR(1, units::unit_cast<double>(pose.Z()), .01);
}
TEST(RobotPoseEstimatorTest, AverageBestPoses) {
std::vector<frc::AprilTag> tags = {
{0, frc::Pose3d(units::meter_t(3), units::meter_t(3), units::meter_t(3),
frc::Rotation3d())},
{1, frc::Pose3d(units::meter_t(5), units::meter_t(5), units::meter_t(5),
frc::Rotation3d())}};
std::shared_ptr<frc::AprilTagFieldLayout> aprilTags =
std::make_shared<frc::AprilTagFieldLayout>(tags, 54_ft, 27_ft);
std::vector<
std::pair<std::shared_ptr<photonlib::PhotonCamera>, frc::Transform3d>>
cameras;
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
std::make_shared<photonlib::PhotonCamera>("test");
std::shared_ptr<photonlib::PhotonCamera> cameraTwo =
std::make_shared<photonlib::PhotonCamera>("test");
wpi::SmallVector<photonlib::PhotonTrackedTarget, 2> targets{
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
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},
photonlib::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 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}};
cameraOne->test = true;
cameraOne->testResult = {2_s, targets};
cameraOne->testResult.SetTimestamp(units::second_t(10));
wpi::SmallVector<photonlib::PhotonTrackedTarget, 1> targetsTwo{
photonlib::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
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),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.4, corners, detectedCorners}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
cameraTwo->testResult.SetTimestamp(units::second_t(20));
cameras.push_back(std::make_pair(
cameraOne, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
cameras.push_back(std::make_pair(
cameraTwo, frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad))));
photonlib::RobotPoseEstimator estimator(
aprilTags, photonlib::AVERAGE_BEST_TARGETS, cameras);
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(15.0, units::unit_cast<double>(estimatedPose.second) / 1000.0,
.01);
EXPECT_NEAR(2.15, units::unit_cast<double>(pose.X()), .01);
EXPECT_NEAR(2.15, units::unit_cast<double>(pose.Y()), .01);
EXPECT_NEAR(2.15, units::unit_cast<double>(pose.Z()), .01);
}