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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
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@@ -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);