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Add RobotPoseEstimator (#571)

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RobotPoseEstimator can pick the most likely pose for the robot given a number of possible poses, using a number of different strategies. Examples are still WIP.
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Jack
2022-12-30 00:40:13 -06:00
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parent 3a10f49b54
commit 550194152a
12 changed files with 1805 additions and 4 deletions
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516
photon-lib/src/test/java/org/photonvision/RobotPoseEstimatorTest.java Normal file
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@@ -0,0 +1,516 @@
/*
* MIT License
*
* Copyright (c) 2022 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.
*/
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.CombinedRuntimeLoader;
import edu.wpi.first.util.WPIUtilJNI;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.photonvision.RobotPoseEstimator.PoseStrategy;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
class RobotPoseEstimatorTest {
@BeforeAll
public static void init() {
JNIWrapper.Helper.setExtractOnStaticLoad(false);
WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
WPINetJNI.Helper.setExtractOnStaticLoad(false);
try {
CombinedRuntimeLoader.loadLibraries(
RobotPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
@Test
void testLowestAmbiguityStrategy() {
Map<Integer, Pose3d> aprilTags = new HashMap<>();
aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
0,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.7,
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,
1,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameras.add(Pair.of(cameraOne, new Transform3d()));
cameras.add(Pair.of(cameraTwo, new Transform3d()));
RobotPoseEstimator estimator =
new RobotPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameras);
Pair<Pose3d, Double> estimatedPose = estimator.update();
Pose3d pose = estimatedPose.getFirst();
assertEquals(2, estimatedPose.getSecond());
assertEquals(1, pose.getX(), .01);
assertEquals(3, pose.getY(), .01);
assertEquals(2, pose.getZ(), .01);
}
@Test
void testClosestToCameraHeightStrategy() {
Map<Integer, Pose3d> aprilTags = new HashMap<>();
aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
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,
1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 4), new Rotation3d())));
cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 2), new Rotation3d())));
RobotPoseEstimator estimator =
new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT, cameras);
Pair<Pose3d, Double> estimatedPose = estimator.update();
Pose3d pose = estimatedPose.getFirst();
assertEquals(2, estimatedPose.getSecond());
assertEquals(4, pose.getX(), .01);
assertEquals(4, pose.getY(), .01);
assertEquals(4, pose.getZ(), .01);
}
@Test
void closestToReferencePoseStrategy() {
Map<Integer, Pose3d> aprilTags = new HashMap<>();
aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
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,
1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
RobotPoseEstimator estimator =
new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_REFERENCE_POSE, cameras);
estimator.setReferencePose(new Pose3d(1, 1, 1, new Rotation3d()));
Pair<Pose3d, Double> estimatedPose = estimator.update();
Pose3d pose = estimatedPose.getFirst();
assertEquals(4, estimatedPose.getSecond());
assertEquals(1, pose.getX(), .01);
assertEquals(1.1, pose.getY(), .01);
assertEquals(.9, pose.getZ(), .01);
}
@Test
void closestToLastPose() {
Map<Integer, Pose3d> aprilTags = new HashMap<>();
aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
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,
1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
RobotPoseEstimator estimator =
new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_LAST_POSE, cameras);
estimator.setLastPose(new Pose3d(1, 1, 1, new Rotation3d()));
Pair<Pose3d, Double> estimatedPose = estimator.update();
Pose3d pose = estimatedPose.getFirst();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
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,
0,
new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(2.4, 2.4, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1, 2), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
estimatedPose = estimator.update();
pose = estimatedPose.getFirst();
assertEquals(2, estimatedPose.getSecond());
assertEquals(.9, pose.getX(), .01);
assertEquals(1.1, pose.getY(), .01);
assertEquals(1, pose.getZ(), .01);
}
@Test
void averageBestPoses() {
Map<Integer, Pose3d> aprilTags = new HashMap<>();
aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
List.of(
new PhotonTrackedTarget(
3.0,
-4.0,
9.0,
4.0,
0,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))), // 1 1 1 ambig: .7
new PhotonTrackedTarget(
3.0,
-4.0,
9.1,
6.7,
1,
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))))); // 2 2 2 ambig .3
PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
cameraTwo.result =
new PhotonPipelineResult(
4,
List.of(
new PhotonTrackedTarget(
9.0,
-2.0,
19.0,
3.0,
0,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))))); // 3 3 3 ambig .4
cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
RobotPoseEstimator estimator =
new RobotPoseEstimator(aprilTags, PoseStrategy.AVERAGE_BEST_TARGETS, cameras);
Pair<Pose3d, Double> estimatedPose = estimator.update();
Pose3d pose = estimatedPose.getFirst();
assertEquals(2.6885245901639347, estimatedPose.getSecond(), .01);
assertEquals(2.15, pose.getX(), .01);
assertEquals(2.15, pose.getY(), .01);
assertEquals(2.15, pose.getZ(), .01);
}
private class PhotonCameraInjector extends PhotonCamera {
public PhotonCameraInjector() {
super("Test");
}
PhotonPipelineResult result;
@Override
public PhotonPipelineResult getLatestResult() {
return result;
}
}
}

9
photon-lib/src/test/native/cpp/PacketTest.cpp
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@@ -39,6 +39,9 @@ TEST(PacketTest, PhotonTrackedTarget) {
-1,
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)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
photonlib::Packet p;
@@ -73,6 +76,9 @@ TEST(PacketTest, PhotonPipelineResult) {
1,
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)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
photonlib::PhotonTrackedTarget{
3.0,
@@ -82,6 +88,9 @@ TEST(PacketTest, PhotonPipelineResult) {
-1,
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)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};

514
photon-lib/src/test/native/cpp/RobotPoseEstimatorTest.cpp Normal file
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@@ -0,0 +1,514 @@
/*
* MIT License
*
* Copyright (c) 2022 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/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"
TEST(RobotPoseEstimatorTest, LowestAmbiguityStrategy) {
std::map<int, frc::Pose3d> aprilTags;
aprilTags.insert({0, frc::Pose3d(units::meter_t(3), units::meter_t(3),
units::meter_t(3), frc::Rotation3d())});
aprilTags.insert({1, frc::Pose3d(units::meter_t(5), units::meter_t(5),
units::meter_t(5), frc::Rotation3d())});
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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(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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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::LOWEST_AMBIGUITY, cameras);
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(2, units::unit_cast<double>(estimatedPose.second), .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::map<int, frc::Pose3d> aprilTags;
aprilTags.insert({0, frc::Pose3d(units::meter_t(3), units::meter_t(3),
units::meter_t(3), frc::Rotation3d())});
aprilTags.insert({1, frc::Pose3d(units::meter_t(5), units::meter_t(5),
units::meter_t(5), frc::Rotation3d())});
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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(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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
cameraTwo->test = true;
cameraTwo->testResult = {4_s, targetsTwo};
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(2, units::unit_cast<double>(estimatedPose.second), .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::map<int, frc::Pose3d> aprilTags;
aprilTags.insert({0, frc::Pose3d(units::meter_t(3), units::meter_t(3),
units::meter_t(3), frc::Rotation3d())});
aprilTags.insert({1, frc::Pose3d(units::meter_t(5), units::meter_t(5),
units::meter_t(5), frc::Rotation3d())});
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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_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(4, units::unit_cast<double>(estimatedPose.second), .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::map<int, frc::Pose3d> aprilTags;
aprilTags.insert({0, frc::Pose3d(units::meter_t(3), units::meter_t(3),
units::meter_t(3), frc::Rotation3d())});
aprilTags.insert({1, frc::Pose3d(units::meter_t(5), units::meter_t(5),
units::meter_t(5), frc::Rotation3d())});
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
cameraOne->testResult = {2_s, targetsThree};
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
cameraTwo->testResult = {4_s, targetsFour};
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(2, units::unit_cast<double>(estimatedPose.second), .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::map<int, frc::Pose3d> aprilTags;
aprilTags.insert({0, frc::Pose3d(units::meter_t(3), units::meter_t(3),
units::meter_t(3), frc::Rotation3d())});
aprilTags.insert({1, frc::Pose3d(units::meter_t(5), units::meter_t(5),
units::meter_t(5), frc::Rotation3d())});
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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(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,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};
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::AVERAGE_BEST_TARGETS, cameras);
std::pair<frc::Pose3d, units::millisecond_t> estimatedPose =
estimator.Update();
frc::Pose3d pose = estimatedPose.first;
EXPECT_NEAR(2.6885245901639347,
units::unit_cast<double>(estimatedPose.second), .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);
}