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https://github.com/PhotonVision/photonvision
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Add RobotPoseEstimator (#571)
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.
This commit is contained in:
Jack
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/*
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* MIT License
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*
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* Copyright (c) 2022 PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.hal.JNIWrapper;
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import edu.wpi.first.math.Pair;
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import edu.wpi.first.math.geometry.Pose3d;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import edu.wpi.first.net.WPINetJNI;
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import edu.wpi.first.networktables.NetworkTablesJNI;
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import edu.wpi.first.util.CombinedRuntimeLoader;
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import edu.wpi.first.util.WPIUtilJNI;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import org.junit.jupiter.api.BeforeAll;
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import org.junit.jupiter.api.Test;
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import org.photonvision.RobotPoseEstimator.PoseStrategy;
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import org.photonvision.targeting.PhotonPipelineResult;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import org.photonvision.targeting.TargetCorner;
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class RobotPoseEstimatorTest {
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@BeforeAll
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public static void init() {
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JNIWrapper.Helper.setExtractOnStaticLoad(false);
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WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
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NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
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WPINetJNI.Helper.setExtractOnStaticLoad(false);
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try {
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CombinedRuntimeLoader.loadLibraries(
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RobotPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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}
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@Test
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void testLowestAmbiguityStrategy() {
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Map<Integer, Pose3d> aprilTags = new HashMap<>();
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aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
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aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
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ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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0,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
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cameraTwo.result =
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new PhotonPipelineResult(
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4,
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List.of(
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameras.add(Pair.of(cameraOne, new Transform3d()));
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cameras.add(Pair.of(cameraTwo, new Transform3d()));
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RobotPoseEstimator estimator =
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new RobotPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameras);
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Pair<Pose3d, Double> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.getFirst();
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assertEquals(2, estimatedPose.getSecond());
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assertEquals(1, pose.getX(), .01);
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assertEquals(3, pose.getY(), .01);
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assertEquals(2, pose.getZ(), .01);
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}
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@Test
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void testClosestToCameraHeightStrategy() {
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Map<Integer, Pose3d> aprilTags = new HashMap<>();
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aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
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aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
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ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
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cameraTwo.result =
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new PhotonPipelineResult(
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4,
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List.of(
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
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new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 4), new Rotation3d())));
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cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 2), new Rotation3d())));
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RobotPoseEstimator estimator =
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new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT, cameras);
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Pair<Pose3d, Double> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.getFirst();
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assertEquals(2, estimatedPose.getSecond());
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assertEquals(4, pose.getX(), .01);
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assertEquals(4, pose.getY(), .01);
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assertEquals(4, pose.getZ(), .01);
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}
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@Test
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void closestToReferencePoseStrategy() {
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Map<Integer, Pose3d> aprilTags = new HashMap<>();
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aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
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aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
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ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
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cameraTwo.result =
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new PhotonPipelineResult(
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4,
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List.of(
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
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new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
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cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
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RobotPoseEstimator estimator =
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new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_REFERENCE_POSE, cameras);
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estimator.setReferencePose(new Pose3d(1, 1, 1, new Rotation3d()));
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Pair<Pose3d, Double> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.getFirst();
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assertEquals(4, estimatedPose.getSecond());
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assertEquals(1, pose.getX(), .01);
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assertEquals(1.1, pose.getY(), .01);
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assertEquals(.9, pose.getZ(), .01);
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}
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@Test
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void closestToLastPose() {
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Map<Integer, Pose3d> aprilTags = new HashMap<>();
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aprilTags.put(0, new Pose3d(3, 3, 3, new Rotation3d()));
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aprilTags.put(1, new Pose3d(5, 5, 5, new Rotation3d()));
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ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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PhotonCameraInjector cameraTwo = new PhotonCameraInjector();
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cameraTwo.result =
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new PhotonPipelineResult(
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4,
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List.of(
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new PhotonTrackedTarget(
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9.0,
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-2.0,
|
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19.0,
|
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3.0,
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0,
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new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
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new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
|
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0.4,
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List.of(
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new TargetCorner(1, 2),
|
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameras.add(Pair.of(cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
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cameras.add(Pair.of(cameraTwo, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())));
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RobotPoseEstimator estimator =
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new RobotPoseEstimator(aprilTags, PoseStrategy.CLOSEST_TO_LAST_POSE, cameras);
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estimator.setLastPose(new Pose3d(1, 1, 1, new Rotation3d()));
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Pair<Pose3d, Double> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.getFirst();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
|
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new PhotonTrackedTarget(
|
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3.0,
|
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-4.0,
|
||||
9.0,
|
||||
4.0,
|
||||
1,
|
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
|
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
|
||||
0.7,
|
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List.of(
|
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new TargetCorner(1, 2),
|
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new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8))),
|
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new PhotonTrackedTarget(
|
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3.0,
|
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-4.0,
|
||||
9.1,
|
||||
6.7,
|
||||
0,
|
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new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
|
||||
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
|
||||
0.3,
|
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List.of(
|
||||
new TargetCorner(1, 2),
|
||||
new TargetCorner(3, 4),
|
||||
new TargetCorner(5, 6),
|
||||
new TargetCorner(7, 8)))));
|
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cameraTwo.result =
|
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new PhotonPipelineResult(
|
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4,
|
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List.of(
|
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new PhotonTrackedTarget(
|
||||
9.0,
|
||||
-2.0,
|
||||
19.0,
|
||||
3.0,
|
||||
0,
|
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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)))));
|
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estimatedPose = estimator.update();
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pose = estimatedPose.getFirst();
|
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|
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assertEquals(2, estimatedPose.getSecond());
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assertEquals(.9, pose.getX(), .01);
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assertEquals(1.1, pose.getY(), .01);
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assertEquals(1, pose.getZ(), .01);
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}
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|
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@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;
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user