Add 2024 test mode pictures (#1136)

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -144,6 +144,24 @@ public class TestUtils {
         }
     }
 
+    public enum WPI2024Images {
+        kBackAmpZone_117in,
+        kSpeakerCenter_143in;
+
+        public static double FOV = 68.5;
+
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1);
+            return Path.of("2024", filename + ".jpg");
+        }
+
+        WPI2024Images() {
+            this.path = getPath();
+        }
+    }
+
     public enum WPI2023Apriltags {
         k162_36_Angle,
         k162_36_Straight,

photon-server/src/main/java/org/photonvision/Main.java

@@ -40,6 +40,7 @@ import org.photonvision.common.util.numbers.IntegerCouple;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
+import org.photonvision.vision.apriltag.AprilTagFamily;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.ContourGroupingMode;
@@ -261,6 +262,34 @@ public class Main {
             camConf2023.pipelineSettings = psList2023;
         }
 
+        CameraConfiguration camConf2024 =
+                ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
+        if (camConf2024 == null || true) {
+            camConf2024 =
+                    new CameraConfiguration(
+                            "WPI2024",
+                            TestUtils.getResourcesFolderPath(true)
+                                    .resolve("testimages")
+                                    .resolve(TestUtils.WPI2024Images.kSpeakerCenter_143in.path)
+                                    .toString());
+
+            camConf2024.FOV = TestUtils.WPI2024Images.FOV;
+            // same camera as 2023
+            camConf2024.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
+
+            var pipeline2024 = new AprilTagPipelineSettings();
+            var path_split = Path.of(camConf2024.path).getFileName().toString();
+            pipeline2024.pipelineNickname = path_split.replace(".jpg", "");
+            pipeline2024.targetModel = TargetModel.kAprilTag6p5in_36h11;
+            pipeline2024.tagFamily = AprilTagFamily.kTag36h11;
+            pipeline2024.inputShouldShow = true;
+            pipeline2024.solvePNPEnabled = true;
+
+            var psList2024 = new ArrayList<CVPipelineSettings>();
+            psList2024.add(pipeline2024);
+            camConf2024.pipelineSettings = psList2024;
+        }
+
         // Colored shape testing
         var camConfShape =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
@@ -290,12 +319,14 @@ public class Main {
         var fvs2020 = new FileVisionSource(camConf2020);
         var fvs2022 = new FileVisionSource(camConf2022);
         var fvs2023 = new FileVisionSource(camConf2023);
+        var fvs2024 = new FileVisionSource(camConf2024);
 
-        collectedSources.add(fvs2023);
-        collectedSources.add(fvs2022);
-        collectedSources.add(fvsShape);
-        collectedSources.add(fvs2020);
-        collectedSources.add(fvs2019);
+        collectedSources.add(fvs2024);
+        // collectedSources.add(fvs2023);
+        // collectedSources.add(fvs2022);
+        // collectedSources.add(fvsShape);
+        // collectedSources.add(fvs2020);
+        // collectedSources.add(fvs2019);
 
         ConfigManager.getInstance().unloadCameraConfigs();
         VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start);

test-resources/testimages/2024/README.txt

@@ -0,0 +1,13 @@
+This folder contains images of the AprilTags on the 2024 playing field. All measurements included
+are approximate and are intended to give a rough idea of views from various distances from field
+elements. All images were taken with a Microsoft Lifecam at 1280x720 resolution.
+Camera height: ~29.75 in
+Camera ~20 degrees pitch above horizontal
+The folder includes 2 types of images:
+1. "General Field" images which provide a
+general idea of the view from various spots on the field with a camera at this
+height and angle.
+2. Specific field element images which include a measurement away from a specific field element.
+The Amp, Loading, and Stage photos are measured to the face of the respective elements,
+approximately perpendicular from the face. The remaining photos are all measured to the center of
+the subwoofer face, perpendicular or diagonal as necessary.