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Add 2024 test mode pictures (#1136)

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This commit is contained in:
Matt
2024-01-08 14:09:15 -05:00
committed by GitHub
parent 9f0aebe4ce
commit 68d8a943f7
18 changed files with 67 additions and 5 deletions
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41
photon-server/src/main/java/org/photonvision/Main.java
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@@ -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);