Move various printTestResults methods to TestUtils

printTestResults was duplicated a lot, so it has been moved to TestUtils for maintainability.
2026-06-24 01:31:44 +00:00 · 2025-03-27 08:22:39 -04:00
parent ed7fc6bbcc
commit 75dee20d77
8 changed files with 35 additions and 93 deletions
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -24,10 +24,13 @@ import java.awt.HeadlessException;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
+import java.util.stream.Collectors;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
 import org.photonvision.jni.WpilibLoader;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.TrackedTarget;

 public class TestUtils {
    public static boolean loadLibraries() {
@@ -372,6 +375,22 @@ public class TestUtils {
        showImage(frame, DefaultTimeoutMillis);
    }

+    public static void printTestResults(CVPipelineResult pipelineResult) {
+        double fps = 1000 / pipelineResult.getLatencyMillis();
+        System.out.print(
+                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " fps), ");
+        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
+    }
+
+    public static void printTestResultsWithLocation(CVPipelineResult pipelineResult) {
+        printTestResults(pipelineResult);
+        System.out.println(
+                "Found targets at "
+                        + pipelineResult.targets.stream()
+                                .map(TrackedTarget::getBestCameraToTarget3d)
+                                .collect(Collectors.toList()));
+    }
+
    public static Path getTestMode2023ImagePath() {
        return getResourcesFolderPath(true)
                .resolve("testimages")
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
@@ -18,7 +18,6 @@
 package org.photonvision.vision.pipeline;

 import edu.wpi.first.math.geometry.Translation3d;
-import java.util.stream.Collectors;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -29,7 +28,6 @@ import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
-import org.photonvision.vision.target.TrackedTarget;

 public class AprilTagTest {
    @BeforeEach
@@ -59,7 +57,7 @@ public class AprilTagTest {

        CVPipelineResult pipelineResult;
        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        // Draw on input
        var outputPipe = new OutputStreamPipeline();
@@ -124,7 +122,7 @@ public class AprilTagTest {

        CVPipelineResult pipelineResult;
        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        // Draw on input
        var outputPipe = new OutputStreamPipeline();
@@ -140,16 +138,4 @@ public class AprilTagTest {
        Assertions.assertEquals(2, pose.getTranslation().getY(), 0.2);
        Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.println(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-        System.out.println(
-                "Found targets at "
-                        + pipelineResult.targets.stream()
-                                .map(TrackedTarget::getBestCameraToTarget3d)
-                                .collect(Collectors.toList()));
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
@@ -18,7 +18,6 @@
 package org.photonvision.vision.pipeline;

 import edu.wpi.first.math.geometry.Translation3d;
-import java.util.stream.Collectors;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -29,7 +28,6 @@ import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
-import org.photonvision.vision.target.TrackedTarget;

 public class ArucoPipelineTest {
    @BeforeEach
@@ -59,7 +57,7 @@ public class ArucoPipelineTest {

        CVPipelineResult pipelineResult;
        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        // Draw on input
        var outputPipe = new OutputStreamPipeline();
@@ -102,16 +100,4 @@ public class ArucoPipelineTest {
        // The object's Z axis should be (0, 0, 1)
        Assertions.assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.println(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-        System.out.println(
-                "Found targets at "
-                        + pipelineResult.targets.stream()
-                                .map(TrackedTarget::getBestCameraToTarget3d)
-                                .collect(Collectors.toList()));
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -20,7 +20,6 @@ package org.photonvision.vision.pipeline;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotNull;

-import java.util.stream.Collectors;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
@@ -34,7 +33,6 @@ import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
-import org.photonvision.vision.target.TrackedTarget;

 public class CirclePNPTest {
    private static final String LIFECAM_240P_CAL_FILE = "lifecam240p.json";
@@ -111,7 +109,7 @@ public class CirclePNPTest {
        frameProvider.requestFrameThresholdType(pipeline.getThresholdType());

        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        TestUtils.showImage(
                pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output", 999999);
@@ -123,7 +121,7 @@ public class CirclePNPTest {

        while (true) {
            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-            printTestResults(pipelineResult);
+            TestUtils.printTestResultsWithLocation(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
            int postRelease = CVMat.getMatCount();
@@ -151,16 +149,4 @@ public class CirclePNPTest {

        continuouslyRunPipeline(frameProvider.get(), settings);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.println(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-        System.out.println(
-                "Found targets at "
-                        + pipelineResult.targets.stream()
-                                .map(TrackedTarget::getBestCameraToTarget3d)
-                                .collect(Collectors.toList()));
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -35,7 +35,7 @@ public class ColoredShapePipelineTest {
        TestUtils.showImage(
                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
                "Pipeline output: Triangle.");
-        printTestResults(colouredShapePipelineResult);
+        TestUtils.printTestResults(colouredShapePipelineResult);
    }

    public static void testQuadrilateralDetection(
@@ -46,7 +46,7 @@ public class ColoredShapePipelineTest {
        TestUtils.showImage(
                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
                "Pipeline output: Quadrilateral.");
-        printTestResults(colouredShapePipelineResult);
+        TestUtils.printTestResults(colouredShapePipelineResult);
    }

    public static void testCustomShapeDetection(
@@ -57,7 +57,7 @@ public class ColoredShapePipelineTest {
        TestUtils.showImage(
                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
                "Pipeline output: Custom.");
-        printTestResults(colouredShapePipelineResult);
+        TestUtils.printTestResults(colouredShapePipelineResult);
    }

    @Test
@@ -69,7 +69,7 @@ public class ColoredShapePipelineTest {
        TestUtils.showImage(
                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
                "Pipeline output: Circle.");
-        printTestResults(colouredShapePipelineResult);
+        TestUtils.printTestResults(colouredShapePipelineResult);
    }

    @Test
@@ -115,11 +115,4 @@ public class ColoredShapePipelineTest {
        //        testCircleShapeDetection(pipeline, settings, frameProvider.get());
        //        testPowercellDetection(settings, pipeline);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.print(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " fps), ");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -60,7 +60,7 @@ public class ReflectivePipelineTest {
        CVPipelineResult pipelineResult;

        pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResults(pipelineResult);

        Assertions.assertTrue(pipelineResult.hasTargets());
        Assertions.assertEquals(2, pipelineResult.targets.size(), "Target count wrong!");
@@ -84,7 +84,7 @@ public class ReflectivePipelineTest {
                        TestUtils.WPI2020Image.FOV);

        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResults(pipelineResult);

        TestUtils.showImage(
                pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
@@ -95,7 +95,7 @@ public class ReflectivePipelineTest {

        while (true) {
            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-            printTestResults(pipelineResult);
+            TestUtils.printTestResults(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
            int postRelease = CVMat.getMatCount();
@@ -123,11 +123,4 @@ public class ReflectivePipelineTest {

        continuouslyRunPipeline(frameProvider.get(), settings);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.print(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " fps), ");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -24,7 +24,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import java.util.stream.Collectors;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
@@ -38,7 +37,6 @@ import org.photonvision.vision.opencv.ContourIntersectionDirection;
 import org.photonvision.vision.pipe.impl.HSVPipe;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
-import org.photonvision.vision.target.TrackedTarget;

 public class SolvePNPTest {
    private static final String LIFECAM_240P_CAL_FILE = "lifecam240p.json";
@@ -113,7 +111,7 @@ public class SolvePNPTest {
        frameProvider.requestHsvSettings(hsvParams);

        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        // Draw on input
        var outputPipe = new OutputStreamPipeline();
@@ -168,7 +166,7 @@ public class SolvePNPTest {
        frameProvider.requestHsvSettings(hsvParams);

        CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
-        printTestResults(pipelineResult);
+        TestUtils.printTestResultsWithLocation(pipelineResult);

        // Draw on input
        var outputPipe = new OutputStreamPipeline();
@@ -204,7 +202,7 @@ public class SolvePNPTest {

        while (true) {
            CVPipelineResult pipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-            printTestResults(pipelineResult);
+            TestUtils.printTestResultsWithLocation(pipelineResult);
            int preRelease = CVMat.getMatCount();
            pipelineResult.release();
            int postRelease = CVMat.getMatCount();
@@ -232,16 +230,4 @@ public class SolvePNPTest {

        continuouslyRunPipeline(frameProvider.get(), settings);
    }
-
-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.println(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " " + "fps)");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-        System.out.println(
-                "Found targets at "
-                        + pipelineResult.targets.stream()
-                                .map(TrackedTarget::getBestCameraToTarget3d)
-                                .collect(Collectors.toList()));
-    }
 }
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
@@ -190,7 +190,7 @@ public class VisionModuleManagerTest {
        sleep(1500);

        Assertions.assertNotNull(module0DataConsumer.result);
-        printTestResults(module0DataConsumer.result);
+        TestUtils.printTestResults(module0DataConsumer.result);
    }

    @Test
@@ -253,13 +253,6 @@ public class VisionModuleManagerTest {
        assertTrue(idxs.contains(4));
    }

-    private static void printTestResults(CVPipelineResult pipelineResult) {
-        double fps = 1000 / pipelineResult.getLatencyMillis();
-        System.out.print(
-                "Pipeline ran in " + pipelineResult.getLatencyMillis() + "ms (" + fps + " fps), ");
-        System.out.println("Found " + pipelineResult.targets.size() + " valid targets");
-    }
-
    private void sleep(int millis) {
        try {
            Thread.sleep(millis);