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Add camera sim smoketest (#1637)

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Paranoia test inspired by
https://github.com/PhotonVision/photonvision/issues/1635 .
This commit is contained in:
Matt
2024-12-18 20:51:02 -08:00
committed by GitHub
parent dd98d96d7e
commit 7cba7b432d
1 changed files with 25 additions and 1 deletions
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26
photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java
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@@ -26,14 +26,38 @@ package frc.robot;
import static org.junit.Assert.fail;
import java.util.List;
import org.junit.Test;
import org.photonvision.timesync.TimeSyncSingleton;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.PhotonCamera;
public class JniLoadTest {
@Test
public void smoketest() {
public void smoketestTimeSync() {
if (!TimeSyncSingleton.load()) {
fail("Could not load TimeSync JNI????????");
}
}
@Test
public void smoketestPhotonCameraSim() {
// This will trigger a force load of OpenCV internally - good to smoketest
var camera = new PhotonCamera("Hellowo");
var cameraProp = new SimCameraProperties();
cameraProp.setCalibration(320, 240, Rotation2d.fromDegrees(90));
var sim = new PhotonCameraSim(camera, cameraProp);
sim.enableDrawWireframe(true);
sim.enableProcessedStream(true);
sim.enableRawStream(true);
sim.process(0, new Pose3d(), List.of());
}
}