Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-19 00:41:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

[photonlib] Simulation Visualization Update (#895)

Browse Source
This commit is contained in:
amquake
2023-09-19 16:10:04 -07:00
committed by GitHub
parent 9e371de1cb
commit 7f283640c4
11 changed files with 1140 additions and 335 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -348,7 +348,7 @@ class VisionSystemSimTest {
Arguments.of(20, -42, 0),
Arguments.of(5, -35, 2),
Arguments.of(6, -35, 0),
Arguments.of(10, -34, 3.2),
Arguments.of(10, -34, 2.4),
Arguments.of(15, -33, 0),
Arguments.of(19.52, -15.98, 1.1));
}
@@ -376,23 +376,28 @@ class VisionSystemSimTest {
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(160));
cameraSim.setMinTargetAreaPixels(0.0);
visionSysSim.adjustCamera(cameraSim, robotToCamera);
// note that non-fiducial targets have different center point calculation and will
// return slightly inaccurate yaw/pitch values
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 0));
visionSysSim.update(robotPose);
// Note that target 2d yaw/pitch accuracy is hindered by two factors in photonvision:
// 1. These are calculated with the average of the minimum area rectangle, which does not
// actually find the target center because of perspective distortion.
// 2. Yaw and pitch are calculated separately which gives incorrect pitch values.
var res = camera.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
assertEquals(0.0, tgt.getYaw(), kRotDeltaDeg);
assertEquals(0.0, tgt.getYaw(), 0.5);
// Distance calculation using this trigonometry may be wildly incorrect when
// there is not much height difference between the target and the camera.
double distMeas =
PhotonUtils.calculateDistanceToTargetMeters(
robotToCamera.getZ(),
targetPose.getZ(),
Units.degreesToRadians(-testPitch),
Units.degreesToRadians(tgt.getPitch()));
assertEquals(Units.feetToMeters(testDist), distMeas, kTrlDelta);
assertEquals(Units.feetToMeters(testDist), distMeas, 0.15);
}
@Test