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Add 2023 pics to test mode (#720)

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This commit is contained in:
Matt
2023-01-07 17:48:21 -08:00
committed by GitHub
parent e12f360a29
commit 86b9d4b037
9 changed files with 108 additions and 21 deletions
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42
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
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@@ -22,6 +22,7 @@ import edu.wpi.first.apriltag.jni.AprilTagJNI;
import edu.wpi.first.cscore.CameraServerCvJNI;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.net.WPINetJNI;
import edu.wpi.first.networktables.NetworkTablesJNI;
@@ -139,6 +140,34 @@ public class TestUtils {
}
}
public enum WPI2023Apriltags {
k162_36_Angle,
k162_36_Straight,
k383_60_Angle2;
public static double FOV = 68.5;
public final Translation2d approxPose;
public final Path path;
Path getPath() {
var filename = this.toString().substring(1);
return Path.of("2023", "AprilTags", filename + ".png");
}
Translation2d getPose() {
var names = this.toString().substring(1).split("_");
var x = Units.inchesToMeters(Integer.parseInt(names[0]));
var y = Units.inchesToMeters(Integer.parseInt(names[1]));
return new Translation2d(x, y);
}
WPI2023Apriltags() {
this.approxPose = getPose();
this.path = getPath();
}
}
public enum WPI2022Image {
kTerminal12ft6in(Units.feetToMeters(12.5)),
kTerminal22ft6in(Units.feetToMeters(22.5));
@@ -215,7 +244,7 @@ public class TestUtils {
}
}
private static Path getResourcesFolderPath(boolean testMode) {
public static Path getResourcesFolderPath(boolean testMode) {
System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
// VSCode likes to make this path relative to the wrong root directory, so a fun hack to tell
@@ -306,6 +335,7 @@ public class TestUtils {
private static final String LIFECAM_240P_CAL_FILE = "lifecam240p.json";
private static final String LIFECAM_480P_CAL_FILE = "lifecam480p.json";
public static final String LIFECAM_1280P_CAL_FILE = "lifecam_1280.json";
public static final String LIMELIGHT_480P_CAL_FILE = "limelight_1280_720.json";
public static CameraCalibrationCoefficients getCoeffs(String filename, boolean testMode) {
@@ -355,4 +385,14 @@ public class TestUtils {
public static void showImage(Mat frame) {
showImage(frame, DefaultTimeoutMillis);
}
public static Path getTestMode2023ImagePath() {
return getResourcesFolderPath(true)
.resolve("testimages")
.resolve(WPI2022Image.kTerminal22ft6in.path);
}
public static CameraCalibrationCoefficients get2023LifeCamCoeffs(boolean testMode) {
return getCoeffs(LIFECAM_1280P_CAL_FILE, testMode);
}
}