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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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50
photon-server/src/main/java/org/photonvision/Main.java
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@@ -17,6 +17,7 @@
package org.photonvision;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
@@ -169,24 +170,6 @@ public class Main {
private static void addTestModeSources() {
ConfigManager.getInstance().load();
var camConfApril =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Apriltag");
if (camConfApril == null) {
camConfApril =
new CameraConfiguration("Apriltag", TestUtils.getTestModeApriltagPath().toString());
camConfApril.FOV = TestUtils.WPI2019Image.FOV;
camConfApril.calibrations.add(TestUtils.get2019LifeCamCoeffs(true));
var pipeline2019 = new AprilTagPipelineSettings();
pipeline2019.pipelineNickname = "Robots";
pipeline2019.outputShowMultipleTargets = true;
pipeline2019.inputShouldShow = true;
var psList2019 = new ArrayList<CVPipelineSettings>();
psList2019.add(pipeline2019);
camConfApril.pipelineSettings = psList2019;
}
var camConf2019 =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2019");
if (camConf2019 == null) {
@@ -245,6 +228,32 @@ public class Main {
camConf2022.pipelineSettings = psList2022;
}
CameraConfiguration camConf2023 =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2023");
if (camConf2023 == null) {
camConf2023 =
new CameraConfiguration(
"WPI2023",
TestUtils.getResourcesFolderPath(true)
.resolve("testimages")
.resolve(TestUtils.WPI2023Apriltags.k383_60_Angle2.path)
.toString());
camConf2023.FOV = TestUtils.WPI2023Apriltags.FOV;
camConf2023.calibrations.add(TestUtils.get2023LifeCamCoeffs(true));
var pipeline2023 = new AprilTagPipelineSettings();
var path_split = camConf2023.path.split(File.separator);
pipeline2023.pipelineNickname = path_split[path_split.length - 1].replace(".png", "");
pipeline2023.targetModel = TargetModel.k6in_16h5;
pipeline2023.inputShouldShow = true;
pipeline2023.solvePNPEnabled = true;
var psList2023 = new ArrayList<CVPipelineSettings>();
psList2023.add(pipeline2023);
camConf2023.pipelineSettings = psList2023;
}
// Colored shape testing
var camConfShape =
ConfigManager.getInstance().getConfig().getCameraConfigurations().get("Shape");
@@ -269,13 +278,13 @@ public class Main {
var collectedSources = new ArrayList<VisionSource>();
var fvsApril = new FileVisionSource(camConfApril);
var fvsShape = new FileVisionSource(camConfShape);
var fvs2019 = new FileVisionSource(camConf2019);
var fvs2020 = new FileVisionSource(camConf2020);
var fvs2022 = new FileVisionSource(camConf2022);
var fvs2023 = new FileVisionSource(camConf2023);
collectedSources.add(fvsApril);
collectedSources.add(fvs2023);
collectedSources.add(fvs2022);
collectedSources.add(fvsShape);
collectedSources.add(fvs2020);
@@ -287,6 +296,7 @@ public class Main {
}
public static void main(String[] args) {
isTestMode = true;
try {
TestUtils.loadLibraries();
logger.info("Native libraries loaded.");