Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-20 00:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to match new WPILib organization

Browse Source
This commit is contained in:
Gold856
2025-12-29 16:16:56 -05:00
committed by samfreund
parent c34c854583
commit 934eed21d2
264 changed files with 3440 additions and 3299 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
photon-lib/src/test/java/org/photonvision/LegacyPhotonPoseEstimatorTest.java
View File

@@ -32,23 +32,6 @@ import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
@@ -70,6 +53,23 @@ import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.PnpResult;
import org.photonvision.targeting.TargetCorner;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Pose3d;
import org.wpilib.math.geometry.Quaternion;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.math.geometry.Transform3d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.math.linalg.MatBuilder;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
import org.wpilib.util.runtime.RuntimeLoader;
import org.wpilib.vision.apriltag.AprilTag;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
import org.wpilib.vision.apriltag.AprilTagFields;
class LegacyPhotonPoseEstimatorTest {
static AprilTagFieldLayout aprilTags;

14
photon-lib/src/test/java/org/photonvision/OpenCVTest.java
View File

@@ -26,13 +26,6 @@ package org.photonvision;
import static org.junit.jupiter.api.Assertions.*;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.util.List;
import org.junit.jupiter.api.BeforeAll;
@@ -45,6 +38,13 @@ import org.photonvision.estimation.TargetModel;
import org.photonvision.jni.CombinedRuntimeLoader;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionTargetSim;
import org.wpilib.math.geometry.Pose3d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.math.geometry.Transform3d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.math.util.MathUtil;
import org.wpilib.networktables.NetworkTableInstance;
public class OpenCVTest {
private static final double kTrlDelta = 0.005;

20
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
View File

@@ -31,15 +31,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.photonvision.UnitTestUtils.waitForCondition;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.IOException;
import java.util.Arrays;
import java.util.List;
@@ -61,6 +52,15 @@ import org.photonvision.jni.TimeSyncClient;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.targeting.PhotonPipelineMetadata;
import org.photonvision.targeting.PhotonPipelineResult;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.simulation.SimHooks;
import org.wpilib.smartdashboard.SmartDashboard;
import org.wpilib.system.DataLogManager;
import org.wpilib.system.Timer;
import org.wpilib.util.runtime.RuntimeLoader;
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
class PhotonCameraTest {
@@ -260,7 +260,7 @@ class PhotonCameraTest {
}
if (i == robotStart || i == robotRestart) {
robotNt.startServer("networktables_random.json", "", 5940);
robotNt.startServer("networktables_random.json", "", "", 5940);
}
Thread.sleep(100);

32
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
View File

@@ -29,21 +29,6 @@ import static org.junit.jupiter.api.Assertions.assertNotNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.RuntimeLoader;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
@@ -63,6 +48,23 @@ import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.PnpResult;
import org.photonvision.targeting.TargetCorner;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Pose3d;
import org.wpilib.math.geometry.Quaternion;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.math.geometry.Transform3d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.math.linalg.MatBuilder;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
import org.wpilib.util.runtime.RuntimeLoader;
import org.wpilib.vision.apriltag.AprilTag;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
import org.wpilib.vision.apriltag.AprilTagFields;
class PhotonPoseEstimatorTest {
static AprilTagFieldLayout aprilTags;

4
photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java
View File

@@ -26,9 +26,9 @@ package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.*;
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
import org.wpilib.math.geometry.*;
import org.wpilib.math.util.Units;
class PhotonUtilTest {
@Test

30
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -30,21 +30,6 @@ import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.RuntimeLoader;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
@@ -64,6 +49,21 @@ import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Pose3d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Rotation3d;
import org.wpilib.math.geometry.Transform3d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.geometry.Translation3d;
import org.wpilib.math.util.Units;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.smartdashboard.SmartDashboard;
import org.wpilib.util.runtime.RuntimeLoader;
import org.wpilib.vision.apriltag.AprilTag;
import org.wpilib.vision.apriltag.AprilTagFieldLayout;
import org.wpilib.vision.camera.OpenCvLoader;
class VisionSystemSimTest {
private static final double kRotDeltaDeg = 0.25;