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

Expose detected tag corners (#702)

Browse Source 
Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
This commit is contained in:
Matt
2023-01-06 19:20:27 -08:00
committed by GitHub
parent 16ca2671f0
commit 967be84b4b
10 changed files with 291 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

90
photon-lib/src/test/java/org/photonvision/RobotPoseEstimatorTest.java
View File

@@ -94,6 +94,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -108,6 +113,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -127,6 +137,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -166,6 +181,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -180,6 +200,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -199,6 +224,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -238,6 +268,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -252,6 +287,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -271,6 +311,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -311,6 +356,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -325,6 +375,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -344,6 +399,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -374,6 +434,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -388,6 +453,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -406,6 +476,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2.4, 2.4, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1, 2), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -439,6 +514,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -453,6 +533,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
@@ -472,6 +557,11 @@ class RobotPoseEstimatorTest {
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)),
List.of(
new TargetCorner(1, 2),
new TargetCorner(3, 4),