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[photon-targeting] Move C++ targeting classes to photon-targetting (#1009)

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* add classes to targeting and update gradle

* rename me

* Finish cleanup

* Formatting fixes

* just use common.gradle

* Update build.gradle

* Update config.gradle

* remove typo

* simplify

* Add Packet Headers

* move simulation classes into simulation folder

* draw in dependency

* fix

* Everything working minus tests cause im lazy

* formatting fixes

REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN

* move packet test to targeting

* Formatting fixes

* remove TargetCorner from c++

im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf

* think i added packet

* fix namespace issue

* organize imports in photon-targeting

* Formatting fixes

* remove ctors

* fix typo

* Add PNP and Multitag packet tests

* revert TargetCorner class

* Add Test placeholders

* remove annoying print

* Reorganize build and publish process

channeling inner Thad

* add targeting as flag

* Update config.gradle

* fix issue with platform binaries not building

* Update photonlib.json.in

casing still needs to be checked

* add minimum level back

* add back UTF-8 encoding of javadoc

* simplify publish model for photon-lib

* fix windows symbol generation

* formatting fixes

* move task from main gradle to config

* Update config.gradle
This commit is contained in:
Sriman Achanta
2023-11-19 15:16:22 -05:00
committed by GitHub
parent 308fd801d4
commit 994ea1e76b
50 changed files with 1132 additions and 910 deletions
Download Patch File Download Diff File Expand all files Collapse all files

78
photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp
View File

@@ -23,13 +23,13 @@
*/
#include "gtest/gtest.h"
#include "photonlib/PhotonUtils.h"
#include "photonlib/SimVisionSystem.h"
#include "photon/PhotonUtils.h"
#include "photon/simulation/SimVisionSystem.h"
class SimVisionSystemTest : public ::testing::Test {
void SetUp() override {
nt::NetworkTableInstance::GetDefault().StartServer();
photonlib::PhotonCamera::SetVersionCheckEnabled(false);
photon::PhotonCamera::SetVersionCheckEnabled(false);
}
void TearDown() override {}
@@ -44,7 +44,7 @@ class SimVisionSystemTestDistanceParamsTest
std::tuple<units::foot_t, units::degree_t, units::foot_t>> {};
TEST_F(SimVisionSystemTest, TestEmpty) {
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 80.0_deg, frc::Transform3d{}, 99999_m, 320, 240, 0};
SUCCEED();
}
@@ -53,9 +53,9 @@ TEST_F(SimVisionSystemTest, TestVisibilityCupidShuffle) {
const frc::Pose3d targetPose{
{15.98_m, 0_m, 2_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
sys.AddSimVisionTarget(photonlib::SimVisionTarget{targetPose, 1_m, 3_m, 3});
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 3_m, 3});
// To the right, to the right
frc::Pose2d robotPose{{5_m, 0_m}, frc::Rotation2d{-70_deg}};
@@ -104,9 +104,9 @@ TEST_F(SimVisionSystemTest, TestNotVisibleVertOne) {
const frc::Pose3d targetPose{
{15.98_m, 0_m, 1_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
sys.AddSimVisionTarget(photonlib::SimVisionTarget{targetPose, 1_m, 3_m, 3});
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 3_m, 3});
frc::Pose2d robotPose{{5_m, 0_m}, frc::Rotation2d{5_deg}};
sys.ProcessFrame(robotPose);
@@ -128,10 +128,10 @@ TEST_F(SimVisionSystemTest, TestNotVisibleVertOne) {
// frc::Translation3d{0_m, 0_m, 1_m},
// frc::Rotation3d{0_deg, (units::constants::detail::PI_VAL / 4) * 1_rad,
// 0_deg}};
// photonlib::SimVisionSystem sys{
// photon::SimVisionSystem sys{
// "Test", 80.0_deg, robotToCamera.Inverse(), 99999_m, 1234, 1234, 0};
// sys.AddSimVisionTarget(
// photonlib::SimVisionTarget{targetPose, 3_m, 0.5_m, 1736});
// photon::SimVisionTarget{targetPose, 3_m, 0.5_m, 1736});
// frc::Pose2d robotPose{{14.98_m, 0_m}, frc::Rotation2d{5_deg}};
// sys.ProcessFrame(robotPose);
@@ -146,10 +146,10 @@ TEST_F(SimVisionSystemTest, TestNotVisibleTargetSize) {
const frc::Pose3d targetPose{
{15.98_m, 0_m, 1_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 20.0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 0.1_m, 0.025_m, 24});
photon::SimVisionTarget{targetPose, 0.1_m, 0.025_m, 24});
frc::Pose2d robotPose{{12_m, 0_m}, frc::Rotation2d{5_deg}};
sys.ProcessFrame(robotPose);
@@ -164,10 +164,9 @@ TEST_F(SimVisionSystemTest, TestNotVisibleTooFarForLEDs) {
const frc::Pose3d targetPose{
{15.98_m, 0_m, 1_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
photonlib::SimVisionSystem sys{
"Test", 80.0_deg, frc::Transform3d{}, 10_m, 640, 480, 1.0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 1_m, 0.25_m, 78});
photon::SimVisionSystem sys{"Test", 80.0_deg, frc::Transform3d{}, 10_m, 640,
480, 1.0};
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 0.25_m, 78});
frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{5_deg}};
sys.ProcessFrame(robotPose);
@@ -184,10 +183,9 @@ TEST_P(SimVisionSystemTestWithParamsTest, YawAngles) {
frc::Rotation3d{0_deg, 0_deg,
(3 * units::constants::detail::PI_VAL / 4) * 1_rad}};
frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{GetParam() * -1.0}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
sys.ProcessFrame(robotPose);
@@ -195,7 +193,7 @@ TEST_P(SimVisionSystemTestWithParamsTest, YawAngles) {
ASSERT_TRUE(results.HasTargets());
photonlib::PhotonTrackedTarget target = results.GetBestTarget();
photon::PhotonTrackedTarget target = results.GetBestTarget();
ASSERT_NEAR(GetParam().to<double>(), target.GetYaw(), 0.0001);
}
@@ -206,10 +204,9 @@ TEST_P(SimVisionSystemTestWithParamsTest, PitchAngles) {
frc::Rotation3d{0_deg, 0_deg,
(3 * units::constants::detail::PI_VAL / 4) * 1_rad}};
frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{0_deg}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
sys.MoveCamera(frc::Transform3d{frc::Translation3d{},
frc::Rotation3d{0_deg, GetParam(), 0_deg}});
@@ -219,7 +216,7 @@ TEST_P(SimVisionSystemTestWithParamsTest, PitchAngles) {
ASSERT_TRUE(results.HasTargets());
photonlib::PhotonTrackedTarget target = results.GetBestTarget();
photon::PhotonTrackedTarget target = results.GetBestTarget();
ASSERT_NEAR(GetParam().to<double>(), target.GetPitch(), 0.0001);
}
@@ -242,7 +239,7 @@ TEST_P(SimVisionSystemTestDistanceParamsTest, DistanceCalc) {
frc::Pose3d robotPose{{15.98_m - distParam, 0_m, 0_m}, frc::Rotation3d{}};
frc::Transform3d robotToCamera{frc::Translation3d{0_m, 0_m, heightParam},
frc::Rotation3d{0_deg, pitchParam, 0_deg}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho"
"wsyourdaygoingihopegoodhaveagreatrestofyourlife",
160.0_deg,
@@ -251,19 +248,18 @@ TEST_P(SimVisionSystemTestDistanceParamsTest, DistanceCalc) {
640,
480,
0};
sys.AddSimVisionTarget(
photonlib::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 0});
sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 0});
sys.ProcessFrame(robotPose);
auto results = sys.cam.GetLatestResult();
ASSERT_TRUE(results.HasTargets());
photonlib::PhotonTrackedTarget target = results.GetBestTarget();
photon::PhotonTrackedTarget target = results.GetBestTarget();
ASSERT_NEAR(target.GetYaw(), 0.0, 0.0001);
units::meter_t dist = photonlib::PhotonUtils::CalculateDistanceToTarget(
units::meter_t dist = photon::PhotonUtils::CalculateDistanceToTarget(
robotToCamera.Z(), targetPose.Z(), pitchParam,
units::degree_t{target.GetPitch()});
ASSERT_NEAR(dist.to<double>(),
@@ -300,51 +296,51 @@ TEST_F(SimVisionSystemTest, TestMultipleTargets) {
const frc::Pose3d targetPoseR{
{15.98_m, -2_m, 0_m},
frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
photonlib::SimVisionSystem sys{
photon::SimVisionSystem sys{
"Test", 160.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 20.0};
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseL.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 1});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseC.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 2});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseR.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 3});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseL.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 4});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseC.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 5});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseR.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 6});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseL.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0.5_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 7});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseC.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0.5_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 8});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseL.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0.75_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 9});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseR.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0.75_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 10});
sys.AddSimVisionTarget(photonlib::SimVisionTarget{
sys.AddSimVisionTarget(photon::SimVisionTarget{
targetPoseL.TransformBy(frc::Transform3d{
frc::Translation3d{0_m, 0_m, 0.25_m}, frc::Rotation3d{}}),
0.25_m, 0.25_m, 11});