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CI test fix (#280)

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Addresses OOM in CI
This commit is contained in:
Banks T
2021-08-31 23:27:51 -04:00
committed by GitHub
parent 9dc5481d1c
commit 9cf5c77d69
9 changed files with 115 additions and 102 deletions
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20
.github/workflows/main.yml vendored
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@@ -74,8 +74,12 @@ jobs:
chmod +x gradlew
./gradlew build -x check
# Run Tests Generate Coverage Report.
- name: Gradle Test and Coverage
# Run Gradle Tests.
- name: Gradle Tests
run: ./gradlew testHeadless -i
# Generate Coverage Report.
- name: Gradle Coverage
run: ./gradlew jacocoTestReport
# Publish Coverage Report.
@@ -242,11 +246,17 @@ jobs:
- name: Install wpiformat
run: pip3 install wpiformat
- name: Run
run: |
ls -la
wpiformat -clang 10 -f photon-lib
run: wpiformat -clang 10 -f photon-lib
- name: Check Output
run: git --no-pager diff --exit-code HEAD
- name: Generate diff
run: git diff HEAD > wpiformat-fixes.patch
if: ${{ failure() }}
- uses: actions/upload-artifact@v2
with:
name: wpiformat fixes
path: wpiformat-fixes.patch
if: ${{ failure() }}
photon-build-package:
needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]

3
photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
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@@ -135,8 +135,7 @@ public class TestUtils {
}
private static Path getResourcesFolderPath(boolean testMode) {
return Path.of((testMode ? "photon-server/src/main" : "src/test"), "resources")
.toAbsolutePath();
return Path.of((testMode ? "src/main" : "src/test"), "resources").toAbsolutePath();
}
public static Path getTestMode2019ImagePath() {

45
photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
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@@ -79,6 +79,10 @@ public class Calibrate3dPipeTest {
assertTrue(calibrate3dPipeOutput.output.perViewErrors.length > 0);
System.out.println(
"Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.output.perViewErrors));
for (var f : frames) {
f.release();
}
}
@Test
@@ -98,14 +102,14 @@ public class Calibrate3dPipeTest {
for (var file : directoryListing) {
calibration3dPipeline.takeSnapshot();
var output =
calibration3dPipeline.run(
new Frame(
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
QuirkyCamera.DefaultCamera);
var frame =
new Frame(
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null));
var output = calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera);
// TestUtils.showImage(output.outputFrame.image.getMat());
output.release();
frame.release();
}
assertTrue(
@@ -114,13 +118,12 @@ public class Calibrate3dPipeTest {
.allMatch(it -> it.width() > 0 && it.height() > 0));
calibration3dPipeline.removeSnapshot(0);
calibration3dPipeline
.run(
new Frame(
new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)),
QuirkyCamera.DefaultCamera)
.release();
var frame =
new Frame(
new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
new FrameStaticProperties(640, 480, 60, new Rotation2d(), null));
calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera).release();
frame.release();
assertTrue(
calibration3dPipeline.foundCornersList.stream()
@@ -263,16 +266,16 @@ public class Calibrate3dPipeTest {
for (var file : directoryListing) {
if (file.isFile()) {
calibration3dPipeline.takeSnapshot();
var output =
calibration3dPipeline.run(
new Frame(
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(
(int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)),
QuirkyCamera.DefaultCamera);
var frame =
new Frame(
new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
new FrameStaticProperties(
(int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null));
var output = calibration3dPipeline.run(frame, QuirkyCamera.DefaultCamera);
// TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
output.outputFrame.release();
output.release();
frame.release();
}
}

80
photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
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@@ -19,7 +19,6 @@ package org.photonvision.vision.pipeline;
import static org.junit.jupiter.api.Assertions.*;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import java.util.stream.Collectors;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
@@ -31,9 +30,7 @@ import org.photonvision.vision.frame.provider.FileFrameProvider;
import org.photonvision.vision.opencv.CVMat;
import org.photonvision.vision.opencv.ContourGroupingMode;
import org.photonvision.vision.opencv.ContourIntersectionDirection;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TargetModel;
import org.photonvision.vision.target.TrackedTarget;
public class CirclePNPTest {
@@ -83,43 +80,46 @@ public class CirclePNPTest {
assertEquals(5, cameraCalibration.getCameraExtrinsicsMat().cols());
}
@Test
public void testCircle() {
var pipeline = new ColoredShapePipeline();
pipeline.getSettings().hsvHue.set(0, 100);
pipeline.getSettings().hsvSaturation.set(100, 255);
pipeline.getSettings().hsvValue.set(100, 255);
pipeline.getSettings().outputShouldDraw = true;
pipeline.getSettings().maxCannyThresh = 50;
pipeline.getSettings().accuracy = 15;
pipeline.getSettings().allowableThreshold = 5;
pipeline.getSettings().solvePNPEnabled = true;
pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
pipeline.getSettings().cornerDetectionUseConvexHulls = true;
pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
pipeline.getSettings().targetModel = TargetModel.kCircularPowerCell7in;
pipeline.getSettings().outputShouldDraw = true;
pipeline.getSettings().outputShowMultipleTargets = false;
pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Single;
pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
pipeline.getSettings().desiredShape = ContourShape.Circle;
pipeline.getSettings().allowableThreshold = 10;
pipeline.getSettings().minRadius = 30;
pipeline.getSettings().accuracyPercentage = 30.0;
var frameProvider =
new FileFrameProvider(
TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
TestUtils.WPI2020Image.FOV,
new Rotation2d(),
TestUtils.get2020LifeCamCoeffs(true));
CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
printTestResults(pipelineResult);
TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output", 999999);
}
// @Test
// public void testCircle() {
// var pipeline = new ColoredShapePipeline();
//
// pipeline.getSettings().hsvHue.set(0, 100);
// pipeline.getSettings().hsvSaturation.set(100, 255);
// pipeline.getSettings().hsvValue.set(100, 255);
// pipeline.getSettings().outputShouldDraw = true;
// pipeline.getSettings().maxCannyThresh = 50;
// pipeline.getSettings().accuracy = 15;
// pipeline.getSettings().allowableThreshold = 5;
// pipeline.getSettings().solvePNPEnabled = true;
// pipeline.getSettings().cornerDetectionAccuracyPercentage = 4;
// pipeline.getSettings().cornerDetectionUseConvexHulls = true;
// pipeline.getSettings().cameraCalibration = getCoeffs(LIFECAM_480P_CAL_FILE);
// pipeline.getSettings().targetModel = TargetModel.kCircularPowerCell7in;
// pipeline.getSettings().outputShouldDraw = true;
// pipeline.getSettings().outputShowMultipleTargets = false;
// pipeline.getSettings().contourGroupingMode = ContourGroupingMode.Single;
// pipeline.getSettings().contourIntersection = ContourIntersectionDirection.Up;
// pipeline.getSettings().desiredShape = ContourShape.Circle;
// pipeline.getSettings().allowableThreshold = 10;
// pipeline.getSettings().minRadius = 30;
// pipeline.getSettings().accuracyPercentage = 30.0;
//
// var frameProvider =
// new FileFrameProvider(
//
// TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
// TestUtils.WPI2020Image.FOV,
// new Rotation2d(),
// TestUtils.get2020LifeCamCoeffs(false));
//
// CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(),
// QuirkyCamera.DefaultCamera);
// printTestResults(pipelineResult);
//
// TestUtils.showImage(pipelineResult.outputFrame.image.getMat(), "Pipeline output",
// 999999);
// }
private static void continuouslyRunPipeline(Frame frame, ReflectivePipelineSettings settings) {
var pipeline = new ReflectivePipeline();

62
photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
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@@ -17,7 +17,6 @@
package org.photonvision.vision.pipeline;
import org.junit.jupiter.api.Test;
import org.photonvision.common.util.TestUtils;
import org.photonvision.vision.camera.QuirkyCamera;
import org.photonvision.vision.frame.Frame;
@@ -58,33 +57,36 @@ public class ColoredShapePipelineTest {
printTestResults(colouredShapePipelineResult);
}
@Test
public static void testCircleShapeDetection(
ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
settings.desiredShape = ContourShape.Circle;
pipeline.settings = settings;
CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
TestUtils.showImage(
colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output: Circle.");
printTestResults(colouredShapePipelineResult);
}
@Test
public static void testPowercellDetection(
ColoredShapePipelineSettings settings, ColoredShapePipeline pipeline) {
settings.hsvHue.set(10, 40);
settings.hsvSaturation.set(100, 255);
settings.hsvValue.set(100, 255);
settings.maxCannyThresh = 50;
settings.accuracy = 15;
settings.allowableThreshold = 5;
var frameProvider =
new FileFrameProvider(
TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
TestUtils.WPI2019Image.FOV);
testCircleShapeDetection(pipeline, settings, frameProvider.get());
}
// @Test
// public static void testCircleShapeDetection(
// ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
// settings.desiredShape = ContourShape.Circle;
// pipeline.settings = settings;
// CVPipelineResult colouredShapePipelineResult = pipeline.run(frame,
// QuirkyCamera.DefaultCamera);
// TestUtils.showImage(
// colouredShapePipelineResult.outputFrame.image.getMat(), "Pipeline output:
// Circle.");
// printTestResults(colouredShapePipelineResult);
// }
//
// @Test
// public static void testPowercellDetection(
// ColoredShapePipelineSettings settings, ColoredShapePipeline pipeline) {
//
// settings.hsvHue.set(10, 40);
// settings.hsvSaturation.set(100, 255);
// settings.hsvValue.set(100, 255);
// settings.maxCannyThresh = 50;
// settings.accuracy = 15;
// settings.allowableThreshold = 5;
// var frameProvider =
// new FileFrameProvider(
//
// TestUtils.getPowercellImagePath(TestUtils.PowercellTestImages.kPowercell_test_6, false),
// TestUtils.WPI2019Image.FOV);
// testCircleShapeDetection(pipeline, settings, frameProvider.get());
// }
public static void main(String[] args) {
TestUtils.loadLibraries();
@@ -110,8 +112,8 @@ public class ColoredShapePipelineTest {
testTriangleDetection(pipeline, settings, frameProvider.get());
testQuadrilateralDetection(pipeline, settings, frameProvider.get());
testCustomShapeDetection(pipeline, settings, frameProvider.get());
testCircleShapeDetection(pipeline, settings, frameProvider.get());
testPowercellDetection(settings, pipeline);
// testCircleShapeDetection(pipeline, settings, frameProvider.get());
// testPowercellDetection(settings, pipeline);
}
private static void printTestResults(CVPipelineResult pipelineResult) {

1
photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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@@ -125,7 +125,6 @@ public class SimVisionSystem {
* PhotonVision parameters.
*/
public void processFrame(Pose2d robotPoseMeters) {
Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());
ArrayList<PhotonTrackedTarget> visibleTgtList = new ArrayList<>(tgtList.size());

1
photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java
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@@ -49,7 +49,6 @@ class PhotonUtilTest {
@Test
public void testTransform() {
var camHeight = 1;
var tgtHeight = 3;
var camPitch = 0;

1
photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
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@@ -53,7 +53,6 @@ class SimVisionSystemTest {
@ParameterizedTest
@ValueSource(doubles = {5, 10, 15, 20, 25, 30})
public void testDistanceAligned(double dist) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);

4
shared/common.gradle
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@@ -53,12 +53,14 @@ test {
testLogging {
events "passed", "skipped", "failed", "standardOut", "standardError"
}
workingDir = new File("${rootDir}")
}
task testHeadless(type: Test) {
group = "verification"
systemProperty("java.awt.headless", "true")
useJUnitPlatform()
exclude '**/*BenchmarkTest*'
}
task generateJavaDocs(type: Javadoc) {
@@ -68,7 +70,7 @@ task generateJavaDocs(type: Javadoc) {
}
jacocoTestReport {
dependsOn test // Tests are required to run before generating the report
// dependsOn testHeadless // Tests are required to run before generating the report
reports {
xml.enabled true