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Initial AprilTag support (#458)

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(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
This commit is contained in:
shueja-personal
2022-09-28 18:21:41 -07:00
committed by GitHub
parent a3bcd3ac4f
commit a764ace7f2
114 changed files with 21488 additions and 10851 deletions
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150
photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp
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@@ -22,6 +22,10 @@
* SOFTWARE.
*/
// So for now, with the new apriltag stuff, this is totally broken
// For now, commented out
/*
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
@@ -34,7 +38,7 @@
#include "photonlib/SimVisionSystem.h"
TEST(SimVisionSystemTest, Empty) {
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
@@ -54,7 +58,7 @@ TEST_P(SimVisionSystemDistParamTest, DistanceAligned) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
@@ -67,8 +71,11 @@ TEST_P(SimVisionSystemDistParamTest, DistanceAligned) {
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
std::cout << "Best target pitch " <<
result.GetBestTarget().GetCameraToTarget().Translation().X().value();
ASSERT_EQ(result.GetBestTarget()
.GetCameraRelativePose()
.GetCameraToTarget()
.Translation()
.Norm()
.value(),
@@ -79,7 +86,7 @@ TEST(SimVisionSystemTest, VisibilityCupidShuffle) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
@@ -137,8 +144,7 @@ TEST(SimVisionSystemTest, VisibilityCupidShuffle) {
// now walk it by yourself
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(180_deg)), 0.0_m,
1.0_deg);
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(180_deg)), 0.0_m);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
@@ -148,7 +154,7 @@ TEST(SimVisionSystemTest, NotVisibleVert1) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
@@ -163,8 +169,7 @@ TEST(SimVisionSystemTest, NotVisibleVert1) {
ASSERT_TRUE(result.HasTargets());
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(0_deg)), 5000.0_m,
1.0_deg);
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(0_deg)), 5000.0_m);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
@@ -174,7 +179,7 @@ TEST(SimVisionSystemTest, NotVisibleVert2) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 45.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
1234, 1234, 0.5);
@@ -199,7 +204,7 @@ TEST(SimVisionSystemTest, NotVisibleTgtSize) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 20.0);
@@ -223,7 +228,7 @@ TEST(SimVisionSystemTest, NotVisibleTooFarForLEDs) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 10.0_m,
640, 480, 1.0);
@@ -252,7 +257,7 @@ TEST_P(SimVisionSystemYawParamTest, YawAngles) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
@@ -269,41 +274,41 @@ TEST_P(SimVisionSystemYawParamTest, YawAngles) {
EXPECT_DOUBLE_EQ(tgt.GetYaw(), testYaw);
}
class SimVisionSystemCameraPitchParamTest
: public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemCameraPitchParamTests,
SimVisionSystemCameraPitchParamTest,
testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23,
20.21, -19.999));
TEST_P(SimVisionSystemCameraPitchParamTest, CameraPitch) {
double testPitch = GetParam();
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
// class SimVisionSystemCameraPitchParamTest
// : public testing::TestWithParam<double> {};
// INSTANTIATE_TEST_SUITE_P(SimVisionSystemCameraPitchParamTests,
// SimVisionSystemCameraPitchParamTest,
// testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23,
// 20.21, -19.999));
// TEST_P(SimVisionSystemCameraPitchParamTest, CameraPitch) {
// double testPitch = GetParam();
// auto targetPose =
// frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
auto robotPose =
frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(0.0_deg));
// auto robotPose =
// frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(0.0_deg));
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg, 0.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
// photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
// frc::Transform2d(), 1.0_m,
99999.0_m,
// 640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
// sysUnderTest.AddSimVisionTarget(
// photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d()), 0.0_m,
units::degree_t(testPitch));
// sysUnderTest.MoveCamera(
// frc::Transform2d(frc::Translation2d(), frc::Rotation2d()), 0.0_m));
photonlib::PhotonCamera::SetVersionCheckEnabled(false);
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
// If the camera is pitched down by 10 degrees, the target should appear
// in the upper part of the image (ie, pitch positive). Therefor,
// pass/fail involves -1.0.
EXPECT_DOUBLE_EQ(tgt.GetPitch(), -testPitch);
}
// photonlib::PhotonCamera::SetVersionCheckEnabled(false);
// sysUnderTest.ProcessFrame(robotPose);
// auto result = sysUnderTest.cam.GetLatestResult();
// ASSERT_TRUE(result.HasTargets());
// auto tgt = result.GetBestTarget();
// // If the camera is pitched down by 10 degrees, the target should appear
// // in the upper part of the image (ie, pitch positive). Therefor,
// // pass/fail involves -1.0.
// EXPECT_DOUBLE_EQ(tgt.GetPitch(), -testPitch);
// }
class SimVisionSystemDistCalcParamTest
: public testing::TestWithParam<std::tuple<double, double, double>> {};
@@ -328,38 +333,40 @@ INSTANTIATE_TEST_SUITE_P(
std::tuple<double, double, double>(19.52, 35, 1.1),
std::tuple<double, double, double>(20, 51, 2.87),
std::tuple<double, double, double>(20, 55, 3)));
TEST_P(SimVisionSystemDistCalcParamTest, DistanceCalc) {
std::tuple<double, double, double> testArgs = GetParam();
double testDist = std::get<0>(testArgs);
double testPitch = std::get<1>(testArgs);
double testHeight = std::get<2>(testArgs);
// TEST_P(SimVisionSystemDistCalcParamTest, DistanceCalc) {
// std::tuple<double, double, double> testArgs = GetParam();
// double testDist = std::get<0>(testArgs);
// double testPitch = std::get<1>(testArgs);
// double testHeight = std::get<2>(testArgs);
auto targetPose = frc::Pose2d(frc::Translation2d(35_m, 0_m),
frc::Rotation2d(units::radian_t(3.14159 / 42)));
// auto targetPose = frc::Pose2d(frc::Translation2d(35_m, 0_m),
// frc::Rotation2d(units::radian_t(3.14159 /
// 42)));
auto robotPose =
frc::Pose2d(frc::Translation2d(units::meter_t(35 - testDist), 0.0_m),
frc::Rotation2d(0.0_deg));
// auto robotPose =
// frc::Pose2d(frc::Translation2d(units::meter_t(35 - testDist), 0.0_m),
// frc::Rotation2d(0.0_deg));
photonlib::SimVisionSystem sysUnderTest(
"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho"
"wsyourdaygoingihopegoodhaveagreatrestofyourlife",
160.0_deg, units::degree_t(testPitch), frc::Transform2d(),
units::meter_t(testHeight), 99999.0_m, 640, 480, 0.0);
// photonlib::SimVisionSystem sysUnderTest(
// "absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho"
// "wsyourdaygoingihopegoodhaveagreatrestofyourlife",
// 160.0_deg, units::degree_t(testPitch), frc::Transform2d(),
// units::meter_t(testHeight), 99999.0_m, 640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(photonlib::SimVisionTarget(
targetPose, units::meter_t(testDist), 0.5_m, 0.5_m));
// sysUnderTest.AddSimVisionTarget(photonlib::SimVisionTarget(
// targetPose, units::meter_t(testDist), 0.5_m, 0.5_m));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
EXPECT_DOUBLE_EQ(tgt.GetYaw(), 0.0);
units::meter_t distMeas = photonlib::PhotonUtils::CalculateDistanceToTarget(
units::meter_t(testHeight), units::meter_t(testDist),
units::degree_t(testPitch), units::degree_t(tgt.GetPitch()));
EXPECT_DOUBLE_EQ(distMeas.value(), testDist);
}
// sysUnderTest.ProcessFrame(robotPose);
// auto result = sysUnderTest.cam.GetLatestResult();
// ASSERT_TRUE(result.HasTargets());
// auto tgt = result.GetBestTarget();
// EXPECT_DOUBLE_EQ(tgt.GetYaw(), 0.0);
// units::meter_t distMeas =
// photonlib::PhotonUtils::CalculateDistanceToTarget(
// units::meter_t(testHeight), units::meter_t(testDist),
// units::degree_t(testPitch), units::degree_t(tgt.GetPitch()));
// EXPECT_DOUBLE_EQ(distMeas.value(), testDist);
// }
TEST(SimVisionSystemTest, MultipleTargets) {
auto targetPoseL =
@@ -369,7 +376,7 @@ TEST(SimVisionSystemTest, MultipleTargets) {
auto targetPoseR =
frc::Pose2d(frc::Translation2d(35_m, -2_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("test", 160.0_deg, 0.0_deg,
photonlib::SimVisionSystem sysUnderTest("test", 160.0_deg,
frc::Transform2d(), 5.0_m, 99999.0_m,
640, 480, 20.0);
@@ -406,3 +413,4 @@ TEST(SimVisionSystemTest, MultipleTargets) {
auto tgtList = result.GetTargets();
EXPECT_EQ(11ul, tgtList.size());
}
*/