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Sim Updates for 2023 (#512)

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* WIP updating sim stuff for 2023 and pose3d's

* vision system build fixups, but test not yet passing.

* WIP Sim fixups and working on testcases

* Still doesn't work, but closer

* tests pass

* removed C++ sim support

* formatting update

* adjusted target height above ground per review

* Turns out its unused

* missed example removal
This commit is contained in:
Chris Gerth
2022-11-03 15:05:37 -05:00
committed by GitHub
parent a64697e714
commit b408a58e9e
18 changed files with 276 additions and 1314 deletions
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119
photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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@@ -25,9 +25,15 @@
package org.photonvision;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform2d;
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.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.targeting.PhotonTrackedTarget;
@@ -40,11 +46,14 @@ public class SimVisionSystem {
double camVertFOVDegrees;
double cameraHeightOffGroundMeters;
double maxLEDRangeMeters;
double camPitchDegrees;
int cameraResWidth;
int cameraResHeight;
double minTargetArea;
Transform2d cameraToRobot;
Transform3d cameraToRobot;
Field2d dbgField;
FieldObject2d dbgRobot;
FieldObject2d dbgCamera;
ArrayList<SimVisionTarget> tgtList;
@@ -58,11 +67,7 @@ public class SimVisionSystem {
* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
* page.
* @param camPitchDegrees pitch of the camera's view axis back from horizontal. Make this the same
* as whatever is configured in the PhotonVision Setting page.
* @param cameraToRobot Pose Transform to move from the camera's mount position to the robot's
* position
* @param cameraHeightOffGroundMeters Height of the camera off the ground in meters
* @param cameraToRobot Transform to move from the camera's mount position to the robot's position
* @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
* make it visible. Set to 9000 or more if your vision system does not rely on LED's.
* @param cameraResWidth Width of your camera's image sensor in pixels
@@ -74,16 +79,12 @@ public class SimVisionSystem {
public SimVisionSystem(
String camName,
double camDiagFOVDegrees,
double camPitchDegrees,
Transform2d cameraToRobot,
double cameraHeightOffGroundMeters,
Transform3d cameraToRobot,
double maxLEDRangeMeters,
int cameraResWidth,
int cameraResHeight,
double minTargetArea) {
this.camPitchDegrees = camPitchDegrees;
this.cameraToRobot = cameraToRobot;
this.cameraHeightOffGroundMeters = cameraHeightOffGroundMeters;
this.maxLEDRangeMeters = maxLEDRangeMeters;
this.cameraResWidth = cameraResWidth;
this.cameraResHeight = cameraResHeight;
@@ -96,6 +97,11 @@ public class SimVisionSystem {
cam = new SimPhotonCamera(camName);
tgtList = new ArrayList<>();
dbgField = new Field2d();
dbgRobot = dbgField.getRobotObject();
dbgCamera = dbgField.getObject(camName + " Camera");
SmartDashboard.putData(camName + " Sim Field", dbgField);
}
/**
@@ -107,6 +113,10 @@ public class SimVisionSystem {
*/
public void addSimVisionTarget(SimVisionTarget target) {
tgtList.add(target);
dbgField
.getObject("Target " + Integer.toString(target.targetID))
.setPose(target.targetPose.toPose2d());
;
}
/**
@@ -114,14 +124,9 @@ public class SimVisionSystem {
* turret or some other mobile platform.
*
* @param newCameraToRobot New Transform from the robot to the camera
* @param newCamHeightMeters New height of the camera off the floor
* @param newCamPitchDegrees New pitch of the camera axis back from horizontal
*/
public void moveCamera(
Transform2d newCameraToRobot, double newCamHeightMeters, double newCamPitchDegrees) {
public void moveCamera(Transform3d newCameraToRobot) {
this.cameraToRobot = newCameraToRobot;
this.cameraHeightOffGroundMeters = newCamHeightMeters;
this.camPitchDegrees = newCamPitchDegrees;
}
/**
@@ -133,46 +138,76 @@ public class SimVisionSystem {
* PhotonVision parameters.
*/
public void processFrame(Pose2d robotPoseMeters) {
Pose2d cameraPos = robotPoseMeters.transformBy(cameraToRobot.inverse());
var robotPose3d =
new Pose3d(
robotPoseMeters.getX(),
robotPoseMeters.getY(),
0.0,
new Rotation3d(0, 0, robotPoseMeters.getRotation().getRadians()));
processFrame(robotPose3d);
}
/**
* Periodic update. Call this once per frame of image data you wish to process and send to
* NetworkTables
*
* @param robotPoseMeters current pose of the robot in space. Will be used to calculate which
* targets are actually in view, where they are at relative to the robot, and relevant
* PhotonVision parameters.
*/
public void processFrame(Pose3d robotPoseMeters) {
Pose3d cameraPose = robotPoseMeters.transformBy(cameraToRobot.inverse());
dbgRobot.setPose(robotPoseMeters.toPose2d());
dbgCamera.setPose(cameraPose.toPose2d());
ArrayList<PhotonTrackedTarget> visibleTgtList = new ArrayList<>(tgtList.size());
tgtList.forEach(
(tgt) -> {
var camToTargetTrans = new Transform2d(cameraPos, tgt.targetPos);
var camToTargetTrans = new Transform3d(cameraPose, tgt.targetPose);
var t = camToTargetTrans.getTranslation();
double distAlongGroundMeters = camToTargetTrans.getTranslation().getNorm();
double distVerticalMeters =
tgt.targetHeightAboveGroundMeters - this.cameraHeightOffGroundMeters;
double distMeters = Math.hypot(distAlongGroundMeters, distVerticalMeters);
// Rough approximation of the alternate solution, which is (so far) always incorrect.
var altTrans =
new Translation3d(
t.getX(),
-1.0 * t.getY(),
t.getZ()); // mirrored across camera axis in Y direction
var altRot = camToTargetTrans.getRotation().times(-1.0); // flipped
var camToTargetTransAlt = new Transform3d(altTrans, altRot);
double area = tgt.tgtAreaMeters2 / getM2PerPx(distAlongGroundMeters);
double distMeters = t.getNorm();
double area_px = tgt.tgtAreaMeters2 / getM2PerPx(distMeters);
double yawDegrees = Units.radiansToDegrees(Math.atan2(t.getY(), t.getX()));
double camHeightAboveGround = cameraPose.getZ();
double tgtHeightAboveGround = tgt.targetPose.getZ();
double camPitchDegrees = Units.radiansToDegrees(cameraPose.getRotation().getY());
var transformAlongGround =
new Transform2d(cameraPose.toPose2d(), tgt.targetPose.toPose2d());
double distAlongGround = transformAlongGround.getTranslation().getNorm();
// 2D yaw mode considers the target as a point, and should ignore target rotation.
// Photon reports it in the correct robot reference frame.
// IE: targets to the left of the image should report negative yaw.
double yawDegrees =
-1.0
* Units.radiansToDegrees(
Math.atan2(
camToTargetTrans.getTranslation().getY(),
camToTargetTrans.getTranslation().getX()));
double pitchDegrees =
Units.radiansToDegrees(Math.atan2(distVerticalMeters, distAlongGroundMeters))
- this.camPitchDegrees;
Units.radiansToDegrees(
Math.atan2((tgtHeightAboveGround - camHeightAboveGround), distAlongGround))
- camPitchDegrees;
if (camCanSeeTarget(distMeters, yawDegrees, pitchDegrees, area)) {
if (camCanSeeTarget(distMeters, yawDegrees, pitchDegrees, area_px)) {
// TODO simulate target corners
visibleTgtList.add(
new PhotonTrackedTarget(
yawDegrees,
pitchDegrees,
area,
area_px,
0.0,
-1, // TODO fiducial ID
new Transform3d(),
new Transform3d(),
0.25,
tgt.targetID,
camToTargetTrans,
camToTargetTransAlt,
0.0, // TODO - simulate ambiguity when straight on?
List.of(
new TargetCorner(0, 0), new TargetCorner(0, 0),
new TargetCorner(0, 0), new TargetCorner(0, 0))));

20
photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
View File

@@ -24,34 +24,28 @@
package org.photonvision;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
public class SimVisionTarget {
Pose2d targetPos;
Pose3d targetPose;
double targetWidthMeters;
double targetHeightMeters;
double targetHeightAboveGroundMeters;
double tgtAreaMeters2;
int targetID;
/**
* Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
*
* @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
* the middle of the field facing the target, the Y axis points to your left, and the X axis
* points away from you.
* @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
* @param targetPos Pose3d of the target in field-relative coordinates
* @param targetWidthMeters Width of the outer bounding box of the target in meters.
* @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
*/
public SimVisionTarget(
Pose2d targetPos,
double targetHeightAboveGroundMeters,
double targetWidthMeters,
double targetHeightMeters) {
this.targetPos = targetPos;
this.targetHeightAboveGroundMeters = targetHeightAboveGroundMeters;
Pose3d targetPos, double targetWidthMeters, double targetHeightMeters, int targetID) {
this.targetPose = targetPos;
this.targetWidthMeters = targetWidthMeters;
this.targetHeightMeters = targetHeightMeters;
this.tgtAreaMeters2 = targetWidthMeters * targetHeightMeters;
this.targetID = targetID;
}
}

51
photon-lib/src/main/native/cpp/photonlib/SimPhotonCamera.cpp
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@@ -1,51 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "photonlib/SimPhotonCamera.h"
namespace photonlib {
SimPhotonCamera::SimPhotonCamera(
std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
: PhotonCamera(instance, cameraName) {}
SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
: PhotonCamera(cameraName) {}
void SimPhotonCamera::SubmitProcessedFrame(
units::second_t latency, wpi::span<const PhotonTrackedTarget> tgtList) {
if (!GetDriverMode()) {
// Clear the current packet.
simPacket.Clear();
// Create the new result and pump it into the packet
simPacket << PhotonPipelineResult(latency, tgtList);
rawBytesEntry.SetRaw(std::string_view{simPacket.GetData().data(),
simPacket.GetData().size()});
}
}
} // namespace photonlib

127
photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
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@@ -1,127 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "photonlib/SimVisionSystem.h"
#include <cmath>
#include <units/angle.h>
#include <units/length.h>
#include <wpi/span.h>
namespace photonlib {
SimVisionSystem::SimVisionSystem(const std::string& name,
units::degree_t camDiagFOV,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea)
: cameraToRobot(cameraToRobot),
cameraHeightOffGround(cameraHeightOffGround),
maxLEDRange(maxLEDRange),
cameraResWidth(cameraResWidth),
cameraResHeight(cameraResHeight),
minTargetArea(minTargetArea) {
double hypotPixels = std::hypot(cameraResWidth, cameraResHeight);
camHorizFOV = camDiagFOV * cameraResWidth / hypotPixels;
camVertFOV = camDiagFOV * cameraResHeight / hypotPixels;
cam = SimPhotonCamera(name);
tgtList.clear();
}
void SimVisionSystem::AddSimVisionTarget(SimVisionTarget tgt) {
tgtList.push_back(tgt);
}
void SimVisionSystem::MoveCamera(frc::Transform2d newCameraToRobot,
units::meter_t newCamHeight) {
cameraToRobot = newCameraToRobot;
cameraHeightOffGround = newCamHeight;
}
void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
frc::Pose2d cameraPos = robotPose.TransformBy(cameraToRobot.Inverse());
std::vector<PhotonTrackedTarget> visibleTgtList = {};
for (auto&& tgt : tgtList) {
frc::Transform2d camToTargetTrans =
frc::Transform2d(cameraPos, tgt.targetPos);
units::meter_t distAlongGround = camToTargetTrans.Translation().Norm();
units::meter_t distVertical =
tgt.targetHeightAboveGround - cameraHeightOffGround;
units::meter_t distHypot =
units::math::hypot(distAlongGround, distVertical);
double area = tgt.tgtArea.value() / GetM2PerPx(distAlongGround);
// 2D yaw mode considers the target as a point, and should ignore target
// rotation.
// Photon reports it in the correct robot reference frame.
// IE: targets to the left of the image should report negative yaw.
units::degree_t yawAngle = -units::math::atan2(
camToTargetTrans.Translation().Y(), camToTargetTrans.Translation().X());
units::degree_t pitchAngle =
units::math::atan2(distVertical, distAlongGround);
auto translation = frc::Translation3d(camToTargetTrans.Translation().X(),
camToTargetTrans.Translation().Y(),
units::meter_t(0)); // TODO z height
auto rotation = frc::Rotation3d(units::radian_t(0), pitchAngle, -yawAngle);
frc::Transform3d camToTarget3d{translation, rotation};
if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
PhotonTrackedTarget newTgt = PhotonTrackedTarget(
yawAngle.value(), pitchAngle.value(), area, 0.0, -1, camToTarget3d,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}});
visibleTgtList.push_back(newTgt);
}
}
units::second_t procDelay(0.0); // Future - tie this to something meaningful
cam.SubmitProcessedFrame(procDelay,
wpi::span<PhotonTrackedTarget>(visibleTgtList));
}
double SimVisionSystem::GetM2PerPx(units::meter_t dist) {
double heightMPerPx =
2 * dist.value() * units::math::tan(camVertFOV / 2) / cameraResHeight;
double widthMPerPx =
2 * dist.value() * units::math::tan(camHorizFOV / 2) / cameraResWidth;
return widthMPerPx * heightMPerPx;
}
bool SimVisionSystem::CamCanSeeTarget(units::meter_t distHypot,
units::degree_t yaw,
units::degree_t pitch, double area) {
bool inRange = (distHypot < maxLEDRange);
bool inHorizAngle = units::math::abs(yaw) < (camHorizFOV / 2);
bool inVertAngle = units::math::abs(pitch) < (camVertFOV / 2);
bool targetBigEnough = area > minTargetArea;
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
}
} // namespace photonlib

40
photon-lib/src/main/native/cpp/photonlib/SimVisionTarget.cpp
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@@ -1,40 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "photonlib/SimVisionTarget.h"
namespace photonlib {
SimVisionTarget::SimVisionTarget(frc::Pose2d& targetPos,
units::meter_t targetHeightAboveGround,
units::meter_t targetWidth,
units::meter_t targetHeight)
: targetPos(targetPos),
targetHeightAboveGround(targetHeightAboveGround),
targetWidth(targetWidth),
targetHeight(targetHeight) {
tgtArea = targetWidth * targetHeight;
}
} // namespace photonlib

75
photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h
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@@ -1,75 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#pragma once
#include <memory>
#include <string>
#include <units/time.h>
#include <wpi/SmallVector.h>
#include <wpi/span.h>
#include "photonlib/Packet.h"
#include "photonlib/PhotonCamera.h"
namespace photonlib {
/**
* Represents a camera that is connected to PhotonVision.ß
*/
class SimPhotonCamera : public PhotonCamera {
public:
/**
* Constructs a Simulated PhotonCamera from a root table.
*
* @param instance The NetworkTableInstance to pull data from. This can be a
* custom instance in simulation, but should *usually* be the default
* NTInstance from {@link NetworkTableInstance::getDefault}
* @param cameraName The name of the camera, as seen in the UI.
*/
explicit SimPhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName);
/**
* Constructs a Simulated PhotonCamera from the name of the camera.
*
* @param cameraName The nickname of the camera (found in the PhotonVision
* UI).
*/
explicit SimPhotonCamera(const std::string& cameraName);
/**
* Simulate one processed frame of vision data, putting one result to NT.
* @param latency Latency of frame processing
* @param tgtList Set of targets detected
*/
void SubmitProcessedFrame(units::second_t latency,
wpi::span<const PhotonTrackedTarget> tgtList);
private:
mutable Packet simPacket;
};
} // namespace photonlib

77
photon-lib/src/main/native/include/photonlib/SimVisionSystem.h
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@@ -1,77 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#pragma once
#include <string>
#include <vector>
#include <frc/geometry/Translation2d.h>
#include <units/angle.h>
#include <units/area.h>
#include <units/length.h>
#include <units/time.h>
#include <wpi/SmallVector.h>
#include "photonlib/SimPhotonCamera.h"
#include "photonlib/SimVisionTarget.h"
namespace photonlib {
/**
* Represents a camera that is connected to PhotonVision.
*/
class SimVisionSystem {
public:
explicit SimVisionSystem(const std::string& name, units::degree_t camDiagFOV,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea);
void AddSimVisionTarget(SimVisionTarget tgt);
void MoveCamera(frc::Transform2d newcameraToRobot,
units::meter_t newCamHeight);
void ProcessFrame(frc::Pose2d robotPose);
private:
frc::Transform2d cameraToRobot;
units::meter_t cameraHeightOffGround;
units::meter_t maxLEDRange;
int cameraResWidth;
int cameraResHeight;
double minTargetArea;
units::degree_t camHorizFOV;
units::degree_t camVertFOV;
std::vector<SimVisionTarget> tgtList = {};
double GetM2PerPx(units::meter_t dist);
bool CamCanSeeTarget(units::meter_t distHypot, units::degree_t yaw,
units::degree_t pitch, double area);
public:
SimPhotonCamera cam = photonlib::SimPhotonCamera("Default");
};
} // namespace photonlib

51
photon-lib/src/main/native/include/photonlib/SimVisionTarget.h
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@@ -1,51 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#pragma once
#include <frc/geometry/Pose2d.h>
#include <units/area.h>
#include <units/length.h>
namespace photonlib {
/**
* Represents a target on the field which the vision processing system could
* detect.
*/
class SimVisionTarget {
public:
explicit SimVisionTarget(frc::Pose2d& targetPos,
units::meter_t targetHeightAboveGround,
units::meter_t targetWidth,
units::meter_t targetHeight);
frc::Pose2d targetPos;
units::meter_t targetHeightAboveGround;
units::meter_t targetWidth;
units::meter_t targetHeight;
units::square_meter_t tgtArea;
};
} // namespace photonlib

259
photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
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@@ -29,13 +29,19 @@ import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
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.Transform2d;
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 java.util.List;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterAll;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
@@ -49,18 +55,30 @@ class SimVisionSystemTest {
Assertions.assertDoesNotThrow(
() -> {
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(new Pose2d(), 0.0, 1.0, 1.0));
new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 320, 240, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(new Pose3d(), 1.0, 1.0, 42));
for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
sysUnderTest.processFrame(new Pose2d());
}
});
}
@BeforeAll
public static void setUp() {
// NT live for debug purposes
NetworkTableInstance.getDefault().startServer();
// No version check for testing
PhotonCamera.setVersionCheckEnabled(false);
}
@AfterAll
public static void shutDown() {}
// @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());
// final var targetPose = new Pose2d(new Translation2d(15.98, 0), new Rotation2d());
// var sysUnderTest =
// new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 320, 240, 0);
// sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 1.0, 1.0));
@@ -76,10 +94,10 @@ class SimVisionSystemTest {
@Test
public void testVisibilityCupidShuffle() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3.0));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3));
// To the right, to the right
var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(-70));
@@ -117,37 +135,40 @@ class SimVisionSystemTest {
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
// now walk it by yourself
sysUnderTest.moveCamera(
new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180)), 0, 1.0);
sysUnderTest.moveCamera(new Transform3d(new Translation3d(), new Rotation3d(0, 0, Math.PI)));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleVert1() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3.0));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 3.0, 3));
PhotonCamera.setVersionCheckEnabled(false);
var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
sysUnderTest.moveCamera(new Transform2d(), 5000, 1.0); // vooop selfie stick
sysUnderTest.moveCamera(
new Transform3d(
new Translation3d(0, 0, 5000), new Rotation3d(0, 0, Math.PI))); // vooop selfie stick
sysUnderTest.processFrame(robotPose);
assertFalse(sysUnderTest.cam.getLatestResult().hasTargets());
}
@Test
public void testNotVisibleVert2() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 2), new Rotation3d(0, 0, Math.PI));
var robotToCamera =
new Transform3d(new Translation3d(0, 0, 1), new Rotation3d(0, Math.PI / 4, 0));
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 45.0, new Transform2d(), 1, 99999, 1234, 1234, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 3.0, 0.5, 0.5));
new SimVisionSystem("Test", 80.0, robotToCamera.inverse(), 99999, 1234, 1234, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 3.0, 0.5, 1736));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(5));
var robotPose = new Pose2d(new Translation2d(14.98, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
@@ -159,12 +180,12 @@ class SimVisionSystemTest {
@Test
public void testNotVisibleTgtSize() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 20.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 0.1));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 20.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.1, 0.025, 24));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(5));
var robotPose = new Pose2d(new Translation2d(12, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
@@ -175,12 +196,12 @@ class SimVisionSystemTest {
@Test
public void testNotVisibleTooFarForLEDs() {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 10, 640, 480, 1.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 0.1));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI));
var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 10, 640, 480, 1.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 1.0, 0.25, 78));
var robotPose = new Pose2d(new Translation2d(28, 0), Rotation2d.fromDegrees(5));
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(5));
sysUnderTest.processFrame(robotPose);
assertTrue(sysUnderTest.cam.getLatestResult().hasTargets());
@@ -192,12 +213,12 @@ class SimVisionSystemTest {
@ParameterizedTest
@ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23})
public void testYawAngles(double testYaw) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 4));
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 1, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 0.5, 0.5));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, 3 * Math.PI / 4));
var sysUnderTest = new SimVisionSystem("Test", 80.0, new Transform3d(), 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 3));
var robotPose = new Pose2d(new Translation2d(32, 0), Rotation2d.fromDegrees(testYaw));
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
@@ -208,45 +229,48 @@ class SimVisionSystemTest {
@ParameterizedTest
@ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23, 20.21, -19.999})
public void testCameraPitch(double testPitch) {
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 4));
final var robotPose = new Pose2d(new Translation2d(30, 0), new Rotation2d(0));
var sysUnderTest =
new SimVisionSystem("Test", 80.0, 0.0, new Transform2d(), 0.0, 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.0, 0.5, 0.5));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, 3 * Math.PI / 4));
final var robotPose = new Pose2d(new Translation2d(10, 0), new Rotation2d(0));
var sysUnderTest = new SimVisionSystem("Test", 120.0, new Transform3d(), 99999, 640, 480, 0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 23));
sysUnderTest.moveCamera(new Transform2d(), 0.0, testPitch);
// Here, passing in a positive testPitch points the camera downward (since moveCamera takes the
// camera->robot transform)
sysUnderTest.moveCamera(
new Transform3d(
new Translation3d(), new Rotation3d(0, Units.degreesToRadians(testPitch), 0)));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.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.
assertEquals(tgt.getPitch(), -testPitch, 0.0001);
// Since the camera is level with the target, a downward point will mean the target is in the
// upper half of the image
// which should produce positive pitch.
assertEquals(testPitch, tgt.getPitch(), 0.0001);
}
private static Stream<Arguments> distCalCParamProvider() {
// Arbitrary and fairly random assortment of distances, camera pitches, and heights
return Stream.of(
Arguments.of(5, 35, 0),
Arguments.of(6, 35, 1),
Arguments.of(10, 35, 0),
Arguments.of(15, 35, 2),
Arguments.of(19.95, 35, 0),
Arguments.of(20, 35, 0),
Arguments.of(5, 15.98, 0),
Arguments.of(6, 15.98, 1),
Arguments.of(10, 15.98, 0),
Arguments.of(15, 15.98, 2),
Arguments.of(19.95, 15.98, 0),
Arguments.of(20, 15.98, 0),
Arguments.of(5, 42, 1),
Arguments.of(6, 42, 0),
Arguments.of(10, 42, 2),
Arguments.of(15, 42, 0.5),
Arguments.of(19.42, 35, 0),
Arguments.of(19.42, 15.98, 0),
Arguments.of(20, 42, 0),
Arguments.of(5, 55, 2),
Arguments.of(6, 55, 0),
Arguments.of(10, 54, 2.2),
Arguments.of(15, 53, 0),
Arguments.of(19.52, 35, 1.1),
Arguments.of(20, 51, 2.87),
Arguments.of(20, 55, 3));
Arguments.of(19.52, 15.98, 1.1));
}
@ParameterizedTest
@@ -254,20 +278,25 @@ class SimVisionSystemTest {
public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
// Assume dist along ground and tgt height the same. Iterate over other parameters.
final var targetPose = new Pose2d(new Translation2d(35, 0), new Rotation2d(Math.PI / 42));
final var robotPose = new Pose2d(new Translation2d(35 - testDist, 0), new Rotation2d(0));
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI * 0.98));
final var robotPose =
new Pose3d(new Translation3d(15.98 - Units.feetToMeters(testDist), 0, 0), new Rotation3d());
final var robotToCamera =
new Transform3d(
new Translation3d(0, 0, Units.feetToMeters(testHeight)),
new Rotation3d(0, Units.degreesToRadians(testPitch), 0));
var sysUnderTest =
new SimVisionSystem(
"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysohowsyourdaygoingihopegoodhaveagreatrestofyourlife!",
160.0,
testPitch,
new Transform2d(),
testHeight,
robotToCamera.inverse(),
99999,
640,
480,
0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, testDist, 0.5, 0.5));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPose, 0.5, 0.5, 0));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
@@ -276,34 +305,102 @@ class SimVisionSystemTest {
assertEquals(tgt.getYaw(), 0.0, 0.0001);
double distMeas =
PhotonUtils.calculateDistanceToTargetMeters(
testHeight,
testDist,
robotToCamera.getZ(),
targetPose.getZ(),
Units.degreesToRadians(testPitch),
Units.degreesToRadians(tgt.getPitch()));
assertEquals(distMeas, testDist, 0.001);
assertEquals(Units.feetToMeters(testDist), distMeas, 0.001);
}
@Test
public void testMultipleTargets() {
final var targetPoseL = new Pose2d(new Translation2d(35, 2), new Rotation2d());
final var targetPoseC = new Pose2d(new Translation2d(35, 0), new Rotation2d());
final var targetPoseR = new Pose2d(new Translation2d(35, -2), new Rotation2d());
var sysUnderTest =
new SimVisionSystem("Test", 160.0, 0.0, new Transform2d(), 5.0, 99999, 640, 480, 20.0);
final var targetPoseL =
new Pose3d(new Translation3d(15.98, 2, 0), new Rotation3d(0, 0, Math.PI));
final var targetPoseC =
new Pose3d(new Translation3d(15.98, 0, 0), new Rotation3d(0, 0, Math.PI));
final var targetPoseR =
new Pose3d(new Translation3d(15.98, -2, 0), new Rotation3d(0, 0, Math.PI));
var sysUnderTest = new SimVisionSystem("Test", 160.0, new Transform3d(), 99999, 640, 480, 20.0);
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 0.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 1.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 2.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 3.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 4.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 5.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 6.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseC, 7.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 8.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseR, 9.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(new SimVisionTarget(targetPoseL, 10.0, 0.25, 0.1));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
0.25,
0.25,
1));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
0.25,
0.25,
2));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 0.00), new Rotation3d())),
0.25,
0.25,
3));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
0.25,
0.25,
4));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
0.25,
0.25,
5));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 1.00), new Rotation3d())),
0.25,
0.25,
6));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
0.25,
0.25,
7));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseC.transformBy(
new Transform3d(new Translation3d(0, 0, 0.50), new Rotation3d())),
0.25,
0.25,
8));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
0.25,
0.25,
9));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseR.transformBy(
new Transform3d(new Translation3d(0, 0, 0.75), new Rotation3d())),
0.25,
0.25,
10));
sysUnderTest.addSimVisionTarget(
new SimVisionTarget(
targetPoseL.transformBy(
new Transform3d(new Translation3d(0, 0, 0.25), new Rotation3d())),
0.25,
0.25,
11));
var robotPose = new Pose2d(new Translation2d(30, 0), Rotation2d.fromDegrees(5));
var robotPose = new Pose2d(new Translation2d(6.0, 0), Rotation2d.fromDegrees(0.25));
sysUnderTest.processFrame(robotPose);
var res = sysUnderTest.cam.getLatestResult();
assertTrue(res.hasTargets());

416
photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp
View File

@@ -1,416 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* 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>
#include <units/angle.h>
#include <units/length.h>
#include "gtest/gtest.h"
#include "photonlib/PhotonCamera.h"
#include "photonlib/PhotonUtils.h"
#include "photonlib/SimVisionSystem.h"
TEST(SimVisionSystemTest, Empty) {
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
sysUnderTest.ProcessFrame(frc::Pose2d());
}
}
class SimVisionSystemDistParamTest : public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemDistParamTests,
SimVisionSystemDistParamTest,
testing::Values(5, 10, 15, 20, 25, 30));
TEST_P(SimVisionSystemDistParamTest, DistanceAligned) {
double dist = GetParam();
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 1.0_m, 1.0_m));
auto robotPose = frc::Pose2d(
frc::Translation2d(units::meter_t(35.0 - dist), 0_m), frc::Rotation2d());
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()
.GetCameraToTarget()
.Translation()
.Norm()
.value(),
dist);
}
TEST(SimVisionSystemTest, VisibilityCupidShuffle) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
320, 240, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 0.0_m, 3.0_m, 3.0_m));
// To the right, to the right
auto robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-70.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the right, to the right
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-95.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the left, to the left
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(90.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// To the left, to the left
robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(65.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// now kick, now kick
robotPose =
frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
// now kick, now kick
robotPose =
frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(-5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
// now walk it by yourself
robotPose = frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m),
frc::Rotation2d(-179.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
// now walk it by yourself
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(180_deg)), 0.0_m);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
}
TEST(SimVisionSystemTest, NotVisibleVert1) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 0.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.0_m, 3.0_m, 2.0_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
sysUnderTest.MoveCamera(
frc::Transform2d(frc::Translation2d(), frc::Rotation2d(0_deg)), 5000.0_m);
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, NotVisibleVert2) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
1234, 1234, 0.5);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 3.0_m, 0.5_m, 0.5_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, NotVisibleTgtSize) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 99999.0_m,
640, 480, 20.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
TEST(SimVisionSystemTest, NotVisibleTooFarForLEDs) {
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
frc::Transform2d(), 1.0_m, 10.0_m,
640, 480, 1.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(28.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
EXPECT_TRUE(result.HasTargets());
robotPose =
frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
result = sysUnderTest.cam.GetLatestResult();
EXPECT_FALSE(result.HasTargets());
}
class SimVisionSystemYawParamTest : public testing::TestWithParam<double> {};
INSTANTIATE_TEST_SUITE_P(SimVisionSystemYawParamTests,
SimVisionSystemYawParamTest,
testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23));
TEST_P(SimVisionSystemYawParamTest, YawAngles) {
double testYaw = GetParam(); // Nope, Chuck testYaw
auto targetPose =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
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));
auto robotPose = frc::Pose2d(frc::Translation2d(32_m, 0.0_m),
frc::Rotation2d(units::degree_t(testYaw)));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgt = result.GetBestTarget();
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));
// auto robotPose =
// frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(0.0_deg));
// 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.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);
// }
class SimVisionSystemDistCalcParamTest
: public testing::TestWithParam<std::tuple<double, double, double>> {};
INSTANTIATE_TEST_SUITE_P(
SimVisionSystemDistCalcParamTests, SimVisionSystemDistCalcParamTest,
testing::Values(std::tuple<double, double, double>(5, 35, 0),
std::tuple<double, double, double>(6, 35, 1),
std::tuple<double, double, double>(10, 35, 0),
std::tuple<double, double, double>(15, 35, 2),
std::tuple<double, double, double>(19.95, 35, 0),
std::tuple<double, double, double>(20, 35, 0),
std::tuple<double, double, double>(5, 42, 1),
std::tuple<double, double, double>(6, 42, 0),
std::tuple<double, double, double>(10, 42, 2),
std::tuple<double, double, double>(15, 42, 0.5),
std::tuple<double, double, double>(19.42, 35, 0),
std::tuple<double, double, double>(20, 42, 0),
std::tuple<double, double, double>(5, 55, 2),
std::tuple<double, double, double>(6, 55, 0),
std::tuple<double, double, double>(10, 54, 2.2),
std::tuple<double, double, double>(15, 53, 0),
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);
// 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));
// 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.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 =
frc::Pose2d(frc::Translation2d(35_m, 2_m), frc::Rotation2d());
auto targetPoseC =
frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
auto targetPoseR =
frc::Pose2d(frc::Translation2d(35_m, -2_m), frc::Rotation2d());
photonlib::SimVisionSystem sysUnderTest("test", 160.0_deg,
frc::Transform2d(), 5.0_m, 99999.0_m,
640, 480, 20.0);
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 0.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 1.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 2.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 3.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 4.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 5.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 6.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseC, 7.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 8.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseR, 9.0_m, 0.25_m, 0.1_m));
sysUnderTest.AddSimVisionTarget(
photonlib::SimVisionTarget(targetPoseL, 10.0_m, 0.25_m, 0.1_m));
auto robotPose =
frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(5.0_deg));
sysUnderTest.ProcessFrame(robotPose);
auto result = sysUnderTest.cam.GetLatestResult();
ASSERT_TRUE(result.HasTargets());
auto tgtList = result.GetTargets();
EXPECT_EQ(11ul, tgtList.size());
}
*/

12
photonlib-cpp-examples/src/main/cpp/examples/examples.json
View File

@@ -35,16 +35,4 @@
"dependencies": [],
"foldername": "aimandrange"
}
{
"name": "SimAimAndRange",
"description": "Adding Simulation Support to the Aim And Range example",
"tags": [],
"gradlebase": "cpp",
"language": "cpp",
"commandversion": 1,
"mainclass": "Main",
"packagetoreplace": null,
"dependencies": [],
"foldername": "simaimandrange"
}
]

73
photonlib-cpp-examples/src/main/cpp/examples/simaimandrange/cpp/Robot.cpp
View File

@@ -1,73 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "Robot.h"
#include <photonlib/PhotonUtils.h>
void Robot::TeleopPeriodic() {
double forwardSpeed;
double rotationSpeed;
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
const auto& result = camera.GetLatestResult();
if (result.HasTargets()) {
// First calculate range
units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});
// Use this range as the measurement we give to the PID controller.
// -1.0 required to ensure positive PID controller effort _increases_
// range
forwardSpeed = -forwardController.Calculate(range.value(),
GOAL_RANGE_METERS.value());
// Also calculate angular power
// -1.0 required to ensure positive PID controller effort _increases_ yaw
rotationSpeed =
-turnController.Calculate(result.GetBestTarget().GetYaw(), 0);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
rotationSpeed = 0;
}
} else {
// Manual Driver Mode
forwardSpeed = -xboxController.GetRightY();
rotationSpeed = xboxController.GetLeftX();
}
// Use our forward/turn speeds to control the drivetrain
drive.ArcadeDrive(forwardSpeed, rotationSpeed);
}
void Robot::SimulationPeriodic() { dtSim.update(); }
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

50
photonlib-cpp-examples/src/main/cpp/examples/simaimandrange/cpp/sim/DrivetrainSim.cpp
View File

@@ -1,50 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "DrivetrainSim.h"
/**
* Perform all periodic drivetrain simulation related tasks to advance our
* simulation of robot physics forward by a single 20ms step.
*/
void DrivetrainSim::update() {
double leftMotorCmd = 0;
double rightMotorCmd = 0;
if (frc::DriverStation::IsEnabled() &&
!frc::RobotController::IsBrownedOut()) {
leftMotorCmd = leftLeader.GetSpeed();
rightMotorCmd = rightLeader.GetSpeed();
}
m_drivetrainSimulator.SetInputs(
units::volt_t(leftMotorCmd * frc::RobotController::GetInputVoltage()),
units::volt_t(-rightMotorCmd * frc::RobotController::GetInputVoltage()));
m_drivetrainSimulator.Update(20_ms);
// Update PhotonVision based on our new robot position.
simVision.ProcessFrame(m_drivetrainSimulator.GetPose());
field.SetRobotPose(m_drivetrainSimulator.GetPose());
}

111
photonlib-cpp-examples/src/main/cpp/examples/simaimandrange/include/DrivetrainSim.h
View File

@@ -1,111 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include <photonlib/SimVisionSystem.h>
#include <frc/DriverStation.h>
#include <frc/RobotController.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/geometry/Translation2d.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/smartdashboard/Field2d.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc/system/plant/LinearSystemId.h>
#include <units/angle.h>
#include <units/length.h>
#include <units/time.h>
#pragma once
class DrivetrainSim {
public:
DrivetrainSim() {
simVision.AddSimVisionTarget(photonlib::SimVisionTarget(
farTargetPose, 81.91_in, targetWidth, targetHeight));
frc::SmartDashboard::PutData("Field", &field);
}
void update();
private:
// Simulated Motor Controllers
frc::sim::PWMSim leftLeader{0};
frc::sim::PWMSim rightLeader{1};
// Simulation Physics
// Configure these to match your drivetrain's physical dimensions
// and characterization results.
static constexpr decltype(1_V / 1_mps) kv = 1.98 * 1_V * 1_s / 1_m;
static constexpr decltype(1_V / 1_mps_sq) ka = 0.2 * 1_V * 1_s * 1_s / 1_m;
static constexpr decltype(1_V / 1_rad_per_s) kvAngular =
1.5 * 1_V * 1_s / 1_rad;
static constexpr decltype(1_V / 1_rad_per_s_sq) kaAngular =
0.3 * 1_V * 1_s * 1_s / 1_rad;
static constexpr units::meter_t kTrackWidth = 1_m;
const frc::LinearSystem<2, 2, 2> kDrivetrainPlant =
frc::LinearSystemId::IdentifyDrivetrainSystem(kv, ka, kvAngular,
kaAngular, kTrackWidth);
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
kDrivetrainPlant, 2.0_ft,
frc::DCMotor::CIM(2), 8.0,
6.0_in / 2, {0.001, 0.001, 0.0001, 0.1, 0.1, 0.005, 0.005}};
// Simulated Vision System.
// Configure these to match your PhotonVision Camera,
// pipeline, and LED setup.
units::degree_t camDiagFOV = 170.0_deg; // assume wide-angle camera
units::meter_t camHeightOffGround = 24_in;
units::meter_t maxLEDRange = 20_m;
int camResolutionWidth = 640; // pixels
int camResolutionHeight = 480; // pixels
double minTargetArea = 10; // square pixels
photonlib::SimVisionSystem simVision{"photonvision", camDiagFOV,
frc::Transform2d{}, camHeightOffGround,
maxLEDRange, camResolutionWidth,
camResolutionHeight, minTargetArea};
// See
// https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf
// page 208
const units::meter_t targetWidth = 41.30_in - 6.70_in;
// See
// https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf
// page 197
const units::meter_t targetHeight = 98.19_in - 81.19_in; // meters
// See
// https://firstfrc.blob.core.windows.net/frc2020/PlayingField/LayoutandMarkingDiagram.pdf
// pages 4 and 5
const units::meter_t tgtXPos = 54_ft;
const units::meter_t tgtYPos = (27.0_ft / 2) - 43.75_in - (48.0_in / 2.0);
const frc::Translation2d targetTrans{tgtXPos, tgtYPos};
const frc::Rotation2d targetRot{0.0_deg};
frc::Pose2d farTargetPose{targetTrans, targetRot};
frc::Field2d field{};
};

77
photonlib-cpp-examples/src/main/cpp/examples/simaimandrange/include/Robot.h
View File

@@ -1,77 +0,0 @@
/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#pragma once
#include <photonlib/PhotonCamera.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/PWMVictorSPX.h>
#include <units/angle.h>
#include <units/length.h>
#include "DrivetrainSim.h"
class Robot : public frc::TimedRobot {
public:
void TeleopPeriodic() override;
void SimulationPeriodic() override;
private:
// Constants such as camera and target height stored. Change per robot and
// goal!
const units::meter_t CAMERA_HEIGHT = 24_in;
const units::meter_t TARGET_HEIGHT = 81.19_in;
// Angle between horizontal and the camera.
const units::radian_t CAMERA_PITCH = 15_deg;
// How far from the target we want to be
const units::meter_t GOAL_RANGE_METERS = 10_ft;
// PID constants should be tuned per robot
const double LINEAR_P = 2.0;
const double LINEAR_D = 0.0;
frc2::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};
const double ANGULAR_P = 0.03;
const double ANGULAR_D = 0.003;
frc2::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
// Change this to match the name of your camera
photonlib::PhotonCamera camera{"photonvision"};
frc::XboxController xboxController{0};
// Drive motors
frc::PWMVictorSPX leftMotor{0};
frc::PWMVictorSPX rightMotor{1};
frc::DifferentialDrive drive{leftMotor, rightMotor};
// Simulation Support
DrivetrainSim dtSim{};
};

22
photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java
View File

@@ -25,9 +25,10 @@
package org.photonlib.examples.simaimandrange.sim;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Pose3d;
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.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
@@ -73,7 +74,7 @@ public class DrivetrainSim {
// Configure these to match your PhotonVision Camera,
// pipeline, and LED setup.
double camDiagFOV = 170.0; // degrees - assume wide-angle camera
double camPitch = Units.radiansToDegrees(Robot.CAMERA_PITCH_RADIANS); // degrees
double camPitch = Robot.CAMERA_PITCH_RADIANS; // degrees
double camHeightOffGround = Robot.CAMERA_HEIGHT_METERS; // meters
double maxLEDRange = 20; // meters
int camResolutionWidth = 640; // pixels
@@ -84,9 +85,8 @@ public class DrivetrainSim {
new SimVisionSystem(
"photonvision",
camDiagFOV,
camPitch,
new Transform2d(),
camHeightOffGround,
new Transform3d(
new Translation3d(0, 0, camHeightOffGround), new Rotation3d(0, camPitch, 0)),
maxLEDRange,
camResolutionWidth,
camResolutionHeight,
@@ -105,13 +105,15 @@ public class DrivetrainSim {
double tgtXPos = Units.feetToMeters(54);
double tgtYPos =
Units.feetToMeters(27 / 2) - Units.inchesToMeters(43.75) - Units.inchesToMeters(48.0 / 2.0);
Pose2d farTargetPose = new Pose2d(new Translation2d(tgtXPos, tgtYPos), new Rotation2d(0.0));
Pose3d farTargetPose =
new Pose3d(
new Translation3d(tgtXPos, tgtYPos, Robot.TARGET_HEIGHT_METERS),
new Rotation3d(0.0, 0.0, 0.0));
Field2d field = new Field2d();
public DrivetrainSim() {
simVision.addSimVisionTarget(
new SimVisionTarget(farTargetPose, Robot.TARGET_HEIGHT_METERS, targetWidth, targetHeight));
simVision.addSimVisionTarget(new SimVisionTarget(farTargetPose, targetWidth, targetHeight, -1));
SmartDashboard.putData("Field", field);
}

4
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
View File

@@ -87,7 +87,6 @@ public class Constants {
// page 197
public static final double targetHeight =
Units.inchesToMeters(98.19) - Units.inchesToMeters(81.19); // meters
public static final double targetHeightAboveGround = Units.inchesToMeters(81.19); // meters
// See https://firstfrc.blob.core.windows.net/frc2020/PlayingField/LayoutandMarkingDiagram.pdf
// pages 4 and 5
@@ -103,6 +102,5 @@ public class Constants {
new Rotation3d(0.0, 0.0, Units.degreesToRadians(180)));
public static final SimVisionTarget kFarTarget =
new SimVisionTarget(
kFarTargetPose.toPose2d(), targetHeightAboveGround, targetWidth, targetHeight);
new SimVisionTarget(kFarTargetPose, targetWidth, targetHeight, 42);
}

6
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
View File

@@ -89,11 +89,7 @@ public class DrivetrainSim {
new SimVisionSystem(
Constants.kCamName,
camDiagFOV,
camPitch,
new Transform2d(
Constants.kCameraToRobot.getTranslation().toTranslation2d(),
Constants.kCameraToRobot.getRotation().toRotation2d()),
camHeightOffGround,
Constants.kCameraToRobot,
maxLEDRange,
camResolutionWidth,
camResolutionHeight,