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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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259
photon-lib/src/test/java/org/photonvision/SimVisionSystemTest.java
View File

@@ -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());
}
*/