mirror of
https://github.com/PhotonVision/photonvision
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Sim Updates for 2023 (#512)
* 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
@@ -1,416 +0,0 @@
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/*
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* MIT License
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*
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* Copyright (c) 2022 PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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// So for now, with the new apriltag stuff, this is totally broken
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// For now, commented out
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/*
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <networktables/NetworkTableInstance.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include "gtest/gtest.h"
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#include "photonlib/PhotonCamera.h"
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#include "photonlib/PhotonUtils.h"
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#include "photonlib/SimVisionSystem.h"
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TEST(SimVisionSystemTest, Empty) {
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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320, 240, 0.0);
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for (int loopIdx = 0; loopIdx < 100; loopIdx++) {
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sysUnderTest.ProcessFrame(frc::Pose2d());
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}
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}
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class SimVisionSystemDistParamTest : public testing::TestWithParam<double> {};
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INSTANTIATE_TEST_SUITE_P(SimVisionSystemDistParamTests,
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SimVisionSystemDistParamTest,
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testing::Values(5, 10, 15, 20, 25, 30));
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TEST_P(SimVisionSystemDistParamTest, DistanceAligned) {
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double dist = GetParam();
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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320, 240, 0.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 0.0_m, 1.0_m, 1.0_m));
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auto robotPose = frc::Pose2d(
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frc::Translation2d(units::meter_t(35.0 - dist), 0_m), frc::Rotation2d());
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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ASSERT_TRUE(result.HasTargets());
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std::cout << "Best target pitch " <<
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result.GetBestTarget().GetCameraToTarget().Translation().X().value();
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ASSERT_EQ(result.GetBestTarget()
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.GetCameraToTarget()
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.Translation()
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.Norm()
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.value(),
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dist);
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}
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TEST(SimVisionSystemTest, VisibilityCupidShuffle) {
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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320, 240, 0.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 0.0_m, 3.0_m, 3.0_m));
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// To the right, to the right
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auto robotPose =
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frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-70.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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// To the right, to the right
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robotPose =
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frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(-95.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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// To the left, to the left
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robotPose =
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frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(90.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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// To the left, to the left
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robotPose =
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frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(65.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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// now kick, now kick
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robotPose =
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frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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// now kick, now kick
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robotPose =
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frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m), frc::Rotation2d(-5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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// now walk it by yourself
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robotPose = frc::Pose2d(frc::Translation2d(2.0_m, 0.0_m),
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frc::Rotation2d(-179.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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// now walk it by yourself
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sysUnderTest.MoveCamera(
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frc::Transform2d(frc::Translation2d(), frc::Rotation2d(180_deg)), 0.0_m);
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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}
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TEST(SimVisionSystemTest, NotVisibleVert1) {
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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640, 480, 0.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 1.0_m, 3.0_m, 2.0_m));
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auto robotPose =
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frc::Pose2d(frc::Translation2d(5.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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ASSERT_TRUE(result.HasTargets());
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sysUnderTest.MoveCamera(
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frc::Transform2d(frc::Translation2d(), frc::Rotation2d(0_deg)), 5000.0_m);
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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}
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TEST(SimVisionSystemTest, NotVisibleVert2) {
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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1234, 1234, 0.5);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 3.0_m, 0.5_m, 0.5_m));
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auto robotPose =
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frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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robotPose =
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frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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}
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TEST(SimVisionSystemTest, NotVisibleTgtSize) {
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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640, 480, 20.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
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auto robotPose =
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frc::Pose2d(frc::Translation2d(32.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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robotPose =
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frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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}
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TEST(SimVisionSystemTest, NotVisibleTooFarForLEDs) {
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 10.0_m,
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640, 480, 1.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 1.10_m, 0.25_m, 0.1_m));
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auto robotPose =
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frc::Pose2d(frc::Translation2d(28.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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EXPECT_TRUE(result.HasTargets());
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robotPose =
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frc::Pose2d(frc::Translation2d(0.0_m, 0.0_m), frc::Rotation2d(5.0_deg));
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sysUnderTest.ProcessFrame(robotPose);
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result = sysUnderTest.cam.GetLatestResult();
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EXPECT_FALSE(result.HasTargets());
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}
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class SimVisionSystemYawParamTest : public testing::TestWithParam<double> {};
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INSTANTIATE_TEST_SUITE_P(SimVisionSystemYawParamTests,
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SimVisionSystemYawParamTest,
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testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23));
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TEST_P(SimVisionSystemYawParamTest, YawAngles) {
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double testYaw = GetParam(); // Nope, Chuck testYaw
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auto targetPose =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
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photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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frc::Transform2d(), 1.0_m, 99999.0_m,
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640, 480, 0.0);
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sysUnderTest.AddSimVisionTarget(
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photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
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auto robotPose = frc::Pose2d(frc::Translation2d(32_m, 0.0_m),
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frc::Rotation2d(units::degree_t(testYaw)));
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sysUnderTest.ProcessFrame(robotPose);
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auto result = sysUnderTest.cam.GetLatestResult();
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ASSERT_TRUE(result.HasTargets());
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auto tgt = result.GetBestTarget();
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EXPECT_DOUBLE_EQ(tgt.GetYaw(), testYaw);
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}
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// class SimVisionSystemCameraPitchParamTest
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// : public testing::TestWithParam<double> {};
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// INSTANTIATE_TEST_SUITE_P(SimVisionSystemCameraPitchParamTests,
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// SimVisionSystemCameraPitchParamTest,
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// testing::Values(-10, -5, -0, -1, -2, 5, 7, 10.23,
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// 20.21, -19.999));
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// TEST_P(SimVisionSystemCameraPitchParamTest, CameraPitch) {
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// double testPitch = GetParam();
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// auto targetPose =
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// frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d(45_deg));
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// auto robotPose =
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// frc::Pose2d(frc::Translation2d(30_m, 0.0_m), frc::Rotation2d(0.0_deg));
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// photonlib::SimVisionSystem sysUnderTest("Test", 80.0_deg,
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// frc::Transform2d(), 1.0_m,
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99999.0_m,
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// 640, 480, 0.0);
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// sysUnderTest.AddSimVisionTarget(
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// photonlib::SimVisionTarget(targetPose, 0.0_m, 0.5_m, 0.5_m));
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// sysUnderTest.MoveCamera(
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// frc::Transform2d(frc::Translation2d(), frc::Rotation2d()), 0.0_m));
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// photonlib::PhotonCamera::SetVersionCheckEnabled(false);
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// sysUnderTest.ProcessFrame(robotPose);
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// auto result = sysUnderTest.cam.GetLatestResult();
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// ASSERT_TRUE(result.HasTargets());
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// auto tgt = result.GetBestTarget();
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// // If the camera is pitched down by 10 degrees, the target should appear
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// // in the upper part of the image (ie, pitch positive). Therefor,
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// // pass/fail involves -1.0.
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// EXPECT_DOUBLE_EQ(tgt.GetPitch(), -testPitch);
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// }
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class SimVisionSystemDistCalcParamTest
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: public testing::TestWithParam<std::tuple<double, double, double>> {};
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INSTANTIATE_TEST_SUITE_P(
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SimVisionSystemDistCalcParamTests, SimVisionSystemDistCalcParamTest,
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testing::Values(std::tuple<double, double, double>(5, 35, 0),
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std::tuple<double, double, double>(6, 35, 1),
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std::tuple<double, double, double>(10, 35, 0),
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std::tuple<double, double, double>(15, 35, 2),
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std::tuple<double, double, double>(19.95, 35, 0),
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std::tuple<double, double, double>(20, 35, 0),
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std::tuple<double, double, double>(5, 42, 1),
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std::tuple<double, double, double>(6, 42, 0),
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std::tuple<double, double, double>(10, 42, 2),
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std::tuple<double, double, double>(15, 42, 0.5),
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std::tuple<double, double, double>(19.42, 35, 0),
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std::tuple<double, double, double>(20, 42, 0),
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std::tuple<double, double, double>(5, 55, 2),
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std::tuple<double, double, double>(6, 55, 0),
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std::tuple<double, double, double>(10, 54, 2.2),
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std::tuple<double, double, double>(15, 53, 0),
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std::tuple<double, double, double>(19.52, 35, 1.1),
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std::tuple<double, double, double>(20, 51, 2.87),
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std::tuple<double, double, double>(20, 55, 3)));
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// TEST_P(SimVisionSystemDistCalcParamTest, DistanceCalc) {
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// std::tuple<double, double, double> testArgs = GetParam();
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// double testDist = std::get<0>(testArgs);
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// double testPitch = std::get<1>(testArgs);
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// double testHeight = std::get<2>(testArgs);
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// auto targetPose = frc::Pose2d(frc::Translation2d(35_m, 0_m),
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// frc::Rotation2d(units::radian_t(3.14159 /
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// 42)));
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// auto robotPose =
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// frc::Pose2d(frc::Translation2d(units::meter_t(35 - testDist), 0.0_m),
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// frc::Rotation2d(0.0_deg));
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// photonlib::SimVisionSystem sysUnderTest(
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// "absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho"
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// "wsyourdaygoingihopegoodhaveagreatrestofyourlife",
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// 160.0_deg, units::degree_t(testPitch), frc::Transform2d(),
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// units::meter_t(testHeight), 99999.0_m, 640, 480, 0.0);
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// sysUnderTest.AddSimVisionTarget(photonlib::SimVisionTarget(
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// targetPose, units::meter_t(testDist), 0.5_m, 0.5_m));
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// sysUnderTest.ProcessFrame(robotPose);
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// auto result = sysUnderTest.cam.GetLatestResult();
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// ASSERT_TRUE(result.HasTargets());
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// auto tgt = result.GetBestTarget();
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// EXPECT_DOUBLE_EQ(tgt.GetYaw(), 0.0);
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// units::meter_t distMeas =
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// photonlib::PhotonUtils::CalculateDistanceToTarget(
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// units::meter_t(testHeight), units::meter_t(testDist),
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// units::degree_t(testPitch), units::degree_t(tgt.GetPitch()));
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// EXPECT_DOUBLE_EQ(distMeas.value(), testDist);
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// }
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TEST(SimVisionSystemTest, MultipleTargets) {
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auto targetPoseL =
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frc::Pose2d(frc::Translation2d(35_m, 2_m), frc::Rotation2d());
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auto targetPoseC =
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frc::Pose2d(frc::Translation2d(35_m, 0_m), frc::Rotation2d());
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auto targetPoseR =
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frc::Pose2d(frc::Translation2d(35_m, -2_m), frc::Rotation2d());
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photonlib::SimVisionSystem sysUnderTest("test", 160.0_deg,
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frc::Transform2d(), 5.0_m, 99999.0_m,
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640, 480, 20.0);
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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());
|
||||
}
|
||||
*/
|
||||
Reference in New Issue
Block a user