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Robot offset point (#98)

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* Add offset point calculation in backend

* Add pipeline result caching

* Add dual offset unit test
This commit is contained in:
Banks T
2020-08-27 14:41:03 -04:00
committed by GitHub
parent 9f0e89ea29
commit b6d9fe216a
22 changed files with 415 additions and 218 deletions
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31
photon-server/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
View File

@@ -21,13 +21,15 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import org.apache.commons.math3.util.FastMath;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.opencv.core.*;
import org.opencv.core.Point;
import org.opencv.imgproc.Imgproc;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.DualOffsetValues;
public class TargetCalculationsTest {
@@ -42,10 +44,10 @@ public class TargetCalculationsTest {
new TrackedTarget.TargetCalculationParameters(
true,
TargetOffsetPointEdge.Center,
new Point(),
imageCenterPoint,
new DoubleCouple(1.0, 0.0),
RobotOffsetPointMode.None,
new Point(),
new DualOffsetValues(),
imageCenterPoint,
props.horizontalFocalLength,
props.verticalFocalLength,
imageSize.width * imageSize.height);
@@ -173,4 +175,25 @@ public class TargetCalculationsTest {
result = TargetCalculations.calculateSkew(isLandscape, minAreaRect);
assertEquals(-70, result, 0.01);
}
@Test
public void robotOffsetDualTest() {
final DualOffsetValues dualOffsetValues =
new DualOffsetValues(
new Point(400, 150), 10,
new Point(390, 260), 2);
final Point expectedHalfway = new Point(393.75, 218.75);
final Point expectedOutside = new Point(388.75, 273.75);
Point crosshairPointHalfway =
TargetCalculations.calculateDualOffsetCrosshair(dualOffsetValues, 5);
Point crosshairPointOutside =
TargetCalculations.calculateDualOffsetCrosshair(dualOffsetValues, 1);
Assertions.assertEquals(expectedHalfway.x, crosshairPointHalfway.x);
Assertions.assertEquals(expectedHalfway.y, crosshairPointHalfway.y);
Assertions.assertEquals(expectedOutside.x, crosshairPointOutside.x);
Assertions.assertEquals(expectedOutside.y, crosshairPointOutside.y);
}
}

11
photon-server/src/test/java/org/photonvision/vision/target/TrackedTargetTest.java
View File

@@ -22,13 +22,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import java.util.List;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint;
import org.opencv.core.Point;
import org.opencv.core.Size;
import org.photonvision.common.util.TestUtils;
import org.photonvision.common.util.numbers.DoubleCouple;
import org.photonvision.vision.opencv.Contour;
import org.photonvision.vision.opencv.DualOffsetValues;
public class TrackedTargetTest {
@BeforeEach
@@ -38,8 +37,6 @@ public class TrackedTargetTest {
@Test
void axisTest() {
Mat background = new Mat();
MatOfPoint mat = new MatOfPoint();
mat.fromList(
List.of(
@@ -56,10 +53,10 @@ public class TrackedTargetTest {
new TrackedTarget.TargetCalculationParameters(
false,
TargetOffsetPointEdge.Center,
new Point(0, 0),
new Point(imageSize.width / 2, imageSize.height / 2),
new DoubleCouple(0.0, 0.0),
RobotOffsetPointMode.None,
new Point(0, 0),
new DualOffsetValues(),
new Point(imageSize.width / 2, imageSize.height / 2),
61,
34.3,
imageSize.area());