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https://github.com/PhotonVision/photonvision
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Set max target limit to 50 (#2320)
## Description <!-- What changed? Why? (the code + comments should speak for itself on the "how") --> <!-- Fun screenshots or a cool video or something are super helpful as well. If this touches platform-specific behavior, this is where test evidence should be collected. --> <!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. --> closes #2318 closes #2319 For the 2027 game, teams might want to detect more than 10 results. Therefore, we're increasing the limit. We also ran into an issue with our sim, where a user can create too many objects and cause an overflow. We implement that same limit of 50 targets here. ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2025.3.2 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added
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@@ -179,6 +179,28 @@ class VisionSystemSimTest {
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assertTrue(result.hasTargets());
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}
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@Test
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public void testBunchaTargets() {
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var visionSysSim = new VisionSystemSim("Test");
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var camera = new PhotonCamera(inst, "camera");
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var cameraSim = new PhotonCameraSim(camera);
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visionSysSim.addCamera(cameraSim, new Transform3d());
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cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
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for (int i = 0; i < 100; i++) {
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final var targetPose =
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new Pose3d(new Translation3d(15.98 + i * 0.1, 0, 1), new Rotation3d(0, 0, Math.PI));
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visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), i));
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}
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var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
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visionSysSim.update(robotPose);
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var res = waitForSequenceNumber(camera, 1);
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assertEquals(50, res.getTargets().size());
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}
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@Test
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public void testNotVisibleVert1() {
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final var targetPose =
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