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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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@@ -117,6 +117,29 @@ TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
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ASSERT_TRUE(camera.GetLatestResult().HasTargets());
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}
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TEST_F(VisionSystemSimTest, TestBunchaTargets) {
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photon::VisionSystemSim visionSysSim{"Test"};
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photon::PhotonCamera camera{"camera"};
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photon::PhotonCameraSim cameraSim{&camera};
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visionSysSim.AddCamera(&cameraSim, frc::Transform3d{});
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cameraSim.prop.SetCalibration(640, 480, frc::Rotation2d{80_deg});
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std::vector<photon::VisionTargetSim> targets;
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for (int i = 0; i < 100; i++) {
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targets.emplace_back(
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frc::Pose3d{
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frc::Translation3d{15.98_m + i * 0.1_m, 0_m, 1_m},
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frc::Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi}}},
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photon::TargetModel{0.5_m, 0.5_m}, i);
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}
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visionSysSim.AddVisionTargets(targets);
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frc::Pose2d robotPose{frc::Translation2d{5_m, 0_m}, frc::Rotation2d{5_deg}};
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visionSysSim.Update(robotPose);
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ASSERT_EQ(camera.GetLatestResult().targets.size(), 50u);
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}
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TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
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frc::Pose3d targetPose{
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frc::Translation3d{15.98_m, 0_m, 1_m},
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