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[photon-core] 2D Detection data accuracy (#896)

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Use calibration data for 2d target info when available (principal point, FOV)

Correct perspective distortion in 2d yaw/pitch info
This commit is contained in:
amquake
2023-10-15 10:44:47 -07:00
committed by GitHub
parent 760de0ff86
commit c8c9e779ab
5 changed files with 200 additions and 96 deletions
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8
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -297,12 +297,12 @@ class VisionSystemSimTest {
var res = camera.getLatestResult();
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
assertEquals(tgt.getYaw(), testYaw, kRotDeltaDeg);
assertEquals(testYaw, tgt.getYaw(), kRotDeltaDeg);
}
@ParameterizedTest
@ValueSource(doubles = {-10, -5, -0, -1, -2, 5, 7, 10.23, 20.21, -19.999})
public void testCameraPitch(double testPitch) {
public void testPitchAngles(double testPitch) {
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));
@@ -331,7 +331,7 @@ class VisionSystemSimTest {
assertEquals(testPitch, tgt.getPitch(), kRotDeltaDeg);
}
private static Stream<Arguments> distCalCParamProvider() {
private static Stream<Arguments> testDistanceCalcArgs() {
// Arbitrary and fairly random assortment of distances, camera pitches, and heights
return Stream.of(
Arguments.of(5, -15.98, 0),
@@ -354,7 +354,7 @@ class VisionSystemSimTest {
}
@ParameterizedTest
@MethodSource("distCalCParamProvider")
@MethodSource("testDistanceCalcArgs")
public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
// Assume dist along ground and tgt height the same. Iterate over other parameters.