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[photon-lib] Simulate multitag result (#973)

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amquake
2023-10-25 18:35:06 -07:00
committed by GitHub
parent 5b2be119e7
commit d61225eba3
3 changed files with 71 additions and 26 deletions
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27
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -24,6 +24,8 @@
package org.photonvision.simulation;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.VideoMode.PixelFormat;
@@ -36,6 +38,7 @@ import edu.wpi.first.util.WPIUtilJNI;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
@@ -52,6 +55,8 @@ import org.photonvision.estimation.CameraTargetRelation;
import org.photonvision.estimation.OpenCVHelp;
import org.photonvision.estimation.RotTrlTransform3d;
import org.photonvision.estimation.TargetModel;
import org.photonvision.estimation.VisionEstimation;
import org.photonvision.targeting.MultiTargetPNPResults;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
@@ -77,6 +82,8 @@ public class PhotonCameraSim implements AutoCloseable {
private double minTargetAreaPercent;
private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
private AprilTagFieldLayout tagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
// video stream simulation
private final CvSource videoSimRaw;
private final Mat videoSimFrameRaw = new Mat();
@@ -514,11 +521,27 @@ public class PhotonCameraSim implements AutoCloseable {
videoSimProcessed.putFrame(videoSimFrameProcessed);
} else videoSimProcessed.setConnectionStrategy(ConnectionStrategy.kForceClose);
// put this simulated data to NT
// calculate multitag results
var multitagResults = new MultiTargetPNPResults();
// TODO: Implement ATFL subscribing in backend
// var tagLayout = cam.getAprilTagFieldLayout();
var visibleLayoutTags = VisionEstimation.getVisibleLayoutTags(detectableTgts, tagLayout);
if (visibleLayoutTags.size() > 1) {
List<Integer> usedIDs =
visibleLayoutTags.stream().map(t -> t.ID).sorted().collect(Collectors.toList());
var pnpResults =
VisionEstimation.estimateCamPosePNP(
prop.getIntrinsics(), prop.getDistCoeffs(), detectableTgts, tagLayout);
multitagResults = new MultiTargetPNPResults(pnpResults, usedIDs);
}
// sort target order
if (sortMode != null) {
detectableTgts.sort(sortMode.getComparator());
}
return new PhotonPipelineResult(latencyMillis, detectableTgts);
// put this simulated data to NT
return new PhotonPipelineResult(latencyMillis, detectableTgts, multitagResults);
}
/**