mirror of
https://github.com/PhotonVision/photonvision
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545e016d04
* Add pose caching to Java * Refactor strategy fallthrough * Hopefully add pose caching to C++ * Make Java switch same order as enum and C++ switch * C++ absolute value in timestamp check * Fix Java NPE * Use `units::second_t` in timestamp Co-authored-by: Matt <matthew.morley.ca@gmail.com> * Expand Java unit test * Copy comments into C++ * Add tests to C++ * Run format * Update PhotonCamera.cpp * Probably fix bad access exception * a * init timestamp * Remove prints --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com> Co-authored-by: Joseph Eng <joseng2358@gmail.com>
635 lines
33 KiB
Java
635 lines
33 KiB
Java
/*
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* MIT License
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*
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* Copyright (c) 2022 PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import edu.wpi.first.apriltag.AprilTag;
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import edu.wpi.first.apriltag.AprilTagFieldLayout;
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import edu.wpi.first.hal.JNIWrapper;
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import edu.wpi.first.math.geometry.Pose3d;
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import edu.wpi.first.math.geometry.Rotation3d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.net.WPINetJNI;
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import edu.wpi.first.networktables.NetworkTablesJNI;
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import edu.wpi.first.util.CombinedRuntimeLoader;
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import edu.wpi.first.util.WPIUtilJNI;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Optional;
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import org.junit.jupiter.api.BeforeAll;
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import org.junit.jupiter.api.Test;
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import org.photonvision.PhotonPoseEstimator.PoseStrategy;
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import org.photonvision.targeting.PhotonPipelineResult;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import org.photonvision.targeting.TargetCorner;
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class PhotonPoseEstimatorTest {
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static AprilTagFieldLayout aprilTags;
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@BeforeAll
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public static void init() {
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JNIWrapper.Helper.setExtractOnStaticLoad(false);
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WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
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NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
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WPINetJNI.Helper.setExtractOnStaticLoad(false);
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try {
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CombinedRuntimeLoader.loadLibraries(
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PhotonPoseEstimatorTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", "wpiHaljni");
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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List<AprilTag> tagList = new ArrayList<AprilTag>(2);
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tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
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tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
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double fieldLength = Units.feetToMeters(54.0);
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double fieldWidth = Units.feetToMeters(27.0);
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aprilTags = new AprilTagFieldLayout(tagList, fieldLength, fieldWidth);
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}
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@Test
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void testLowestAmbiguityStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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0,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
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new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameraOne.result.setTimestampSeconds(11);
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PhotonPoseEstimator estimator =
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new PhotonPoseEstimator(
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aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, new Transform3d());
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Optional<EstimatedRobotPose> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.get().estimatedPose;
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assertEquals(11, estimatedPose.get().timestampSeconds);
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assertEquals(1, pose.getX(), .01);
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assertEquals(3, pose.getY(), .01);
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assertEquals(2, pose.getZ(), .01);
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}
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@Test
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void testClosestToCameraHeightStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
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new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameraOne.result.setTimestampSeconds(4);
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PhotonPoseEstimator estimator =
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new PhotonPoseEstimator(
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aprilTags,
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PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT,
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cameraOne,
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new Transform3d(new Translation3d(0, 0, 4), new Rotation3d()));
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Optional<EstimatedRobotPose> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.get().estimatedPose;
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assertEquals(4, estimatedPose.get().timestampSeconds);
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assertEquals(4, pose.getX(), .01);
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assertEquals(4, pose.getY(), .01);
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assertEquals(0, pose.getZ(), .01);
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}
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@Test
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void closestToReferencePoseStrategy() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
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new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameraOne.result.setTimestampSeconds(17);
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PhotonPoseEstimator estimator =
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new PhotonPoseEstimator(
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aprilTags,
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PoseStrategy.CLOSEST_TO_REFERENCE_POSE,
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cameraOne,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()));
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estimator.setReferencePose(new Pose3d(1, 1, 1, new Rotation3d()));
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Optional<EstimatedRobotPose> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.get().estimatedPose;
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assertEquals(17, estimatedPose.get().timestampSeconds);
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assertEquals(1, pose.getX(), .01);
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assertEquals(1.1, pose.getY(), .01);
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assertEquals(.9, pose.getZ(), .01);
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}
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@Test
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void closestToLastPose() {
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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1,
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new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
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new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameraOne.result.setTimestampSeconds(1);
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PhotonPoseEstimator estimator =
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new PhotonPoseEstimator(
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aprilTags,
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PoseStrategy.CLOSEST_TO_LAST_POSE,
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cameraOne,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()));
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estimator.setLastPose(new Pose3d(1, 1, 1, new Rotation3d()));
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Optional<EstimatedRobotPose> estimatedPose = estimator.update();
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Pose3d pose = estimatedPose.get().estimatedPose;
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cameraOne.result =
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new PhotonPipelineResult(
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2,
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List.of(
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.0,
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4.0,
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1,
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new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
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new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
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0.7,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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3.0,
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-4.0,
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9.1,
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6.7,
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0,
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new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
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new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
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0.3,
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List.of(
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new TargetCorner(1, 2),
|
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new TargetCorner(3, 4),
|
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new TargetCorner(5, 6),
|
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8))),
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new PhotonTrackedTarget(
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9.0,
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-2.0,
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19.0,
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3.0,
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0,
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new Transform3d(new Translation3d(2.4, 2.4, 2.2), new Rotation3d()),
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new Transform3d(new Translation3d(2, 1, 2), new Rotation3d()),
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0.4,
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)),
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List.of(
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new TargetCorner(1, 2),
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new TargetCorner(3, 4),
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new TargetCorner(5, 6),
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new TargetCorner(7, 8)))));
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cameraOne.result.setTimestampSeconds(7);
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estimatedPose = estimator.update();
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pose = estimatedPose.get().estimatedPose;
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assertEquals(7, estimatedPose.get().timestampSeconds);
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assertEquals(.9, pose.getX(), .01);
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assertEquals(1.1, pose.getY(), .01);
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assertEquals(1, pose.getZ(), .01);
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}
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@Test
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void cacheIsInvalidated() {
|
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PhotonCameraInjector cameraOne = new PhotonCameraInjector();
|
|
var result =
|
|
new PhotonPipelineResult(
|
|
2,
|
|
List.of(
|
|
new PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.0,
|
|
4.0,
|
|
0,
|
|
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
|
|
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
|
|
0.7,
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8)),
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8)))));
|
|
result.setTimestampSeconds(20);
|
|
|
|
PhotonPoseEstimator estimator =
|
|
new PhotonPoseEstimator(
|
|
aprilTags,
|
|
PoseStrategy.AVERAGE_BEST_TARGETS,
|
|
cameraOne,
|
|
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()));
|
|
|
|
// Empty result, expect empty result
|
|
cameraOne.result = new PhotonPipelineResult();
|
|
cameraOne.result.setTimestampSeconds(1);
|
|
Optional<EstimatedRobotPose> estimatedPose = estimator.update();
|
|
assertFalse(estimatedPose.isPresent());
|
|
|
|
// Set actual result
|
|
cameraOne.result = result;
|
|
estimatedPose = estimator.update();
|
|
assertTrue(estimatedPose.isPresent());
|
|
assertEquals(20, estimatedPose.get().timestampSeconds, .01);
|
|
assertEquals(20, estimator.poseCacheTimestampSeconds);
|
|
|
|
// And again -- pose cache should mean this is empty
|
|
cameraOne.result = result;
|
|
estimatedPose = estimator.update();
|
|
assertFalse(estimatedPose.isPresent());
|
|
// Expect the old timestamp to still be here
|
|
assertEquals(20, estimator.poseCacheTimestampSeconds);
|
|
|
|
// Set new field layout -- right after, the pose cache timestamp should be -1
|
|
estimator.setFieldTags(new AprilTagFieldLayout(List.of(new AprilTag(0, new Pose3d())), 0, 0));
|
|
assertEquals(-1, estimator.poseCacheTimestampSeconds);
|
|
// Update should cache the current timestamp (20) again
|
|
cameraOne.result = result;
|
|
estimatedPose = estimator.update();
|
|
assertEquals(20, estimatedPose.get().timestampSeconds, .01);
|
|
assertEquals(20, estimator.poseCacheTimestampSeconds);
|
|
}
|
|
|
|
@Test
|
|
void averageBestPoses() {
|
|
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
|
|
cameraOne.result =
|
|
new PhotonPipelineResult(
|
|
2,
|
|
List.of(
|
|
new PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.0,
|
|
4.0,
|
|
0,
|
|
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
|
|
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
|
|
0.7,
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8)),
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8))), // 1 1 1 ambig: .7
|
|
new PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.1,
|
|
6.7,
|
|
1,
|
|
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
|
|
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
|
|
0.3,
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8)),
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8))), // 2 2 2 ambig .3
|
|
new PhotonTrackedTarget(
|
|
9.0,
|
|
-2.0,
|
|
19.0,
|
|
3.0,
|
|
0,
|
|
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
|
|
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
|
|
0.4,
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8)),
|
|
List.of(
|
|
new TargetCorner(1, 2),
|
|
new TargetCorner(3, 4),
|
|
new TargetCorner(5, 6),
|
|
new TargetCorner(7, 8))))); // 3 3 3 ambig .4
|
|
cameraOne.result.setTimestampSeconds(20);
|
|
|
|
PhotonPoseEstimator estimator =
|
|
new PhotonPoseEstimator(
|
|
aprilTags,
|
|
PoseStrategy.AVERAGE_BEST_TARGETS,
|
|
cameraOne,
|
|
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()));
|
|
|
|
Optional<EstimatedRobotPose> estimatedPose = estimator.update();
|
|
Pose3d pose = estimatedPose.get().estimatedPose;
|
|
|
|
assertEquals(20, estimatedPose.get().timestampSeconds, .01);
|
|
assertEquals(2.15, pose.getX(), .01);
|
|
assertEquals(2.15, pose.getY(), .01);
|
|
assertEquals(2.15, pose.getZ(), .01);
|
|
}
|
|
|
|
private class PhotonCameraInjector extends PhotonCamera {
|
|
public PhotonCameraInjector() {
|
|
super("Test");
|
|
}
|
|
|
|
PhotonPipelineResult result;
|
|
|
|
@Override
|
|
public PhotonPipelineResult getLatestResult() {
|
|
return result;
|
|
}
|
|
}
|
|
}
|