mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
dfed7e3621
What it says on the tin. This is all stuff from our initial effort to port the sim things. Right now it is coupled to #1557 because this fixes things up in that. Lets merge that one before dealing with this one
592 lines
20 KiB
Python
592 lines
20 KiB
Python
import math
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import ntcore as nt
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import pytest
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from photonlibpy.estimation import TargetModel, VisionEstimation
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from photonlibpy.photonCamera import PhotonCamera, setVersionCheckEnabled
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from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
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from robotpy_apriltag import AprilTag, AprilTagFieldLayout
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from wpimath.geometry import (
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Pose2d,
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Pose3d,
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Rotation2d,
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Rotation3d,
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Transform3d,
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Translation2d,
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Translation3d,
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)
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from wpimath.units import feetToMeters, meters
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@pytest.fixture(autouse=True)
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def setupCommon() -> None:
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nt.NetworkTableInstance.getDefault().startServer()
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setVersionCheckEnabled(False)
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def test_VisibilityCupidShuffle() -> None:
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targetPose = Pose3d(Translation3d(15.98, 0.0, 2.0), Rotation3d(0, 0, math.pi))
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=1.0, height=1.0), 4774
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)
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]
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)
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# To the right, to the right
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robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(-70.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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# To the right, to the right
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robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(-95.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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# To the left, to the left
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robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(90.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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# To the left, to the left
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robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(65.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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# Now kick, now kick
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robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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# Now kick, now kick
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robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(-5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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# Now walk it by yourself
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robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(-179.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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# Now walk it by yourself
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visionSysSim.adjustCamera(
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cameraSim, Transform3d(Translation3d(), Rotation3d(0, 0, math.pi))
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)
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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def test_NotVisibleVert1() -> None:
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targetPose = Pose3d(Translation3d(15.98, 0.0, 2.0), Rotation3d(0, 0, math.pi))
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=3.0, height=3.0), 4774
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)
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]
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)
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robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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visionSysSim.adjustCamera(
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cameraSim,
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Transform3d(Translation3d(0.0, 0.0, 5000.0), Rotation3d(0.0, 0.0, math.pi)),
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)
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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def test_NotVisibleVert2() -> None:
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targetPose = Pose3d(Translation3d(15.98, 0.0, 2.0), Rotation3d(0, 0, math.pi))
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robotToCamera = Transform3d(
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Translation3d(0.0, 0.0, 1.0), Rotation3d(0.0, -math.pi / 4.0, 0.0)
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)
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, robotToCamera)
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cameraSim.prop.setCalibrationFromFOV(
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4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0)
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)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
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)
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]
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)
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robotPose = Pose2d(Translation2d(13.98, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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def test_NotVisibleTargetSize() -> None:
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targetPose = Pose3d(Translation3d(15.98, 0.0, 1.0), Rotation3d(0, 0, math.pi))
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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cameraSim.setMinTargetAreaPixels(20.0)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=0.1, height=0.1), 4774
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)
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]
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)
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robotPose = Pose2d(Translation2d(12.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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def test_NotVisibleTooFarLeds() -> None:
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targetPose = Pose3d(Translation3d(15.98, 0.0, 1.0), Rotation3d(0, 0, math.pi))
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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cameraSim.setMinTargetAreaPixels(1.0)
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cameraSim.setMaxSightRange(10.0)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=1.0, height=1.0), 4774
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)
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]
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)
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robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert camera.getLatestResult().hasTargets()
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robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
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visionSysSim.update(robotPose)
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assert not camera.getLatestResult().hasTargets()
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@pytest.mark.parametrize(
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"expected_yaw", [-10.0, -5.0, -2.0, -1.0, 0.0, 5.0, 7.0, 10.23]
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)
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def test_YawAngles(expected_yaw) -> None:
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targetPose = Pose3d(
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Translation3d(15.98, 0.0, 1.0), Rotation3d(0.0, 0.0, 3.0 * math.pi / 4.0)
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)
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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cameraSim.setMinTargetAreaPixels(0.0)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
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)
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]
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)
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robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(expected_yaw))
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visionSysSim.update(robotPose)
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result = camera.getLatestResult()
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bestTarget = result.getBestTarget()
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assert bestTarget is not None
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assert bestTarget.getYaw() == pytest.approx(expected_yaw, abs=0.25)
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@pytest.mark.parametrize(
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"expected_pitch", [-10.0, -5.0, -2.0, -1.0, 0.0, 5.0, 7.0, 10.23]
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)
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def test_PitchAngles(expected_pitch) -> None:
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targetPose = Pose3d(
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Translation3d(15.98, 0.0, 0.0), Rotation3d(0, 0, 3.0 * math.pi / 4.0)
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)
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robotPose = Pose2d(
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Translation2d(10.0, 0.0), Rotation2d.fromDegrees(-expected_pitch)
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)
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(
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640, 480, fovDiag=Rotation2d.fromDegrees(120.0)
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)
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cameraSim.setMinTargetAreaPixels(0.0)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
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)
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]
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)
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visionSysSim.adjustCamera(
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cameraSim,
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Transform3d(
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Translation3d(), Rotation3d(0.0, math.radians(expected_pitch), 0.0)
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),
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)
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visionSysSim.update(robotPose)
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result = camera.getLatestResult()
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bestTarget = result.getBestTarget()
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assert bestTarget is not None
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assert bestTarget.getPitch() == pytest.approx(expected_pitch, abs=0.25)
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@pytest.mark.parametrize(
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"distParam, pitchParam, heightParam",
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[
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(5, -15.98, 0),
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(6, -15.98, 1),
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(10, -15.98, 0),
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(15, -15.98, 2),
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(19.95, -15.98, 0),
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(20, -15.98, 0),
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(5, -42, 1),
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(6, -42, 0),
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(10, -42, 2),
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(15, -42, 0.5),
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(19.42, -15.98, 0),
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(20, -42, 0),
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(5, -55, 2),
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(6, -55, 0),
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(10, -54, 2.2),
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(15, -53, 0),
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(19.52, -15.98, 1.1),
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],
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)
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def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
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distParam = feetToMeters(distParam)
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pitchParam = math.radians(pitchParam)
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heightParam = feetToMeters(heightParam)
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targetPose = Pose3d(
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Translation3d(15.98, 0.0, 1.0), Rotation3d(0.0, 0.0, 0.98 * math.pi)
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)
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robotPose = Pose3d(Translation3d(15.98 - distParam, 0.0, 0.0), Rotation3d())
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robotToCamera = Transform3d(
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Translation3d(0.0, 0.0, heightParam), Rotation3d(0.0, pitchParam, 0.0)
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)
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visionSysSim = VisionSystemSim(
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"absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysohowsyourdaygoingihopegoodhaveagreatrestofyourlife"
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)
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(
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640, 480, fovDiag=Rotation2d.fromDegrees(160.0)
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)
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cameraSim.setMinTargetAreaPixels(0.0)
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visionSysSim.adjustCamera(cameraSim, robotToCamera)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPose, TargetModel.createPlanar(width=0.5, height=0.5), 4774
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)
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]
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)
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visionSysSim.update(robotPose)
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result = camera.getLatestResult()
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target = result.getBestTarget()
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assert target is not None
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assert target.getYaw() == pytest.approx(0.0, abs=0.5)
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# TODO Enable when PhotonUtils is ported
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# dist = PhotonUtils.calculateDistanceToTarget(
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# robotToCamera.Z(), targetPose.Z(), -pitchParam, math.degrees(target.getPitch())
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# )
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# assert dist == pytest.approx(distParam, abs=0.25)
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def test_MultipleTargets() -> None:
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targetPoseL = Pose3d(Translation3d(15.98, 2.0, 0.0), Rotation3d(0.0, 0.0, math.pi))
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targetPoseC = Pose3d(Translation3d(15.98, 0.0, 0.0), Rotation3d(0.0, 0.0, math.pi))
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targetPoseR = Pose3d(Translation3d(15.98, -2.0, 0.0), Rotation3d(0.0, 0.0, math.pi))
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
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cameraSim.setMinTargetAreaPixels(20.0)
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visionSysSim.addVisionTargets(
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[
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VisionTargetSim(
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targetPoseL.transformBy(
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Transform3d(Translation3d(0, 0, 0), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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1,
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),
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VisionTargetSim(
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targetPoseC.transformBy(
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Transform3d(Translation3d(0, 0, 0), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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2,
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),
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VisionTargetSim(
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targetPoseR.transformBy(
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Transform3d(Translation3d(0, 0, 0), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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3,
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),
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VisionTargetSim(
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targetPoseL.transformBy(
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Transform3d(Translation3d(0, 0, 1), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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4,
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),
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VisionTargetSim(
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targetPoseC.transformBy(
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Transform3d(Translation3d(0, 0, 1), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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5,
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),
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VisionTargetSim(
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targetPoseR.transformBy(
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Transform3d(Translation3d(0, 0, 1), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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6,
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),
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VisionTargetSim(
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targetPoseL.transformBy(
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Transform3d(Translation3d(0, 0, 0.5), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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7,
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),
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VisionTargetSim(
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targetPoseC.transformBy(
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Transform3d(Translation3d(0, 0, 0.5), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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8,
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),
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VisionTargetSim(
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targetPoseL.transformBy(
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Transform3d(Translation3d(0, 0, 0.75), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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9,
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),
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VisionTargetSim(
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targetPoseR.transformBy(
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Transform3d(Translation3d(0, 0, 0.75), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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10,
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),
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VisionTargetSim(
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targetPoseL.transformBy(
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Transform3d(Translation3d(0, 0, 0.25), Rotation3d())
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),
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TargetModel.AprilTag16h5(),
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11,
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),
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]
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)
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robotPose = Pose2d(Translation2d(6.0, 0.0), Rotation2d.fromDegrees(0.25))
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visionSysSim.update(robotPose)
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res = camera.getLatestResult()
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assert res.hasTargets()
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tgtList = res.getTargets()
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assert len(tgtList) == 11
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def test_PoseEstimation() -> None:
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visionSysSim = VisionSystemSim("Test")
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camera = PhotonCamera("camera")
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cameraSim = PhotonCameraSim(camera)
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visionSysSim.addCamera(cameraSim, Transform3d())
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cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
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cameraSim.setMinTargetAreaPixels(20.0)
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tagList: list[AprilTag] = []
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at0 = AprilTag()
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at0.ID = 0
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at0.pose = Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))
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tagList.append(at0)
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at1 = AprilTag()
|
|
at1.ID = 1
|
|
at1.pose = Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))
|
|
tagList.append(at1)
|
|
at2 = AprilTag()
|
|
at2.ID = 2
|
|
at2.pose = Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))
|
|
tagList.append(at2)
|
|
|
|
fieldLength: meters = 54.0
|
|
fieldWidth: meters = 27.0
|
|
layout = AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
|
|
robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.fromDegrees(5.0))
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[0].pose, TargetModel.AprilTag16h5(), 0)]
|
|
)
|
|
|
|
visionSysSim.update(robotPose)
|
|
|
|
camEigen = cameraSim.prop.getIntrinsics()
|
|
distEigen = cameraSim.prop.getDistCoeffs()
|
|
|
|
camResults = camera.getLatestResult()
|
|
targets = camResults.getTargets()
|
|
results = VisionEstimation.estimateCamPosePNP(
|
|
camEigen, distEigen, targets, layout, TargetModel.AprilTag16h5()
|
|
)
|
|
assert results is not None
|
|
pose: Pose3d = Pose3d() + results.best
|
|
assert pose.X() == pytest.approx(5.0, abs=0.01)
|
|
assert pose.Y() == pytest.approx(1.0, abs=0.01)
|
|
assert pose.Z() == pytest.approx(0.0, abs=0.01)
|
|
assert pose.rotation().Z() == pytest.approx(math.radians(5.0), abs=0.01)
|
|
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[1].pose, TargetModel.AprilTag16h5(), 1)]
|
|
)
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[2].pose, TargetModel.AprilTag16h5(), 2)]
|
|
)
|
|
visionSysSim.update(robotPose)
|
|
|
|
camResults2 = camera.getLatestResult()
|
|
targets2 = camResults2.getTargets()
|
|
results2 = VisionEstimation.estimateCamPosePNP(
|
|
camEigen, distEigen, targets2, layout, TargetModel.AprilTag16h5()
|
|
)
|
|
assert results2 is not None
|
|
pose2 = Pose3d() + results2.best
|
|
|
|
assert pose2.X() == pytest.approx(robotPose.X(), abs=0.01)
|
|
assert pose2.Y() == pytest.approx(robotPose.Y(), abs=0.01)
|
|
assert pose2.Z() == pytest.approx(0.0, abs=0.01)
|
|
assert pose2.rotation().Z() == pytest.approx(math.radians(5.0), abs=0.01)
|
|
|
|
|
|
def test_PoseEstimationRotated() -> None:
|
|
robotToCamera = Transform3d(
|
|
Translation3d(6.0 * 0.0254, 6.0 * 0.0254, 6.0 * 0.0254),
|
|
Rotation3d(0.0, math.radians(-30.0), math.radians(25.5)),
|
|
)
|
|
|
|
visionSysSim = VisionSystemSim("Test")
|
|
camera = PhotonCamera("camera")
|
|
cameraSim = PhotonCameraSim(camera)
|
|
visionSysSim.addCamera(cameraSim, robotToCamera)
|
|
cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
|
|
cameraSim.setMinTargetAreaPixels(20.0)
|
|
|
|
tagList: list[AprilTag] = []
|
|
at0 = AprilTag()
|
|
at0.ID = 0
|
|
at0.pose = Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))
|
|
tagList.append(at0)
|
|
at1 = AprilTag()
|
|
at1.ID = 1
|
|
at1.pose = Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))
|
|
tagList.append(at1)
|
|
at2 = AprilTag()
|
|
at2.ID = 2
|
|
at2.pose = Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))
|
|
tagList.append(at2)
|
|
|
|
fieldLength: meters = 54.0
|
|
fieldWidth: meters = 27.0
|
|
layout = AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
|
|
robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.fromDegrees(-5.0))
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[0].pose, TargetModel.AprilTag36h11(), 0)]
|
|
)
|
|
|
|
visionSysSim.update(robotPose)
|
|
|
|
camEigen = cameraSim.prop.getIntrinsics()
|
|
distEigen = cameraSim.prop.getDistCoeffs()
|
|
|
|
camResults = camera.getLatestResult()
|
|
targets = camResults.getTargets()
|
|
results = VisionEstimation.estimateCamPosePNP(
|
|
camEigen, distEigen, targets, layout, TargetModel.AprilTag36h11()
|
|
)
|
|
assert results is not None
|
|
pose: Pose3d = Pose3d() + results.best
|
|
pose = pose.transformBy(robotToCamera.inverse())
|
|
assert pose.X() == pytest.approx(5.0, abs=0.01)
|
|
assert pose.Y() == pytest.approx(1.0, abs=0.01)
|
|
assert pose.Z() == pytest.approx(0.0, abs=0.01)
|
|
assert pose.rotation().Z() == pytest.approx(math.radians(-5.0), abs=0.01)
|
|
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[1].pose, TargetModel.AprilTag36h11(), 1)]
|
|
)
|
|
visionSysSim.addVisionTargets(
|
|
[VisionTargetSim(tagList[2].pose, TargetModel.AprilTag36h11(), 2)]
|
|
)
|
|
visionSysSim.update(robotPose)
|
|
|
|
camResults2 = camera.getLatestResult()
|
|
targets2 = camResults2.getTargets()
|
|
results2 = VisionEstimation.estimateCamPosePNP(
|
|
camEigen, distEigen, targets2, layout, TargetModel.AprilTag36h11()
|
|
)
|
|
assert results2 is not None
|
|
pose2 = Pose3d() + results2.best
|
|
pose2 = pose2.transformBy(robotToCamera.inverse())
|
|
|
|
assert pose2.X() == pytest.approx(robotPose.X(), abs=0.01)
|
|
assert pose2.Y() == pytest.approx(robotPose.Y(), abs=0.01)
|
|
assert pose2.Z() == pytest.approx(0.0, abs=0.01)
|
|
assert pose2.rotation().Z() == pytest.approx(math.radians(-5.0), abs=0.01)
|