mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
e9006a2803
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Ryanforce08 <rradtke1208@gmail.com> Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com> Co-authored-by: Jade Turner <spacey-sooty@proton.me> Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
297 lines
10 KiB
Python
297 lines
10 KiB
Python
###############################################################################
|
|
## Copyright (C) Photon Vision.
|
|
###############################################################################
|
|
## This program is free software: you can redistribute it and/or modify
|
|
## it under the terms of the GNU General Public License as published by
|
|
## the Free Software Foundation, either version 3 of the License, or
|
|
## (at your option) any later version.
|
|
##
|
|
## This program is distributed in the hope that it will be useful,
|
|
## but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
## GNU General Public License for more details.
|
|
##
|
|
## You should have received a copy of the GNU General Public License
|
|
## along with this program. If not, see <https://www.gnu.org/licenses/>.
|
|
###############################################################################
|
|
|
|
|
|
import wpimath.units
|
|
from photonlibpy import PhotonCamera, PhotonPoseEstimator
|
|
from photonlibpy.estimation import TargetModel
|
|
from photonlibpy.simulation import PhotonCameraSim, SimCameraProperties, VisionTargetSim
|
|
from photonlibpy.targeting import (
|
|
PhotonPipelineMetadata,
|
|
PhotonTrackedTarget,
|
|
TargetCorner,
|
|
)
|
|
from photonlibpy.targeting.multiTargetPNPResult import MultiTargetPNPResult, PnpResult
|
|
from photonlibpy.targeting.photonPipelineResult import PhotonPipelineResult
|
|
from robotpy_apriltag import AprilTag, AprilTagFieldLayout
|
|
from wpimath import Pose3d, Rotation3d, Transform3d, Translation3d
|
|
|
|
|
|
class PhotonCameraInjector(PhotonCamera):
|
|
result: PhotonPipelineResult
|
|
|
|
def __init__(self, cameraName="camera"):
|
|
super().__init__(cameraName)
|
|
|
|
def getLatestResult(self) -> PhotonPipelineResult:
|
|
return self.result
|
|
|
|
|
|
def fakeAprilTagFieldLayout() -> AprilTagFieldLayout:
|
|
tagList = []
|
|
tagPoses = (
|
|
Pose3d(3, 3, 3, Rotation3d()),
|
|
Pose3d(5, 5, 5, Rotation3d()),
|
|
)
|
|
for id_, pose in enumerate(tagPoses):
|
|
aprilTag = AprilTag()
|
|
aprilTag.ID = id_
|
|
aprilTag.pose = pose
|
|
tagList.append(aprilTag)
|
|
|
|
fieldLength = 54 / 3.281 # 54 ft -> meters
|
|
fieldWidth = 27 / 3.281 # 24 ft -> meters
|
|
|
|
return AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
|
|
|
|
|
|
def test_lowestAmbiguityStrategy():
|
|
aprilTags = fakeAprilTagFieldLayout()
|
|
cameraOne = PhotonCameraInjector()
|
|
cameraOne.result = PhotonPipelineResult(
|
|
int(11 * 1e6),
|
|
[
|
|
PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.0,
|
|
4.0,
|
|
0,
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
0.7,
|
|
),
|
|
PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.1,
|
|
6.7,
|
|
1,
|
|
Transform3d(Translation3d(4, 2, 3), Rotation3d(0, 0, 0)),
|
|
Transform3d(Translation3d(4, 2, 3), Rotation3d(1, 5, 3)),
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
0.3,
|
|
),
|
|
PhotonTrackedTarget(
|
|
9.0,
|
|
-2.0,
|
|
19.0,
|
|
3.0,
|
|
0,
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
0.4,
|
|
),
|
|
],
|
|
metadata=PhotonPipelineMetadata(0, int(2 * 1e3), 0),
|
|
multitagResult=None,
|
|
)
|
|
|
|
estimator = PhotonPoseEstimator(
|
|
aprilTags,
|
|
Transform3d(),
|
|
)
|
|
|
|
estimatedPose = estimator.estimateLowestAmbiguityPose(cameraOne.result)
|
|
|
|
assert estimatedPose is not None
|
|
|
|
pose = estimatedPose.estimatedPose
|
|
|
|
assertEquals(11 - 0.002, estimatedPose.timestampSeconds, 1e-3)
|
|
assertEquals(1, pose.x, 0.01)
|
|
assertEquals(3, pose.y, 0.01)
|
|
assertEquals(2, pose.z, 0.01)
|
|
# Only the chosen (lowest-ambiguity) target should be reported as used.
|
|
assert len(estimatedPose.targetsUsed) == 1
|
|
assert estimatedPose.targetsUsed[0].fiducialId == 1
|
|
|
|
|
|
def test_pnpDistanceTrigSolve():
|
|
aprilTags = fakeAprilTagFieldLayout()
|
|
cameraOne = PhotonCameraInjector()
|
|
latencySecs: wpimath.units.seconds = 1
|
|
fakeTimestampSecs: wpimath.units.seconds = 9 + latencySecs
|
|
|
|
cameraOneSim = PhotonCameraSim(cameraOne, SimCameraProperties.PERFECT_90DEG())
|
|
simTargets = [
|
|
VisionTargetSim(tag.pose, TargetModel.AprilTag36h11(), tag.ID)
|
|
for tag in aprilTags.getTags()
|
|
]
|
|
|
|
# Compound Rolled + Pitched + Yaw
|
|
compoundTestTransform = Transform3d(
|
|
-wpimath.units.inchesToMeters(12),
|
|
-wpimath.units.inchesToMeters(11),
|
|
3,
|
|
Rotation3d(
|
|
wpimath.units.degreesToRadians(37),
|
|
wpimath.units.degreesToRadians(6),
|
|
wpimath.units.degreesToRadians(60),
|
|
),
|
|
)
|
|
|
|
estimator = PhotonPoseEstimator(
|
|
aprilTags,
|
|
compoundTestTransform,
|
|
)
|
|
|
|
realPose = Pose3d(7.3, 4.42, 0, Rotation3d(0, 0, 2.197)) # Pose to compare with
|
|
result = cameraOneSim.process(
|
|
latencySecs, realPose.transformBy(estimator.robotToCamera), simTargets
|
|
)
|
|
bestTarget = result.getBestTarget()
|
|
assert bestTarget is not None
|
|
assert bestTarget.fiducialId == 0
|
|
assert result.ntReceiveTimestampMicros > 0
|
|
# Make test independent of the FPGA time.
|
|
result.ntReceiveTimestampMicros = int(fakeTimestampSecs * 1e6)
|
|
|
|
estimator.addHeadingData(
|
|
result.getTimestampSeconds(), realPose.rotation().toRotation2d()
|
|
)
|
|
estimatedRobotPose = estimator.estimatePnpDistanceTrigSolvePose(result)
|
|
|
|
assert estimatedRobotPose is not None
|
|
pose = estimatedRobotPose.estimatedPose
|
|
assertEquals(realPose.x, pose.x, 0.01)
|
|
assertEquals(realPose.y, pose.y, 0.01)
|
|
assertEquals(0.0, pose.z, 0.01)
|
|
# PNP_DISTANCE_TRIG_SOLVE uses only the best target.
|
|
assert len(estimatedRobotPose.targetsUsed) == 1
|
|
assert estimatedRobotPose.targetsUsed[0].fiducialId == bestTarget.fiducialId
|
|
|
|
# Straight on
|
|
fakeTimestampSecs += 60
|
|
straightOnTestTransform = Transform3d(0, 0, 3, Rotation3d())
|
|
estimator.robotToCamera = straightOnTestTransform
|
|
realPose = Pose3d(4.81, 2.38, 0, Rotation3d(0, 0, 2.818)) # Pose to compare with
|
|
result = cameraOneSim.process(
|
|
latencySecs, realPose.transformBy(estimator.robotToCamera), simTargets
|
|
)
|
|
bestTarget = result.getBestTarget()
|
|
assert bestTarget is not None
|
|
assert bestTarget.fiducialId == 0
|
|
assert result.ntReceiveTimestampMicros > 0
|
|
# Make test independent of the FPGA time.
|
|
result.ntReceiveTimestampMicros = int(fakeTimestampSecs * 1e6)
|
|
|
|
estimator.addHeadingData(
|
|
result.getTimestampSeconds(), realPose.rotation().toRotation2d()
|
|
)
|
|
estimatedRobotPose = estimator.estimatePnpDistanceTrigSolvePose(result)
|
|
|
|
assert estimatedRobotPose is not None
|
|
pose = estimatedRobotPose.estimatedPose
|
|
assertEquals(realPose.x, pose.x, 0.01)
|
|
assertEquals(realPose.y, pose.y, 0.01)
|
|
assertEquals(0.0, pose.z, 0.01)
|
|
# PNP_DISTANCE_TRIG_SOLVE uses only the best target.
|
|
assert len(estimatedRobotPose.targetsUsed) == 1
|
|
assert estimatedRobotPose.targetsUsed[0].fiducialId == bestTarget.fiducialId
|
|
|
|
|
|
def test_multiTagOnCoprocStrategy():
|
|
cameraOne = PhotonCameraInjector()
|
|
cameraOne.result = PhotonPipelineResult(
|
|
int(11 * 1e6),
|
|
# There needs to be at least one target present for pose estimation to work
|
|
# Doesn't matter which/how many targets for this test
|
|
[
|
|
PhotonTrackedTarget(
|
|
3.0,
|
|
-4.0,
|
|
9.0,
|
|
4.0,
|
|
0,
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
Transform3d(Translation3d(1, 2, 3), Rotation3d(1, 2, 3)),
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
[
|
|
TargetCorner(1, 2),
|
|
TargetCorner(3, 4),
|
|
TargetCorner(5, 6),
|
|
TargetCorner(7, 8),
|
|
],
|
|
0.7,
|
|
)
|
|
],
|
|
metadata=PhotonPipelineMetadata(0, int(2 * 1e3), 0),
|
|
multitagResult=MultiTargetPNPResult(
|
|
PnpResult(Transform3d(1, 3, 2, Rotation3d()))
|
|
),
|
|
)
|
|
|
|
estimator = PhotonPoseEstimator(
|
|
AprilTagFieldLayout(),
|
|
Transform3d(),
|
|
)
|
|
|
|
estimatedPose = estimator.estimateCoprocMultiTagPose(cameraOne.result)
|
|
assert estimatedPose is not None
|
|
|
|
pose = estimatedPose.estimatedPose
|
|
|
|
assertEquals(11 - 2e-3, estimatedPose.timestampSeconds, 1e-3)
|
|
assertEquals(1, pose.x, 0.01)
|
|
assertEquals(3, pose.y, 0.01)
|
|
assertEquals(2, pose.z, 0.01)
|
|
|
|
|
|
def assertEquals(expected, actual, epsilon=0.0):
|
|
assert abs(expected - actual) <= epsilon
|