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[wpical] Add JSON Combiner (#7640)

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This new feature allows users to combine multiple Apriltag layouts. This can be useful for fields where the apriltags are split into two or more sections: (red/blue side, grouped together by task, etc.)
This commit is contained in:
Elliot Scher
2025-01-10 02:30:17 -05:00
committed by GitHub
parent e37c35746a
commit 6125227836
7 changed files with 373 additions and 186 deletions
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15
wpical/src/test/native/cpp/test_calibrate.cpp
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@@ -19,6 +19,9 @@ cameracalibration::CameraModel cameraModel = {
.intrinsic_matrix = Eigen::Matrix<double, 3, 3>::Identity(),
.distortion_coefficients = Eigen::Matrix<double, 8, 1>::Zero(),
.avg_reprojection_error = 0.0};
wpi::json output_json;
#ifdef __linux__
const std::string fileSuffix = ".avi";
const std::string videoLocation = "/altfieldvideo";
@@ -58,7 +61,7 @@ TEST(Camera_CalibrationTest, MRcal_Atypical) {
TEST(Field_CalibrationTest, Typical) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation, output_json,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 0);
@@ -66,7 +69,7 @@ TEST(Field_CalibrationTest, Typical) {
TEST(Field_CalibrationTest, Atypical_Bad_Camera_Model_Directory) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation, output_json,
projectRootPath + videoLocation + "/long" + fileSuffix,
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 1);
@@ -74,7 +77,7 @@ TEST(Field_CalibrationTest, Atypical_Bad_Camera_Model_Directory) {
TEST(Field_CalibrationTest, Atypical_Bad_Ideal_JSON) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation, output_json,
calSavePath + "/cameracalibration.json",
calSavePath + "/cameracalibration.json", 3, false);
EXPECT_EQ(ret, 1);
@@ -82,7 +85,7 @@ TEST(Field_CalibrationTest, Atypical_Bad_Ideal_JSON) {
TEST(Field_CalibrationTest, Atypical_Bad_Input_Directory) {
int ret = fieldcalibration::calibrate(
projectRootPath + "", calSavePath,
projectRootPath + "", output_json,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", 3, false);
EXPECT_EQ(ret, 1);
@@ -90,7 +93,7 @@ TEST(Field_CalibrationTest, Atypical_Bad_Input_Directory) {
TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation, output_json,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", 42, false);
EXPECT_EQ(ret, 1);
@@ -98,7 +101,7 @@ TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag) {
TEST(Field_CalibrationTest, Atypical_Bad_Pinned_Tag_Negative) {
int ret = fieldcalibration::calibrate(
projectRootPath + videoLocation, calSavePath,
projectRootPath + videoLocation, output_json,
calSavePath + "/cameracalibration.json",
projectRootPath + "/2024-crescendo.json", -1, false);
EXPECT_EQ(ret, 1);