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ae84f6d2c5
wpical was unable to use wpimath and its dependent libraries because Ceres was compiled with a different version of Eigen. Now that the Ceres build has been redone and shipped in #8151, we can now use wpimath and our C++ apriltag wrapper in wpical, allowing for major refactors. This includes: * Using `to_json` and `from_json` specializations to concisely serialize and deserialize all JSON files instead of manually handling JSON. * Removal of the `Fieldmap` and `Pose` classes, which were duplicates of the `AprilTagFieldLayout` and `Pose3d` classes respectively. * Using `AprilTagDetector` instead of the raw libapriltag library. * Using `Pose3d` instead of raw Eigen matrices. In addition, several other refactors were made to make the code more readable and to fix several UX issues and crashes. This includes: * Eagerly parsing every JSON file when selected by the user. This means JSON files are only parsed once on selection, instead of every time a downstream function wants to use the data. This also means invalid JSON can be detected upfront and a specific error shown immediately instead of a catch all error when trying to calibrate. * Using `std::optional` to indicate a calibration failed instead of status codes. * Processing videos on separate threads to not block the UI thread and take advantage of parallelization for camera calibration. (2x speedup on my laptop) * Removing the OpenCV calibration option, since mrcal should be better in every scenario. * Showing a progress bar for camera calibration. * Breaking up the massive `DisplayGui` function into separate functions which contain code for different popups. This also allowed for better organization and scoping of static variables. * Renaming variables to make their purpose more clear. * Displaying the tags present in a field layout when trying to combine multiple field layouts. Fixes #7722.
127 lines
4.7 KiB
C++
127 lines
4.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <fstream>
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#include <optional>
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#include <string>
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#include <gtest/gtest.h>
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#include "cameracalibration.hpp"
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#include "fieldcalibration.hpp"
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#include "path_lookup.hpp"
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#include "wpi/apriltag/AprilTagFieldLayout.hpp"
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#include "wpi/apriltag/AprilTagFields.hpp"
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#include "wpi/util/json.hpp"
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const std::string projectRootPath = PROJECT_ROOT_PATH;
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const char* const tmpdir_c_str = std::getenv("TEST_TMPDIR");
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const std::string calSavePath =
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tmpdir_c_str == nullptr
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? (projectRootPath.substr(
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0, projectRootPath.find("/src/main/native/assets")) +
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"/build")
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: std::string(tmpdir_c_str);
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#ifdef __linux__
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const std::string fileSuffix = ".avi";
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const std::string videoLocation = "/altfieldvideo";
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#else
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const std::string fileSuffix = ".mp4";
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const std::string videoLocation = "/fieldvideo";
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#endif
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TEST(CameraCalibrationTest, Typical) {
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auto path = LookupPath(projectRootPath + "/testcalibration" + fileSuffix);
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auto calibrator = wpical::CameraCalibrator(4, 0.709, 0.551, 12, 8, path);
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while (!calibrator.IsFinished()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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auto ret = calibrator.GetCameraModel();
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EXPECT_NE(ret, std::nullopt);
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std::ofstream output_file(calSavePath + "/cameracalibration.json");
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output_file << wpi::util::json(ret.value()).dump(4) << std::endl;
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}
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TEST(CameraCalibrationTest, Atypical) {
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auto path =
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LookupPath(projectRootPath + videoLocation + "/short" + fileSuffix);
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auto calibrator = wpical::CameraCalibrator(4, 0.709, 0.551, 12, 8, path);
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while (!calibrator.IsFinished()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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auto ret = calibrator.GetCameraModel();
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EXPECT_EQ(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Typical) {
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auto model = wpi::util::json::parse(
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std::ifstream(calSavePath + "/cameracalibration.json"))
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.get<wpical::CameraModel>();
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath + videoLocation), model,
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wpi::apriltag::AprilTagFieldLayout::LoadField(
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wpi::apriltag::AprilTagField::k2024Crescendo),
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3, false);
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EXPECT_NE(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Atypical_Bad_Camera_Model) {
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wpical::CameraModel model{};
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath + videoLocation), model,
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wpi::apriltag::AprilTagFieldLayout::LoadField(
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wpi::apriltag::AprilTagField::k2024Crescendo),
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3, false);
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EXPECT_EQ(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Atypical_Bad_Field_Layout) {
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auto model = wpi::util::json::parse(
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std::ifstream(calSavePath + "/cameracalibration.json"))
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.get<wpical::CameraModel>();
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath + videoLocation), model,
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wpi::apriltag::AprilTagFieldLayout{}, 3, false);
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EXPECT_EQ(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Atypical_Bad_Input_Directory) {
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auto model = wpi::util::json::parse(
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std::ifstream(calSavePath + "/cameracalibration.json"))
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.get<wpical::CameraModel>();
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath), model,
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wpi::apriltag::AprilTagFieldLayout::LoadField(
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wpi::apriltag::AprilTagField::k2024Crescendo),
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3, false);
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EXPECT_EQ(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Atypical_Bad_Pinned_Tag) {
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auto model = wpi::util::json::parse(
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std::ifstream(calSavePath + "/cameracalibration.json"))
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.get<wpical::CameraModel>();
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath + videoLocation), model,
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wpi::apriltag::AprilTagFieldLayout::LoadField(
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wpi::apriltag::AprilTagField::k2024Crescendo),
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42, false);
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EXPECT_EQ(ret, std::nullopt);
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}
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TEST(FieldCalibrationTest, Atypical_Bad_Pinned_Tag_Negative) {
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auto model = wpi::util::json::parse(
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std::ifstream(calSavePath + "/cameracalibration.json"))
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.get<wpical::CameraModel>();
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auto ret =
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wpical::calibrate(LookupPath(projectRootPath + videoLocation), model,
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wpi::apriltag::AprilTagFieldLayout::LoadField(
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wpi::apriltag::AprilTagField::k2024Crescendo),
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-1, false);
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EXPECT_EQ(ret, std::nullopt);
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}
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