Only show images during tests when requested via project property

thatcomputerguy0101 · thatcomputerguy0101 · commit 21d58e308b5a · 2025-11-02T20:21:20.000-05:00
diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -350,7 +350,24 @@ public static CameraCalibrationCoefficients getLaptop() {
         return getCoeffs("laptop.json", true);
     }
 
-    private static final int DefaultTimeoutMillis = 5000;
+    /**
+     * Checks if the specified test variant or one of its parent groups was requested.
+     *
+     * @param key The test variant key, groups separated by the '.' character
+     */
+    public static boolean testVariantEnabled(String key) {
+        String[] words = key.split("\\.");
+        String subkey = "junit";
+        // Check groups from most general to most specific
+        for (int i = 0; i < words.length; i++) {
+            subkey += "." + words[i];
+            // Only check for key presence, allowing for any value (including no value)
+            if (!"UNDEFINED".equals(System.getProperty(subkey, "UNDEFINED"))) return true;
+        }
+        return false;
+    }
+
+    private static final int DefaultTimeoutMillis = 0; // Indefinite timeout
 
     public static void showImage(Mat frame, String title, int timeoutMs) {
         if (frame.empty()) return;
diff --git a/photon-core/src/test/java/org/photonvision/vision/frame/provider/FileFrameProviderTest.java b/photon-core/src/test/java/org/photonvision/vision/frame/provider/FileFrameProviderTest.java
@@ -55,7 +55,9 @@ public void Load2019ImageOnceTest() {
         assertEquals(320, goodFrameCols);
         assertEquals(240, goodFrameRows);
 
-        TestUtils.showImage(goodFrame.colorImage.getMat(), "2019");
+        if (TestUtils.testVariantEnabled("review.frame")) {
+            TestUtils.showImage(goodFrame.colorImage.getMat(), "2019");
+        }
 
         var badFilePath = Paths.get("bad.jpg"); // this file does not exist
 
@@ -88,7 +90,9 @@ public void Load2020ImageOnceTest() {
         assertEquals(640, goodFrameCols);
         assertEquals(480, goodFrameRows);
 
-        TestUtils.showImage(goodFrame.colorImage.getMat(), "2020");
+        if (TestUtils.testVariantEnabled("review.frame")) {
+            TestUtils.showImage(goodFrame.colorImage.getMat(), "2020");
+        }
 
         var badFilePath = Paths.get("bad.jpg"); // this file does not exist
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
@@ -66,7 +66,9 @@ public void testApriltagFacingCamera() {
                 outputPipe.process(
                         pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
 
-        TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.apriltag")) {
+            TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
 
         // these numbers are not *accurate*, but they are known and expected
         var target = pipelineResult.targets.get(0);
@@ -128,7 +130,9 @@ public void testApriltagDistorted() {
                 outputPipe.process(
                         pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
 
-        TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.apriltag")) {
+            TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
 
         // these numbers are not *accurate*, but they are known and expected
         var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
@@ -66,7 +66,9 @@ public void testApriltagFacingCamera() {
                 outputPipe.process(
                         pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
 
-        TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.aruco")) {
+            TestUtils.showImage(ret.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
 
         // these numbers are not *accurate*, but they are known and expected
         var target = pipelineResult.targets.get(0);
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -242,7 +242,7 @@ public static void calibrateCommon(
 
                 // TestUtils.showImage(output.inputAndOutputFrame.processedImage.getMat(),
                 // file.getName(),
-                // 1);
+                // TestUtils.testVariantEnabled("review.pipeline.calibrate3d"));
                 output.release();
                 frame.release();
             }
@@ -308,7 +308,9 @@ private void visuallyDebugDistortion(
                         undistorted,
                         cal.cameraIntrinsics.getAsMatOfDouble(),
                         cal.distCoeffs.getAsMatOfDouble());
-                TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1);
+                if (TestUtils.testVariantEnabled("review.pipeline.calibrate3d")) {
+                    TestUtils.showImage(undistorted, "undistorted " + file.getName());
+                }
                 raw.release();
                 undistorted.release();
             }
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/CirclePNPTest.java
@@ -111,8 +111,10 @@ public void testCircle() {
         CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
         TestUtils.printTestResultsWithLocation(pipelineResult);
 
-        TestUtils.showImage(
-                pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.circlepnp")) {
+            TestUtils.showImage(
+                    pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output");
+        }
     }
 
     private static void continuouslyRunPipeline(Frame frame, ReflectivePipelineSettings settings) {
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ColoredShapePipelineTest.java
@@ -32,9 +32,11 @@ public static void testTriangleDetection(
             ColoredShapePipeline pipeline, ColoredShapePipelineSettings settings, Frame frame) {
         pipeline.settings = settings;
         CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-        TestUtils.showImage(
-                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
-                "Pipeline output: Triangle.");
+        if (TestUtils.testVariantEnabled("review.pipeline.shape")) {
+            TestUtils.showImage(
+                    colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
+                    "Pipeline output: Triangle.");
+        }
         TestUtils.printTestResults(colouredShapePipelineResult);
     }
 
@@ -43,9 +45,11 @@ public static void testQuadrilateralDetection(
         settings.contourShape = ContourShape.Quadrilateral;
         pipeline.settings = settings;
         CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-        TestUtils.showImage(
-                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
-                "Pipeline output: Quadrilateral.");
+        if (TestUtils.testVariantEnabled("review.pipeline.shape")) {
+            TestUtils.showImage(
+                    colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
+                    "Pipeline output: Quadrilateral.");
+        }
         TestUtils.printTestResults(colouredShapePipelineResult);
     }
 
@@ -54,9 +58,11 @@ public static void testCustomShapeDetection(
         settings.contourShape = ContourShape.Custom;
         pipeline.settings = settings;
         CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-        TestUtils.showImage(
-                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
-                "Pipeline output: Custom.");
+        if (TestUtils.testVariantEnabled("review.pipeline.shape")) {
+            TestUtils.showImage(
+                    colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
+                    "Pipeline output: Custom.");
+        }
         TestUtils.printTestResults(colouredShapePipelineResult);
     }
 
@@ -66,9 +72,11 @@ public static void testCircleShapeDetection(
         settings.contourShape = ContourShape.Circle;
         pipeline.settings = settings;
         CVPipelineResult colouredShapePipelineResult = pipeline.run(frame, QuirkyCamera.DefaultCamera);
-        TestUtils.showImage(
-                colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
-                "Pipeline output: Circle.");
+        if (TestUtils.testVariantEnabled("review.pipeline.shape")) {
+            TestUtils.showImage(
+                    colouredShapePipelineResult.inputAndOutputFrame.processedImage.getMat(),
+                    "Pipeline output: Circle.");
+        }
         TestUtils.printTestResults(colouredShapePipelineResult);
     }
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
@@ -57,7 +57,9 @@ public void test2019() {
                         pipeline.getSettings().hueInverted);
         frameProvider.requestHsvSettings(hsvParams);
 
-        TestUtils.showImage(frameProvider.get().colorImage.getMat(), "Pipeline input", 1);
+        if (TestUtils.testVariantEnabled("review.pipeline.reflective")) {
+            TestUtils.showImage(frameProvider.get().colorImage.getMat(), "Pipeline input");
+        }
 
         CVPipelineResult pipelineResult;
 
@@ -67,7 +69,10 @@ public void test2019() {
         assertTrue(pipelineResult.hasTargets());
         assertEquals(2, pipelineResult.targets.size(), "Target count wrong!");
 
-        TestUtils.showImage(pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output");
+        if (TestUtils.testVariantEnabled("review.pipeline.reflective")) {
+            TestUtils.showImage(
+                    pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output");
+        }
     }
 
     @Test
@@ -88,8 +93,10 @@ public void test2020() {
         CVPipelineResult pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
         TestUtils.printTestResults(pipelineResult);
 
-        TestUtils.showImage(
-                pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        if (TestUtils.testVariantEnabled("review.pipeline.reflective")) {
+            TestUtils.showImage(
+                    pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
     }
 
     private static void continuouslyRunPipeline(Frame frame, ReflectivePipelineSettings settings) {
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/SolvePNPTest.java
@@ -118,8 +118,10 @@ public void test2019() {
         outputPipe.process(
                 pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
 
-        TestUtils.showImage(
-                pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.solvepnp")) {
+            TestUtils.showImage(
+                    pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
 
         var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
         // these numbers are not *accurate*, but they are known and expected
@@ -173,8 +175,10 @@ public void test2020() {
         outputPipe.process(
                 pipelineResult.inputAndOutputFrame, pipeline.getSettings(), pipelineResult.targets);
 
-        TestUtils.showImage(
-                pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output", 999999);
+        if (TestUtils.testVariantEnabled("review.pipeline.solvepnp")) {
+            TestUtils.showImage(
+                    pipelineResult.inputAndOutputFrame.processedImage.getMat(), "Pipeline output");
+        }
 
         var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
         // these numbers are not *accurate*, but they are known and expected
diff --git a/shared/common.gradle b/shared/common.gradle
@@ -74,6 +74,12 @@ tasks.register('testHeadless', Test) {
     workingDir = new File("${rootDir}")
 }
 
+tasks.withType(Test) {
+    systemProperties.putAll(project.properties.findAll { key, value ->
+        key.startsWith("junit.")
+    })
+}
+
 jacoco {
     toolVersion = "0.8.10"
     reportsDirectory = layout.buildDirectory.dir('customJacocoReportDir')
