Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -0,0 +1,90 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/PhotonCamera.h"
+
+#include "photonlib/Packet.h"
+
+namespace photonlib {
+PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
+    : rawBytesEntry(rootTable->GetEntry("rawBytes")),
+      driverModeEntry(rootTable->GetEntry("driverMode")),
+      inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
+      outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
+      pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
+      ledModeEntry(mainTable->GetEntry("ledMode")) {
+  driverMode = driverModeEntry.GetBoolean(false);
+  pipelineIndex = static_cast<int>(pipelineIndexEntry.GetDouble(0.0));
+  mode = GetLEDMode();
+}
+
+PhotonCamera::PhotonCamera(const std::string& cameraName)
+    : PhotonCamera(nt::NetworkTableInstance::GetDefault()
+                       .GetTable("photonvision")
+                       ->GetSubTable(cameraName)) {}
+
+PhotonPipelineResult PhotonCamera::GetLatestResult() const {
+  // Clear the current packet.
+  packet.Clear();
+
+  // Create the new result;
+  PhotonPipelineResult result;
+
+  // Fill the packet with latest data and populate result.
+  std::string value = rawBytesEntry.GetValue()->GetRaw();
+  std::vector<char> bytes{value.begin(), value.end()};
+
+  photonlib::Packet packet{bytes};
+
+  packet >> result;
+  return result;
+}
+
+void PhotonCamera::SetDriverMode(bool driverMode) {
+  if (this->driverMode != driverMode) {
+    this->driverMode = driverMode;
+    driverModeEntry.SetBoolean(this->driverMode);
+  }
+}
+
+void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.SetBoolean(true); }
+
+void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.SetBoolean(true); }
+
+bool PhotonCamera::GetDriverMode() const { return driverMode; }
+
+void PhotonCamera::SetPipelineIndex(int index) {
+  if (index != pipelineIndex) {
+    pipelineIndex = index;
+    pipelineIndexEntry.SetDouble(static_cast<double>(pipelineIndex));
+  }
+}
+
+int PhotonCamera::GetPipelineIndex() const { return pipelineIndex; }
+
+LEDMode PhotonCamera::GetLEDMode() const {
+  mode = static_cast<LEDMode>(static_cast<int>(ledModeEntry.GetDouble(-1.0)));
+  return mode;
+}
+
+void PhotonCamera::SetLEDMode(LEDMode led) {
+  if (led != mode) {
+    mode = led;
+    ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
+  }
+}
+}  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/PhotonPipelineResult.cpp

@@ -0,0 +1,67 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/PhotonPipelineResult.h"
+
+namespace photonlib {
+PhotonPipelineResult::PhotonPipelineResult(
+    units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> targets)
+    : latency(latency),
+      targets(targets.data(), targets.data() + targets.size()) {
+  hasTargets = targets.size() != 0;
+}
+
+bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
+  return latency == other.latency && hasTargets == other.hasTargets &&
+         targets == other.targets;
+}
+
+bool PhotonPipelineResult::operator!=(const PhotonPipelineResult& other) const {
+  return !operator==(other);
+}
+
+Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
+  // Encode latency, existence of targets, and number of targets.
+  packet << result.latency.to<double>() * 1000 << result.hasTargets
+         << static_cast<int8_t>(result.targets.size());
+
+  // Encode the information of each target.
+  for (auto& target : result.targets) packet << target;
+
+  // Return the packet
+  return packet;
+}
+
+Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
+  // Decode latency, existence of targets, and number of targets.
+  int8_t targetCount = 0;
+  double latencyMillis = 0;
+  packet >> latencyMillis >> result.hasTargets >> targetCount;
+  result.latency = units::second_t(latencyMillis / 1000.0);
+
+  result.targets.clear();
+
+  // Decode the information of each target.
+  for (int i = 0; i < targetCount; ++i) {
+    PhotonTrackedTarget target;
+    packet >> target;
+    result.targets.push_back(target);
+  }
+  return packet;
+}
+
+}  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp

@@ -0,0 +1,60 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/PhotonTrackedTarget.h"
+
+#include <iostream>
+
+#include <frc/geometry/Translation2d.h>
+
+namespace photonlib {
+
+PhotonTrackedTarget::PhotonTrackedTarget(double yaw, double pitch, double area,
+                                         double skew,
+                                         const frc::Transform2d& pose)
+    : yaw(yaw), pitch(pitch), area(area), skew(skew), cameraToTarget(pose) {}
+
+bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
+  return other.yaw == yaw && other.pitch == pitch && other.area == area &&
+         other.skew == skew && other.cameraToTarget == cameraToTarget;
+}
+
+bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
+  return !operator==(other);
+}
+
+Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
+  return packet << target.yaw << target.pitch << target.area << target.skew
+                << target.cameraToTarget.Translation().X().to<double>()
+                << target.cameraToTarget.Translation().Y().to<double>()
+                << target.cameraToTarget.Rotation().Degrees().to<double>();
+}
+
+Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
+  packet >> target.yaw >> target.pitch >> target.area >> target.skew;
+  double x = 0;
+  double y = 0;
+  double rot = 0;
+  packet >> x >> y >> rot;
+
+  target.cameraToTarget =
+      frc::Transform2d(frc::Translation2d(units::meter_t(x), units::meter_t(y)),
+                       units::degree_t(rot));
+  return packet;
+}
+
+}  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/SimPhotonCamera.cpp

@@ -0,0 +1,42 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/SimPhotonCamera.h"
+
+namespace photonlib {
+
+SimPhotonCamera::SimPhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
+    : PhotonCamera(rootTable) {}
+
+SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
+    : PhotonCamera(cameraName) {}
+
+void SimPhotonCamera::SubmitProcessedFrame(
+    units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> tgtList) {
+  if (!GetDriverMode()) {
+    // Clear the current packet.
+    simPacket.Clear();
+
+    // Create the new result and pump it into the packet
+    simPacket << PhotonPipelineResult(latency, tgtList);
+
+    rawBytesEntry.SetRaw(
+        wpi::StringRef(simPacket.GetData().data(), simPacket.GetData().size()));
+  }
+}
+
+}  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp

@@ -0,0 +1,119 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/SimVisionSystem.h"
+
+#include <cmath>
+
+#include <units/angle.h>
+#include <units/length.h>
+
+namespace photonlib {
+
+SimVisionSystem::SimVisionSystem(const std::string& name,
+                                 units::degree_t camDiagFOV,
+                                 units::degree_t camPitch,
+                                 frc::Transform2d cameraToRobot,
+                                 units::meter_t cameraHeightOffGround,
+                                 units::meter_t maxLEDRange, int cameraResWidth,
+                                 int cameraResHeight, double minTargetArea)
+    : camDiagFOV(camDiagFOV),
+      camPitch(camPitch),
+      cameraToRobot(cameraToRobot),
+      cameraHeightOffGround(cameraHeightOffGround),
+      maxLEDRange(maxLEDRange),
+      cameraResWidth(cameraResWidth),
+      cameraResHeight(cameraResHeight),
+      minTargetArea(minTargetArea) {
+  double hypotPixels = std::hypot(cameraResWidth, cameraResHeight);
+  camHorizFOV = camDiagFOV * cameraResWidth / hypotPixels;
+  camVertFOV = camDiagFOV * cameraResHeight / hypotPixels;
+
+  cam = SimPhotonCamera(name);
+  tgtList.clear();
+}
+
+void SimVisionSystem::AddSimVisionTarget(SimVisionTarget tgt) {
+  tgtList.push_back(tgt);
+}
+
+void SimVisionSystem::MoveCamera(frc::Transform2d newCameraToRobot,
+                                 units::meter_t newCamHeight,
+                                 units::degree_t newCamPitch) {
+  cameraToRobot = newCameraToRobot;
+  cameraHeightOffGround = newCamHeight;
+  camPitch = newCamPitch;
+}
+
+void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
+  frc::Pose2d cameraPos = robotPose.TransformBy(cameraToRobot.Inverse());
+  std::vector<PhotonTrackedTarget> visibleTgtList = {};
+
+  for (auto&& tgt : tgtList) {
+    frc::Transform2d camToTargetTrans =
+        frc::Transform2d(cameraPos, tgt.targetPos);
+
+    units::meter_t distAlongGround = camToTargetTrans.Translation().Norm();
+    units::meter_t distVertical =
+        tgt.targetHeightAboveGround - cameraHeightOffGround;
+    units::meter_t distHypot =
+        units::math::hypot(distAlongGround, distVertical);
+
+    double area = tgt.tgtArea.to<double>() / GetM2PerPx(distAlongGround);
+
+    // 2D yaw mode considers the target as a point, and should ignore target
+    // rotation.
+    // Photon reports it in the correct robot reference frame.
+    // IE: targets to the left of the image should report negative yaw.
+    units::degree_t yawAngle =
+        -1.0 * units::math::atan2(camToTargetTrans.Translation().Y(),
+                                  camToTargetTrans.Translation().X());
+    units::degree_t pitchAngle =
+        units::math::atan2(distVertical, distAlongGround) - camPitch;
+
+    if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
+      PhotonTrackedTarget newTgt =
+          PhotonTrackedTarget(yawAngle.to<double>(), pitchAngle.to<double>(),
+                              area, 0.0, camToTargetTrans);
+      visibleTgtList.push_back(newTgt);
+    }
+  }
+
+  units::second_t procDelay(0.0);  // Future - tie this to something meaningful
+  cam.SubmitProcessedFrame(
+      procDelay, wpi::MutableArrayRef<PhotonTrackedTarget>(visibleTgtList));
+}
+
+double SimVisionSystem::GetM2PerPx(units::meter_t dist) {
+  double heightMPerPx = 2 * dist.to<double>() *
+                        units::math::tan(camVertFOV / 2) / cameraResHeight;
+  double widthMPerPx = 2 * dist.to<double>() *
+                       units::math::tan(camHorizFOV / 2) / cameraResWidth;
+  return widthMPerPx * heightMPerPx;
+}
+
+bool SimVisionSystem::CamCanSeeTarget(units::meter_t distHypot,
+                                      units::degree_t yaw,
+                                      units::degree_t pitch, double area) {
+  bool inRange = (distHypot < maxLEDRange);
+  bool inHorizAngle = units::math::abs(yaw) < (camHorizFOV / 2);
+  bool inVertAngle = units::math::abs(pitch) < (camVertFOV / 2);
+  bool targetBigEnough = area > minTargetArea;
+  return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
+}
+
+}  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/SimVisionTarget.cpp

@@ -0,0 +1,33 @@
+/*
+ * 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/>.
+ */
+
+#include "photonlib/SimVisionTarget.h"
+
+namespace photonlib {
+
+SimVisionTarget::SimVisionTarget(frc::Pose2d& targetPos,
+                                 units::meter_t targetHeightAboveGround,
+                                 units::meter_t targetWidth,
+                                 units::meter_t targetHeight)
+    : targetPos(targetPos),
+      targetHeightAboveGround(targetHeightAboveGround),
+      targetWidth(targetWidth),
+      targetHeight(targetHeight) {
+  tgtArea = targetWidth * targetHeight;
+}
+
+}  // namespace photonlib