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https://github.com/PhotonVision/photonvision
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Add Photonlib (#231)
Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
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Matt
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photon-lib/src/main/native/include/photonlib/PhotonUtils.h
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photon-lib/src/main/native/include/photonlib/PhotonUtils.h
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <frc/geometry/Pose2d.h>
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#include <frc/geometry/Rotation2d.h>
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#include <frc/geometry/Transform2d.h>
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#include <frc/geometry/Translation2d.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include <units/math.h>
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namespace photonlib {
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class PhotonUtils {
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public:
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/**
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* Algorithm from
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* https://docs.limelightvision.io/en/latest/cs_estimating_distance.html
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* Estimates range to a target using the target's elevation. This method can
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* produce more stable results than SolvePNP when well tuned, if the full 6d
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* robot pose is not required.
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*
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* @param cameraHeight The height of the camera off the floor.
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* @param targetHeight The height of the target off the floor.
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* @param cameraPitch The pitch of the camera from the horizontal plane.
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* Positive valueBytes up.
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* @param targetPitch The pitch of the target in the camera's lens. Positive
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* values up.
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* @return The estimated distance to the target.
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*/
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static units::meter_t CalculateDistanceToTarget(units::meter_t cameraHeight,
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units::meter_t targetHeight,
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units::radian_t cameraPitch,
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units::radian_t targetPitch) {
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return (targetHeight - cameraHeight) /
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units::math::tan(cameraPitch + targetPitch);
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}
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/**
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* Estimate the Translation2d of the target relative to the camera.
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*
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* @param targetDistance The distance to the target.
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* @param yaw The observed yaw of the target.
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*
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* @return The target's camera-relative translation.
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*/
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static frc::Translation2d EstimateCameraToTargetTranslation(
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units::meter_t targetDistance, const frc::Rotation2d& yaw) {
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return {targetDistance * yaw.Cos(), targetDistance * yaw.Sin()};
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}
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/**
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* Estimate the position of the robot in the field.
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*
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* @param cameraHeightMeters The physical height of the camera off the floor
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* in meters.
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* @param targetHeightMeters The physical height of the target off the floor
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* in meters. This should be the height of whatever is being targeted (i.e. if
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* the targeting region is set to top, this should be the height of the top of
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* the target).
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* @param cameraPitchRadians The pitch of the camera from the horizontal plane
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* in radians. Positive values up.
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* @param targetPitchRadians The pitch of the target in the camera's lens in
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* radians. Positive values up.
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* @param targetYaw The observed yaw of the target. Note that this
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* *must* be CCW-positive, and Photon returns
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* CW-positive.
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* @param gyroAngle The current robot gyro angle, likely from
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* odometry.
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* @param fieldToTarget A frc::Pose2d representing the target position in
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* the field coordinate system.
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* @param cameraToRobot The position of the robot relative to the camera.
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* If the camera was mounted 3 inches behind the
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* "origin" (usually physical center) of the robot,
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* this would be frc::Transform2d(3 inches, 0
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* inches, 0 degrees).
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* @return The position of the robot in the field.
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*/
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static frc::Pose2d EstimateFieldToRobot(
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units::meter_t cameraHeight, units::meter_t targetHeight,
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units::radian_t cameraPitch, units::radian_t targetPitch,
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const frc::Rotation2d& targetYaw, const frc::Rotation2d& gyroAngle,
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const frc::Pose2d& fieldToTarget, const frc::Transform2d& cameraToRobot) {
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return EstimateFieldToRobot(
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EstimateCameraToTarget(
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EstimateCameraToTargetTranslation(
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CalculateDistanceToTarget(cameraHeight, targetHeight,
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cameraPitch, targetPitch),
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targetYaw),
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fieldToTarget, gyroAngle),
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fieldToTarget, cameraToRobot);
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}
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/**
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* Estimates a {@link frc::Transform2d} that maps the camera position to the
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* target position, using the robot's gyro. Note that the gyro angle provided
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* *must* line up with the field coordinate system -- that is, it should read
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* zero degrees when pointed towards the opposing alliance station, and
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* increase as the robot rotates CCW.
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*
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* @param cameraToTargetTranslation A Translation2d that encodes the x/y
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* position of the target relative to the
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* camera.
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* @param fieldToTarget A frc::Pose2d representing the target
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* position in the field coordinate system.
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* @param gyroAngle The current robot gyro angle, likely from
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* odometry.
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* @return A frc::Transform2d that takes us from the camera to the target.
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*/
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static frc::Transform2d EstimateCameraToTarget(
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const frc::Translation2d& cameraToTargetTranslation,
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const frc::Pose2d& fieldToTarget, const frc::Rotation2d& gyroAngle) {
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// This pose maps our camera at the origin out to our target, in the robot
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// reference frame
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// The translation part of this frc::Transform2d is from the above step, and
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// the rotation uses our robot's gyro.
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return frc::Transform2d(cameraToTargetTranslation,
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-gyroAngle - fieldToTarget.Rotation());
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}
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/**
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* Estimates the pose of the robot in the field coordinate system, given the
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* position of the target relative to the camera, the target relative to the
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* field, and the robot relative to the camera.
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*
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* @param cameraToTarget The position of the target relative to the camera.
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* @param fieldToTarget The position of the target in the field.
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* @param cameraToRobot The position of the robot relative to the camera. If
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* the camera was mounted 3 inches behind the "origin"
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* (usually physical center) of the robot, this would be
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* frc::Transform2d(3 inches, 0 inches, 0 degrees).
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* @return The position of the robot in the field.
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*/
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static frc::Pose2d EstimateFieldToRobot(
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const frc::Transform2d& cameraToTarget, const frc::Pose2d& fieldToTarget,
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const frc::Transform2d& cameraToRobot) {
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return EstimateFieldToCamera(cameraToTarget, fieldToTarget)
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.TransformBy(cameraToRobot);
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}
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/**
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* Estimates the pose of the camera in the field coordinate system, given the
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* position of the target relative to the camera, and the target relative to
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* the field. This *only* tracks the position of the camera, not the position
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* of the robot itself.
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*
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* @param cameraToTarget The position of the target relative to the camera.
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* @param fieldToTarget The position of the target in the field.
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* @return The position of the camera in the field.
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*/
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static frc::Pose2d EstimateFieldToCamera(
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const frc::Transform2d& cameraToTarget,
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const frc::Pose2d& fieldToTarget) {
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auto targetToCamera = cameraToTarget.Inverse();
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return fieldToTarget.TransformBy(targetToCamera);
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}
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};
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} // namespace photonlib
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