Add Photonlib (#231)

Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
2026-06-19 00:41:41 +00:00 · 2021-01-16 20:41:47 -08:00
parent 58b39f47aa
commit 2e1b3d0f83
79 changed files with 5867 additions and 142 deletions
--- a/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java
@@ -0,0 +1,78 @@
+/*
+ * 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/>.
+ */
+
+package org.photonvision;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
+import edu.wpi.first.wpilibj.util.Units;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+
+class PhotonUtilTest {
+    @Test
+    public void testDistance() {
+        var camHeight = 1;
+        var targetHeight = 3;
+        var camPitch = Units.degreesToRadians(0);
+        var targetPitch = Units.degreesToRadians(30);
+
+        var dist =
+                PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
+
+        Assertions.assertEquals(3.464, dist, 0.01);
+
+        camHeight = 1;
+        targetHeight = 2;
+        camPitch = Units.degreesToRadians(20);
+        targetPitch = Units.degreesToRadians(-10);
+
+        dist =
+                PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
+        Assertions.assertEquals(5.671, dist, 0.01);
+    }
+
+    @Test
+    public void testTransform() {
+
+        var camHeight = 1;
+        var tgtHeight = 3;
+        var camPitch = 0;
+        var tgtPitch = Units.degreesToRadians(30);
+        var tgtYaw = new Rotation2d();
+        var gyroAngle = new Rotation2d();
+        var fieldToTarget = new Pose2d();
+        var cameraToRobot = new Transform2d();
+
+        var fieldToRobot =
+                PhotonUtils.estimateFieldToRobot(
+                        PhotonUtils.estimateCameraToTarget(
+                                PhotonUtils.estimateCameraToTargetTranslation(
+                                        PhotonUtils.calculateDistanceToTargetMeters(
+                                                camHeight, tgtHeight, camPitch, tgtPitch),
+                                        tgtYaw),
+                                fieldToTarget,
+                                gyroAngle),
+                        fieldToTarget,
+                        cameraToRobot);
+
+        Assertions.assertEquals(-3.464, fieldToRobot.getX(), 0.1);
+        Assertions.assertEquals(0, fieldToRobot.getY(), 0.1);
+        Assertions.assertEquals(0, fieldToRobot.getRotation().getDegrees(), 0.1);
+    }
+}