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Send corners of min area rectangles (#382)

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Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2022-01-10 20:31:36 -08:00
committed by GitHub
parent e6d8e05b91
commit 3ad476bc28
12 changed files with 215 additions and 99 deletions
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51
photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
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@@ -19,26 +19,38 @@ package org.photonvision.targeting;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;
public class PhotonTrackedTarget {
public static final int PACK_SIZE_BYTES = Double.BYTES * 7;
public static final int PACK_SIZE_BYTES = Double.BYTES * (7 + 2 * 4);
private double yaw;
private double pitch;
private double area;
private double skew;
private Transform2d cameraToTarget = new Transform2d();
private List<TargetCorner> targetCorners;
public PhotonTrackedTarget() {}
public PhotonTrackedTarget(double yaw, double pitch, double area, double skew, Transform2d pose) {
/** Construct a tracked target, given exactly 4 corners */
public PhotonTrackedTarget(
double yaw,
double pitch,
double area,
double skew,
Transform2d pose,
List<TargetCorner> corners) {
assert corners.size() == 4;
this.yaw = yaw;
this.pitch = pitch;
this.area = area;
this.skew = skew;
cameraToTarget = pose;
this.cameraToTarget = pose;
this.targetCorners = corners;
}
public double getYaw() {
@@ -57,6 +69,14 @@ public class PhotonTrackedTarget {
return skew;
}
/**
* Return a list of the 4 corners in image space (origin top left, x left, y down), in no
* particular order, of the minimum area bounding rectangle of this target
*/
public List<TargetCorner> getCorners() {
return targetCorners;
}
public Transform2d getCameraToTarget() {
return cameraToTarget;
}
@@ -69,7 +89,8 @@ public class PhotonTrackedTarget {
return Double.compare(that.yaw, yaw) == 0
&& Double.compare(that.pitch, pitch) == 0
&& Double.compare(that.area, area) == 0
&& Objects.equals(cameraToTarget, that.cameraToTarget);
&& Objects.equals(cameraToTarget, that.cameraToTarget)
&& Objects.equals(targetCorners, that.targetCorners);
}
@Override
@@ -84,16 +105,23 @@ public class PhotonTrackedTarget {
* @return The incoming packet.
*/
public Packet createFromPacket(Packet packet) {
yaw = packet.decodeDouble();
pitch = packet.decodeDouble();
area = packet.decodeDouble();
skew = packet.decodeDouble();
this.yaw = packet.decodeDouble();
this.pitch = packet.decodeDouble();
this.area = packet.decodeDouble();
this.skew = packet.decodeDouble();
double x = packet.decodeDouble();
double y = packet.decodeDouble();
double r = packet.decodeDouble();
cameraToTarget = new Transform2d(new Translation2d(x, y), Rotation2d.fromDegrees(r));
this.targetCorners = new ArrayList<>(4);
for (int i = 0; i < 4; i++) {
double cx = packet.decodeDouble();
double cy = packet.decodeDouble();
targetCorners.add(new TargetCorner(cx, cy));
}
this.cameraToTarget = new Transform2d(new Translation2d(x, y), Rotation2d.fromDegrees(r));
return packet;
}
@@ -113,6 +141,11 @@ public class PhotonTrackedTarget {
packet.encode(cameraToTarget.getTranslation().getY());
packet.encode(cameraToTarget.getRotation().getDegrees());
for (int i = 0; i < 4; i++) {
packet.encode(targetCorners.get(i).x);
packet.encode(targetCorners.get(i).y);
}
return packet;
}
}