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Run multitag on coprocessor (#816)

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This commit is contained in:
Matt
2023-10-17 10:20:00 -04:00
committed by GitHub
parent ededc4f130
commit 47bd077bbb
72 changed files with 1708 additions and 1801 deletions
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17
photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
View File

@@ -85,6 +85,16 @@ public class Packet {
packetData[writePos++] = src;
}
/**
* Encodes the short into the packet.
*
* @param src The short to encode.
*/
public void encode(short src) {
packetData[writePos++] = (byte) (src >>> 8);
packetData[writePos++] = (byte) src;
}
/**
* Encodes the integer into the packet.
*
@@ -196,4 +206,11 @@ public class Packet {
}
return ret;
}
public short decodeShort() {
if (packetData.length < readPos + 1) {
return 0;
}
return (short) ((0xff & packetData[readPos++]) << 8 | (0xff & packetData[readPos++]));
}
}

59
photon-targeting/src/main/java/org/photonvision/estimation/CameraTargetRelation.java Normal file
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@@ -0,0 +1,59 @@
/*
* 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.estimation;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform3d;
/** Holds various helper geometries describing the relation between camera and target. */
public class CameraTargetRelation {
public final Pose3d camPose;
public final Transform3d camToTarg;
public final double camToTargDist;
public final double camToTargDistXY;
public final Rotation2d camToTargYaw;
public final Rotation2d camToTargPitch;
/** Angle from the camera's relative x-axis */
public final Rotation2d camToTargAngle;
public final Transform3d targToCam;
public final Rotation2d targToCamYaw;
public final Rotation2d targToCamPitch;
/** Angle from the target's relative x-axis */
public final Rotation2d targToCamAngle;
public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) {
this.camPose = cameraPose;
camToTarg = new Transform3d(cameraPose, targetPose);
camToTargDist = camToTarg.getTranslation().getNorm();
camToTargDistXY =
Math.hypot(camToTarg.getTranslation().getX(), camToTarg.getTranslation().getY());
camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY());
camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ());
camToTargAngle =
new Rotation2d(Math.hypot(camToTargYaw.getRadians(), camToTargPitch.getRadians()));
targToCam = new Transform3d(targetPose, cameraPose);
targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY());
targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ());
targToCamAngle =
new Rotation2d(Math.hypot(targToCamYaw.getRadians(), targToCamPitch.getRadians()));
}
}

576
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java Normal file
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@@ -0,0 +1,576 @@
/*
* 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.estimation;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.*;
import edu.wpi.first.util.RuntimeLoader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import org.ejml.simple.SimpleMatrix;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfDouble;
import org.opencv.core.MatOfInt;
import org.opencv.core.MatOfPoint;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.MatOfPoint3f;
import org.opencv.core.Point;
import org.opencv.core.Point3;
import org.opencv.core.Rect;
import org.opencv.core.RotatedRect;
import org.opencv.imgproc.Imgproc;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.TargetCorner;
public final class OpenCVHelp {
private static RotTrlTransform3d NWU_TO_EDN;
private static RotTrlTransform3d EDN_TO_NWU;
static {
try {
var loader =
new RuntimeLoader<>(
Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
loader.loadLibrary();
} catch (Exception e) {
throw new RuntimeException("Failed to load native libraries!", e);
}
NWU_TO_EDN =
new RotTrlTransform3d(
new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, -1, 0, 0, 0, -1, 1, 0, 0)),
new Translation3d());
EDN_TO_NWU =
new RotTrlTransform3d(
new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0)),
new Translation3d());
}
public static Mat matrixToMat(SimpleMatrix matrix) {
var mat = new Mat(matrix.numRows(), matrix.numCols(), CvType.CV_64F);
mat.put(0, 0, matrix.getDDRM().getData());
return mat;
}
public static Matrix<Num, Num> matToMatrix(Mat mat) {
double[] data = new double[(int) mat.total() * mat.channels()];
var doubleMat = new Mat(mat.rows(), mat.cols(), CvType.CV_64F);
mat.convertTo(doubleMat, CvType.CV_64F);
doubleMat.get(0, 0, data);
return new Matrix<>(new SimpleMatrix(mat.rows(), mat.cols(), true, data));
}
/**
* Creates a new {@link MatOfPoint3f} with these 3d translations. The opencv tvec is a vector with
* three elements representing {x, y, z} in the EDN coordinate system.
*
* @param translations The translations to convert into a MatOfPoint3f
*/
public static MatOfPoint3f translationToTvec(Translation3d... translations) {
Point3[] points = new Point3[translations.length];
for (int i = 0; i < translations.length; i++) {
var trl = translationNWUtoEDN(translations[i]);
points[i] = new Point3(trl.getX(), trl.getY(), trl.getZ());
}
return new MatOfPoint3f(points);
}
/**
* Returns a new 3d translation from this {@link Mat}. The opencv tvec is a vector with three
* elements representing {x, y, z} in the EDN coordinate system.
*
* @param tvecInput The tvec to create a Translation3d from
*/
public static Translation3d tvecToTranslation(Mat tvecInput) {
float[] data = new float[3];
var wrapped = new Mat(tvecInput.rows(), tvecInput.cols(), CvType.CV_32F);
tvecInput.convertTo(wrapped, CvType.CV_32F);
wrapped.get(0, 0, data);
wrapped.release();
return translationEDNtoNWU(new Translation3d(data[0], data[1], data[2]));
}
/**
* Creates a new {@link MatOfPoint3f} with this 3d rotation. The opencv rvec Mat is a vector with
* three elements representing the axis scaled by the angle in the EDN coordinate system. (angle =
* norm, and axis = rvec / norm)
*
* @param rotation The rotation to convert into a MatOfPoint3f
*/
public static MatOfPoint3f rotationToRvec(Rotation3d rotation) {
rotation = rotationNWUtoEDN(rotation);
return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData()));
}
/**
* Returns a 3d rotation from this {@link Mat}. The opencv rvec Mat is a vector with three
* elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm,
* and axis = rvec / norm)
*
* @param rvecInput The rvec to create a Rotation3d from
*/
public static Rotation3d rvecToRotation(Mat rvecInput) {
// Get the 'rodriguez' (axis-angle, where the norm is the angle about the normalized direction
// of the vector)
float[] data = new float[3];
var wrapped = new Mat(rvecInput.rows(), rvecInput.cols(), CvType.CV_32F);
rvecInput.convertTo(wrapped, CvType.CV_32F);
wrapped.get(0, 0, data);
wrapped.release();
return rotationEDNtoNWU(new Rotation3d(VecBuilder.fill(data[0], data[1], data[2])));
}
public static Point avgPoint(Point[] points) {
if (points == null || points.length == 0) return null;
var pointMat = new MatOfPoint2f(points);
Core.reduce(pointMat, pointMat, 0, Core.REDUCE_AVG);
var avgPt = pointMat.toArray()[0];
pointMat.release();
return avgPt;
}
public static Point[] cornersToPoints(List<TargetCorner> corners) {
var points = new Point[corners.size()];
for (int i = 0; i < corners.size(); i++) {
var corn = corners.get(i);
points[i] = new Point(corn.x, corn.y);
}
return points;
}
public static Point[] cornersToPoints(TargetCorner... corners) {
var points = new Point[corners.length];
for (int i = 0; i < corners.length; i++) {
points[i] = new Point(corners[i].x, corners[i].y);
}
return points;
}
public static List<TargetCorner> pointsToCorners(Point... points) {
var corners = new ArrayList<TargetCorner>(points.length);
for (int i = 0; i < points.length; i++) {
corners.add(new TargetCorner(points[i].x, points[i].y));
}
return corners;
}
public static List<TargetCorner> pointsToCorners(MatOfPoint2f matInput) {
var corners = new ArrayList<TargetCorner>();
float[] data = new float[(int) matInput.total() * matInput.channels()];
matInput.get(0, 0, data);
for (int i = 0; i < (int) matInput.total(); i++) {
corners.add(new TargetCorner(data[0 + 2 * i], data[1 + 2 * i]));
}
return corners;
}
/**
* Reorders the list, optionally indexing backwards and wrapping around to the last element after
* the first, and shifting all indices in the direction of indexing.
*
* <p>e.g.
*
* <p>({1,2,3}, false, 1) == {2,3,1}
*
* <p>({1,2,3}, true, 0) == {1,3,2}
*
* <p>({1,2,3}, true, 1) == {3,2,1}
*
* @param <T> Element type
* @param elements
* @param backwards If indexing should happen in reverse (0, size-1, size-2, ...)
* @param shiftStart How much the inital index should be shifted (instead of starting at index 0,
* start at shiftStart, negated if backwards)
* @return Reordered list
*/
public static <T> List<T> reorderCircular(List<T> elements, boolean backwards, int shiftStart) {
int size = elements.size();
int dir = backwards ? -1 : 1;
var reordered = new ArrayList<>(elements);
for (int i = 0; i < size; i++) {
int index = (i * dir + shiftStart * dir) % size;
if (index < 0) index = size + index;
reordered.set(i, elements.get(index));
}
return reordered;
}
// TODO: RotTrlTransform3d removal awaiting Rotation3d performance improvements
/**
* Convert a rotation delta from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0}
* in EDN, this would be {0, -1, 0} in NWU.
*/
private static Rotation3d rotationEDNtoNWU(Rotation3d rot) {
return new RotTrlTransform3d(EDN_TO_NWU.apply(rot), new Translation3d())
.apply(EDN_TO_NWU.inverse().getRotation());
}
/**
* Convert a rotation delta from NWU to EDN. For example, if you have a rotation X,Y,Z {1, 0, 0}
* in NWU, this would be {0, 0, 1} in EDN.
*/
private static Rotation3d rotationNWUtoEDN(Rotation3d rot) {
return new RotTrlTransform3d(NWU_TO_EDN.apply(rot), new Translation3d())
.apply(NWU_TO_EDN.inverse().getRotation());
}
/**
* Convert a translation from EDN to NWU. For example, if you have a translation X,Y,Z {1, 0, 0}
* in EDN, this would be {0, -1, 0} in NWU.
*/
private static Translation3d translationEDNtoNWU(Translation3d trl) {
return EDN_TO_NWU.apply(trl);
}
/**
* Convert a translation from NWU to EDN. For example, if you have a translation X,Y,Z {1, 0, 0}
* in NWU, this would be {0, 0, 1} in EDN.
*/
private static Translation3d translationNWUtoEDN(Translation3d trl) {
return NWU_TO_EDN.apply(trl);
}
/**
* Project object points from the 3d world into the 2d camera image. The camera
* properties(intrinsics, distortion) determine the results of this projection.
*
* @param cameraMatrix the camera intrinsics matrix in standard opencv form
* @param distCoeffs the camera distortion matrix in standard opencv form
* @param camRt The change in basis from world coordinates to camera coordinates. See {@link
* RotTrlTransform3d#makeRelativeTo(Pose3d)}.
* @param objectTranslations The 3d points to be projected
* @return The 2d points in pixels which correspond to the camera's image of the 3d points
*/
public static Point[] projectPoints(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
RotTrlTransform3d camRt,
List<Translation3d> objectTranslations) {
// translate to opencv classes
var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0]));
// opencv rvec/tvec describe a change in basis from world to camera
var rvec = rotationToRvec(camRt.getRotation());
var tvec = translationToTvec(camRt.getTranslation());
var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
var distCoeffsMat = new MatOfDouble(matrixToMat(distCoeffs.getStorage()));
var imagePoints = new MatOfPoint2f();
// project to 2d
Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrixMat, distCoeffsMat, imagePoints);
var points = imagePoints.toArray();
// release our Mats from native memory
objectPoints.release();
rvec.release();
tvec.release();
cameraMatrixMat.release();
distCoeffsMat.release();
imagePoints.release();
return points;
}
/**
* Undistort 2d image points using a given camera's intrinsics and distortion.
*
* <p>2d image points from {@link #projectPoints(Matrix, Matrix, RotTrlTransform3d, List)
* projectPoints()} will naturally be distorted, so this operation is important if the image
* points need to be directly used (e.g. 2d yaw/pitch).
*
* @param cameraMatrix The camera intrinsics matrix in standard opencv form
* @param distCoeffs The camera distortion matrix in standard opencv form
* @param points The distorted image points
* @return The undistorted image points
*/
public static Point[] undistortPoints(
Matrix<N3, N3> cameraMatrix, Matrix<N5, N1> distCoeffs, Point[] points) {
var distMat = new MatOfPoint2f(points);
var undistMat = new MatOfPoint2f();
var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
var distCoeffsMat = matrixToMat(distCoeffs.getStorage());
Calib3d.undistortImagePoints(distMat, undistMat, cameraMatrixMat, distCoeffsMat);
var undistPoints = undistMat.toArray();
distMat.release();
undistMat.release();
cameraMatrixMat.release();
distCoeffsMat.release();
return undistPoints;
}
/**
* Gets the (upright) rectangle which bounds this contour.
*
* <p>Note that rectangle size and position are stored with ints and do not have sub-pixel
* accuracy.
*
* @param points The points to be bounded
* @return Rectangle bounding the given points
*/
public static Rect getBoundingRect(Point[] points) {
var pointMat = new MatOfPoint2f(points);
var rect = Imgproc.boundingRect(pointMat);
pointMat.release();
return rect;
}
/**
* Gets the rotated rectangle with minimum area which bounds this contour.
*
* <p>Note that rectangle size and position are stored with floats and have sub-pixel accuracy.
*
* @param points The points to be bounded
* @return Rotated rectangle bounding the given points
*/
public static RotatedRect getMinAreaRect(Point[] points) {
var pointMat = new MatOfPoint2f(points);
var rect = Imgproc.minAreaRect(pointMat);
pointMat.release();
return rect;
}
/**
* Gets the convex hull contour (the outline) of a list of points.
*
* @param points The input contour
* @return The subset of points defining the convex hull. Note that these use ints and not floats.
*/
public static Point[] getConvexHull(Point[] points) {
var pointMat = new MatOfPoint(points);
// outputHull gives us indices (of corn) that make a convex hull contour
var outputHull = new MatOfInt();
Imgproc.convexHull(pointMat, outputHull);
int[] indices = outputHull.toArray();
outputHull.release();
pointMat.release();
var convexPoints = new Point[indices.length];
for (int i = 0; i < indices.length; i++) {
convexPoints[i] = points[indices[i]];
}
return convexPoints;
}
/**
* Finds the transformation(s) that map the camera's pose to the target's pose. The camera's pose
* relative to the target is determined by the supplied 3d points of the target's model and their
* associated 2d points imaged by the camera. The supplied model translations must be relative to
* the target's pose.
*
* <p>For planar targets, there may be an alternate solution which is plausible given the 2d image
* points. This has an associated "ambiguity" which describes the ratio of reprojection error
* between the "best" and "alternate" solution.
*
* <p>This method is intended for use with individual AprilTags, and will not work unless 4 points
* are provided.
*
* @param cameraMatrix The camera intrinsics matrix in standard opencv form
* @param distCoeffs The camera distortion matrix in standard opencv form
* @param modelTrls The translations of the object corners. These should have the object pose as
* their origin. These must come in a specific, pose-relative order (in NWU):
* <ul>
* <li>Point 0: [0, -squareLength / 2, squareLength / 2]
* <li>Point 1: [0, squareLength / 2, squareLength / 2]
* <li>Point 2: [0, squareLength / 2, -squareLength / 2]
* <li>Point 3: [0, -squareLength / 2, -squareLength / 2]
* </ul>
*
* @param imagePoints The projection of these 3d object points into the 2d camera image. The order
* should match the given object point translations.
* @return The resulting transformation that maps the camera pose to the target pose and the
* ambiguity if an alternate solution is available.
*/
public static PNPResults solvePNP_SQUARE(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
List<Translation3d> modelTrls,
Point[] imagePoints) {
// solvepnp inputs
MatOfPoint3f objectMat = new MatOfPoint3f();
MatOfPoint2f imageMat = new MatOfPoint2f();
MatOfDouble cameraMatrixMat = new MatOfDouble();
MatOfDouble distCoeffsMat = new MatOfDouble();
var rvecs = new ArrayList<Mat>();
var tvecs = new ArrayList<Mat>();
Mat rvec = Mat.zeros(3, 1, CvType.CV_32F);
Mat tvec = Mat.zeros(3, 1, CvType.CV_32F);
Mat reprojectionError = Mat.zeros(2, 1, CvType.CV_32F);
try {
// IPPE_SQUARE expects our corners in a specific order
modelTrls = reorderCircular(modelTrls, true, -1);
imagePoints = reorderCircular(Arrays.asList(imagePoints), true, -1).toArray(Point[]::new);
// translate to opencv classes
translationToTvec(modelTrls.toArray(new Translation3d[0])).assignTo(objectMat);
imageMat.fromArray(imagePoints);
matrixToMat(cameraMatrix.getStorage()).assignTo(cameraMatrixMat);
matrixToMat(distCoeffs.getStorage()).assignTo(distCoeffsMat);
float[] errors = new float[2];
Transform3d best = null;
Transform3d alt = null;
for (int tries = 0; tries < 2; tries++) {
// calc rvecs/tvecs and associated reprojection error from image points
Calib3d.solvePnPGeneric(
objectMat,
imageMat,
cameraMatrixMat,
distCoeffsMat,
rvecs,
tvecs,
false,
Calib3d.SOLVEPNP_IPPE_SQUARE,
rvec,
tvec,
reprojectionError);
reprojectionError.get(0, 0, errors);
// convert to wpilib coordinates
best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
if (tvecs.size() > 1) {
alt = new Transform3d(tvecToTranslation(tvecs.get(1)), rvecToRotation(rvecs.get(1)));
}
// check if we got a NaN result
if (!Double.isNaN(errors[0])) break;
else { // add noise and retry
double[] br = imageMat.get(0, 0);
br[0] -= 0.001;
br[1] -= 0.001;
imageMat.put(0, 0, br);
}
}
// check if solvePnP failed with NaN results and retrying failed
if (Double.isNaN(errors[0])) throw new Exception("SolvePNP_SQUARE NaN result");
if (alt != null)
return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]);
else return new PNPResults(best, errors[0]);
}
// solvePnP failed
catch (Exception e) {
System.err.println("SolvePNP_SQUARE failed!");
e.printStackTrace();
return new PNPResults();
} finally {
// release our Mats from native memory
objectMat.release();
imageMat.release();
cameraMatrixMat.release();
distCoeffsMat.release();
for (var v : rvecs) v.release();
for (var v : tvecs) v.release();
rvec.release();
tvec.release();
reprojectionError.release();
}
}
/**
* Finds the transformation that maps the camera's pose to the origin of the supplied object. An
* "object" is simply a set of known 3d translations that correspond to the given 2d points. If,
* for example, the object translations are given relative to close-right corner of the blue
* alliance(the default origin), a camera-to-origin transformation is returned. If the
* translations are relative to a target's pose, a camera-to-target transformation is returned.
*
* <p>There must be at least 3 points to use this method. This does not return an alternate
* solution-- if you are intending to use solvePNP on a single AprilTag, see {@link
* #solvePNP_SQUARE} instead.
*
* @param cameraMatrix The camera intrinsics matrix in standard opencv form
* @param distCoeffs The camera distortion matrix in standard opencv form
* @param objectTrls The translations of the object corners, relative to the field.
* @param imagePoints The projection of these 3d object points into the 2d camera image. The order
* should match the given object point translations.
* @return The resulting transformation that maps the camera pose to the target pose. If the 3d
* model points are supplied relative to the origin, this transformation brings the camera to
* the origin.
*/
public static PNPResults solvePNP_SQPNP(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
List<Translation3d> objectTrls,
Point[] imagePoints) {
try {
// translate to opencv classes
MatOfPoint3f objectMat = translationToTvec(objectTrls.toArray(new Translation3d[0]));
MatOfPoint2f imageMat = new MatOfPoint2f(imagePoints);
Mat cameraMatrixMat = matrixToMat(cameraMatrix.getStorage());
Mat distCoeffsMat = matrixToMat(distCoeffs.getStorage());
var rvecs = new ArrayList<Mat>();
var tvecs = new ArrayList<Mat>();
Mat rvec = Mat.zeros(3, 1, CvType.CV_32F);
Mat tvec = Mat.zeros(3, 1, CvType.CV_32F);
Mat reprojectionError = new Mat();
// calc rvec/tvec from image points
Calib3d.solvePnPGeneric(
objectMat,
imageMat,
cameraMatrixMat,
distCoeffsMat,
rvecs,
tvecs,
false,
Calib3d.SOLVEPNP_SQPNP,
rvec,
tvec,
reprojectionError);
float[] error = new float[1];
reprojectionError.get(0, 0, error);
// convert to wpilib coordinates
var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0)));
// release our Mats from native memory
objectMat.release();
imageMat.release();
cameraMatrixMat.release();
distCoeffsMat.release();
for (var v : rvecs) v.release();
for (var v : tvecs) v.release();
rvec.release();
tvec.release();
reprojectionError.release();
// check if solvePnP failed with NaN results
if (Double.isNaN(error[0])) throw new Exception("SolvePNP_SQPNP NaN result");
return new PNPResults(best, error[0]);
} catch (Exception e) {
System.err.println("SolvePNP_SQPNP failed!");
e.printStackTrace();
return new PNPResults();
}
}
}

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/*
* 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.estimation;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.List;
import java.util.stream.Collectors;
/**
* Represents a transformation that first rotates a pose around the origin, and then translates it.
*/
public class RotTrlTransform3d {
private final Translation3d trl;
private final Rotation3d rot;
// TODO: removal awaiting wpilib Rotation3d performance improvements
private double m_w;
private double m_x;
private double m_y;
private double m_z;
/**
* A rotation-translation transformation.
*
* <p>Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose
* transform as if the origin was transformed by these components instead.
*
* @param rot The rotation component
* @param trl The translation component
*/
public RotTrlTransform3d(Rotation3d rot, Translation3d trl) {
this.rot = rot;
var quat = rot.getQuaternion();
m_w = quat.getW();
m_x = quat.getX();
m_y = quat.getY();
m_z = quat.getZ();
this.trl = trl;
}
public RotTrlTransform3d(Pose3d initial, Pose3d last) {
// this.rot = last.getRotation().minus(initial.getRotation());
// this.trl = last.getTranslation().minus(initial.getTranslation().rotateBy(rot));
var quat = initial.getRotation().getQuaternion();
m_w = quat.getW();
m_x = quat.getX();
m_y = quat.getY();
m_z = quat.getZ();
this.rot = invrotate(last.getRotation());
this.trl = last.getTranslation().minus(rotate(initial.getTranslation()));
}
/**
* Creates a rotation-translation transformation from a Transform3d.
*
* <p>Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose
* transform as if the origin was transformed by trf instead.
*
* @param trf The origin transformation
*/
public RotTrlTransform3d(Transform3d trf) {
this(trf.getRotation(), trf.getTranslation());
}
public RotTrlTransform3d() {
this(new Rotation3d(), new Translation3d());
}
private Translation3d rotate(Translation3d otrl) {
final var p = new Quaternion(0.0, otrl.getX(), otrl.getY(), otrl.getZ());
final var qprime = times(times(p), new Quaternion(m_w, -m_x, -m_y, -m_z));
return new Translation3d(qprime.getX(), qprime.getY(), qprime.getZ());
}
private Translation3d invrotate(Translation3d otrl) {
m_x = -m_x;
m_y = -m_y;
m_z = -m_z;
var result = rotate(otrl);
m_x = -m_x;
m_y = -m_y;
m_z = -m_z;
return result;
}
private Rotation3d rotate(Rotation3d orot) {
return new Rotation3d(times(orot.getQuaternion()));
}
private Rotation3d invrotate(Rotation3d orot) {
m_x = -m_x;
m_y = -m_y;
m_z = -m_z;
var result = rotate(orot);
m_x = -m_x;
m_y = -m_y;
m_z = -m_z;
return result;
}
/**
* The rotation-translation transformation that makes poses in the world consider this pose as the
* new origin, or change the basis to this pose.
*
* @param pose The new origin
*/
public static RotTrlTransform3d makeRelativeTo(Pose3d pose) {
return new RotTrlTransform3d(pose.getRotation(), pose.getTranslation()).inverse();
}
/** The inverse of this transformation. Applying the inverse will "undo" this transformation. */
public RotTrlTransform3d inverse() {
// var inverseRot = rot.unaryMinus();
// var inverseTrl = trl.rotateBy(inverseRot).unaryMinus();
// return new RotTrlTransform3d(inverseRot, inverseTrl);
var inverseTrl = invrotate(trl).unaryMinus();
return new RotTrlTransform3d(new Rotation3d(new Quaternion(m_w, -m_x, -m_y, -m_z)), inverseTrl);
}
/** This transformation as a Transform3d (as if of the origin) */
public Transform3d getTransform() {
return new Transform3d(trl, rot);
}
/** The translation component of this transformation */
public Translation3d getTranslation() {
return trl;
}
/** The rotation component of this transformation */
public Rotation3d getRotation() {
return rot;
}
public Translation3d apply(Translation3d trl) {
// return trl.rotateBy(rot).plus(this.trl);
return rotate(trl).plus(this.trl);
}
public List<Translation3d> applyTrls(List<Translation3d> trls) {
return trls.stream().map(this::apply).collect(Collectors.toList());
}
public Rotation3d apply(Rotation3d rot) {
return rotate(rot);
}
public List<Rotation3d> applyRots(List<Rotation3d> rots) {
return rots.stream().map(this::apply).collect(Collectors.toList());
}
public Pose3d apply(Pose3d pose) {
// return new Pose3d(pose.getTranslation().rotateBy(rot).plus(trl),
// pose.getRotation().plus(rot));
return new Pose3d(apply(pose.getTranslation()), apply(pose.getRotation()));
}
public List<Pose3d> applyPoses(List<Pose3d> poses) {
return poses.stream().map(this::apply).collect(Collectors.toList());
}
// TODO: removal awaiting wpilib Rotation3d performance improvements
private Quaternion times(Quaternion other) {
final double o_w = other.getW();
final double o_x = other.getX();
final double o_y = other.getY();
final double o_z = other.getZ();
return times(m_w, m_x, m_y, m_z, o_w, o_x, o_y, o_z);
}
private static Quaternion times(Quaternion a, Quaternion b) {
final double m_w = a.getW();
final double m_x = a.getX();
final double m_y = a.getY();
final double m_z = a.getZ();
final double o_w = b.getW();
final double o_x = b.getX();
final double o_y = b.getY();
final double o_z = b.getZ();
return times(m_w, m_x, m_y, m_z, o_w, o_x, o_y, o_z);
}
private static Quaternion times(
double m_w,
double m_x,
double m_y,
double m_z,
double o_w,
double o_x,
double o_y,
double o_z) {
// https://en.wikipedia.org/wiki/Quaternion#Scalar_and_vector_parts
// v₁ x v₂
final double cross_x = m_y * o_z - o_y * m_z;
final double cross_y = o_x * m_z - m_x * o_z;
final double cross_z = m_x * o_y - o_x * m_y;
// v = w₁v₂ + w₂v₁ + v₁ x v₂
final double new_x = o_x * m_w + (m_x * o_w) + cross_x;
final double new_y = o_y * m_w + (m_y * o_w) + cross_y;
final double new_z = o_z * m_w + (m_z * o_w) + cross_z;
return new Quaternion(m_w * o_w - (m_x * o_x + m_y * o_y + m_z * o_z), new_x, new_y, new_z);
}
}

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/*
* 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.estimation;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
/** Describes the 3d model of a target. */
public class TargetModel {
/**
* Translations of this target's vertices relative to its pose. Rectangular and spherical targets
* will have four vertices. See their respective constructors for more info.
*/
public final List<Translation3d> vertices;
public final boolean isPlanar;
public final boolean isSpherical;
public static final TargetModel kTag16h5 =
new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6));
/**
* Creates a rectangular, planar target model given the width and height. The model has four
* vertices:
*
* <ul>
* <li>Point 0: [0, -width/2, -height/2]
* <li>Point 1: [0, width/2, -height/2]
* <li>Point 2: [0, width/2, height/2]
* <li>Point 3: [0, -width/2, height/2]
* </ul>
*/
public TargetModel(double widthMeters, double heightMeters) {
this.vertices =
List.of(
// this order is relevant for AprilTag compatibility
new Translation3d(0, -widthMeters / 2.0, -heightMeters / 2.0),
new Translation3d(0, widthMeters / 2.0, -heightMeters / 2.0),
new Translation3d(0, widthMeters / 2.0, heightMeters / 2.0),
new Translation3d(0, -widthMeters / 2.0, heightMeters / 2.0));
this.isPlanar = true;
this.isSpherical = false;
}
/**
* Creates a cuboid target model given the length, width, height. The model has eight vertices:
*
* <ul>
* <li>Point 0: [length/2, -width/2, -height/2]
* <li>Point 1: [length/2, width/2, -height/2]
* <li>Point 2: [length/2, width/2, height/2]
* <li>Point 3: [length/2, -width/2, height/2]
* <li>Point 4: [-length/2, -width/2, height/2]
* <li>Point 5: [-length/2, width/2, height/2]
* <li>Point 6: [-length/2, width/2, -height/2]
* <li>Point 7: [-length/2, -width/2, -height/2]
* </ul>
*/
public TargetModel(double lengthMeters, double widthMeters, double heightMeters) {
this(
List.of(
new Translation3d(lengthMeters / 2.0, -widthMeters / 2.0, -heightMeters / 2.0),
new Translation3d(lengthMeters / 2.0, widthMeters / 2.0, -heightMeters / 2.0),
new Translation3d(lengthMeters / 2.0, widthMeters / 2.0, heightMeters / 2.0),
new Translation3d(lengthMeters / 2.0, -widthMeters / 2.0, heightMeters / 2.0),
new Translation3d(-lengthMeters / 2.0, -widthMeters / 2.0, heightMeters / 2.0),
new Translation3d(-lengthMeters / 2.0, widthMeters / 2.0, heightMeters / 2.0),
new Translation3d(-lengthMeters / 2.0, widthMeters / 2.0, -heightMeters / 2.0),
new Translation3d(-lengthMeters / 2.0, -widthMeters / 2.0, -heightMeters / 2.0)));
}
/**
* Creates a spherical target model which has similar dimensions regardless of its rotation. This
* model has four vertices:
*
* <ul>
* <li>Point 0: [0, -radius, 0]
* <li>Point 1: [0, 0, -radius]
* <li>Point 2: [0, radius, 0]
* <li>Point 3: [0, 0, radius]
* </ul>
*
* <i>Q: Why these vertices?</i> A: This target should be oriented to the camera every frame, much
* like a sprite/decal, and these vertices represent the ellipse vertices (maxima). These vertices
* are used for drawing the image of this sphere, but do not match the corners that will be
* published by photonvision.
*/
public TargetModel(double diameterMeters) {
double radius = diameterMeters / 2.0;
this.vertices =
List.of(
new Translation3d(0, -radius, 0),
new Translation3d(0, 0, -radius),
new Translation3d(0, radius, 0),
new Translation3d(0, 0, radius));
this.isPlanar = false;
this.isSpherical = true;
}
/**
* Creates a target model from arbitrary 3d vertices. Automatically determines if the given
* vertices are planar(x == 0). More than 2 vertices must be given. If this is a planar model, the
* vertices should define a non-intersecting contour.
*
* @param vertices Translations representing the vertices of this target model relative to its
* pose.
*/
public TargetModel(List<Translation3d> vertices) {
this.isSpherical = false;
if (vertices == null || vertices.size() <= 2) {
vertices = new ArrayList<>();
this.isPlanar = false;
} else {
boolean cornersPlanar = true;
for (Translation3d corner : vertices) {
if (corner.getX() != 0) cornersPlanar = false;
}
this.isPlanar = cornersPlanar;
}
this.vertices = vertices;
}
/**
* This target's vertices offset from its field pose.
*
* <p>Note: If this target is spherical, use {@link #getOrientedPose(Translation3d,
* Translation3d)} with this method.
*/
public List<Translation3d> getFieldVertices(Pose3d targetPose) {
var basisChange = new RotTrlTransform3d(targetPose.getRotation(), targetPose.getTranslation());
return vertices.stream().map(t -> basisChange.apply(t)).collect(Collectors.toList());
}
/**
* Returns a Pose3d with the given target translation oriented (with its relative x-axis aligned)
* to the camera translation. This is used for spherical targets which should not have their
* projection change regardless of their own rotation.
*
* @param tgtTrl This target's translation
* @param cameraTrl Camera's translation
* @return This target's pose oriented to the camera
*/
public static Pose3d getOrientedPose(Translation3d tgtTrl, Translation3d cameraTrl) {
var relCam = cameraTrl.minus(tgtTrl);
var orientToCam =
new Rotation3d(
0,
new Rotation2d(Math.hypot(relCam.getX(), relCam.getY()), -relCam.getZ()).getRadians(),
new Rotation2d(relCam.getX(), relCam.getY()).getRadians());
return new Pose3d(tgtTrl, orientToCam);
}
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj instanceof TargetModel) {
var o = (TargetModel) obj;
return vertices.equals(o.vertices) && isPlanar == o.isPlanar && isSpherical == o.isSpherical;
}
return false;
}
}

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/*
* 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.estimation;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.numbers.*;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import java.util.stream.Collectors;
import org.opencv.core.Point;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
public class VisionEstimation {
/** Get the visible {@link AprilTag}s which are in the tag layout using the visible tag IDs. */
public static List<AprilTag> getVisibleLayoutTags(
List<PhotonTrackedTarget> visTags, AprilTagFieldLayout tagLayout) {
return visTags.stream()
.map(
t -> {
int id = t.getFiducialId();
var maybePose = tagLayout.getTagPose(id);
return maybePose.map(pose3d -> new AprilTag(id, pose3d)).orElse(null);
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
}
/**
* Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the
* field-to-camera transformation. If only one tag is visible, the result may have an alternate
* solution.
*
* <p><b>Note:</b> The returned transformation is from the field origin to the camera pose!
*
* <p>With only one tag: {@link OpenCVHelp#solvePNP_SQUARE}
*
* <p>With multiple tags: {@link OpenCVHelp#solvePNP_SQPNP}
*
* @param cameraMatrix The camera intrinsics matrix in standard opencv form
* @param distCoeffs The camera distortion matrix in standard opencv form
* @param visTags The visible tags reported by PV. Non-tag targets are automatically excluded.
* @param tagLayout The known tag layout on the field
* @return The transformation that maps the field origin to the camera pose. Ensure the {@link
* PNPResults} are present before utilizing them.
*/
public static PNPResults estimateCamPosePNP(
Matrix<N3, N3> cameraMatrix,
Matrix<N5, N1> distCoeffs,
List<PhotonTrackedTarget> visTags,
AprilTagFieldLayout tagLayout) {
if (tagLayout == null
|| visTags == null
|| tagLayout.getTags().size() == 0
|| visTags.size() == 0) {
return new PNPResults();
}
var corners = new ArrayList<TargetCorner>();
var knownTags = new ArrayList<AprilTag>();
// ensure these are AprilTags in our layout
for (var tgt : visTags) {
int id = tgt.getFiducialId();
tagLayout
.getTagPose(id)
.ifPresent(
pose -> {
knownTags.add(new AprilTag(id, pose));
corners.addAll(tgt.getDetectedCorners());
});
}
if (knownTags.size() == 0 || corners.size() == 0 || corners.size() % 4 != 0) {
return new PNPResults();
}
Point[] points = OpenCVHelp.cornersToPoints(corners);
// single-tag pnp
if (knownTags.size() == 1) {
var camToTag =
OpenCVHelp.solvePNP_SQUARE(
cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, points);
if (!camToTag.isPresent) return new PNPResults();
var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse());
var altPose = new Pose3d();
if (camToTag.ambiguity != 0)
altPose = knownTags.get(0).pose.transformBy(camToTag.alt.inverse());
var o = new Pose3d();
return new PNPResults(
new Transform3d(o, bestPose),
new Transform3d(o, altPose),
camToTag.ambiguity,
camToTag.bestReprojErr,
camToTag.altReprojErr);
}
// multi-tag pnp
else {
var objectTrls = new ArrayList<Translation3d>();
for (var tag : knownTags) objectTrls.addAll(TargetModel.kTag16h5.getFieldVertices(tag.pose));
var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, points);
if (!camToOrigin.isPresent) return new PNPResults();
return new PNPResults(
camToOrigin.best.inverse(),
camToOrigin.alt.inverse(),
camToOrigin.ambiguity,
camToOrigin.bestReprojErr,
camToOrigin.altReprojErr);
}
}
}

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/*
* 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.targeting;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
public class MultiTargetPNPResults {
// Seeing 32 apriltags at once seems like a sane limit
private static final int MAX_IDS = 32;
// pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
public static final int PACK_SIZE_BYTES = PNPResults.PACK_SIZE_BYTES + (Short.BYTES * MAX_IDS);
public PNPResults estimatedPose = new PNPResults();
public List<Integer> fiducialIDsUsed = List.of();
public MultiTargetPNPResults() {}
public MultiTargetPNPResults(PNPResults results, List<Integer> ids) {
estimatedPose = results;
fiducialIDsUsed = ids;
}
public static MultiTargetPNPResults createFromPacket(Packet packet) {
var results = PNPResults.createFromPacket(packet);
var ids = new ArrayList<Integer>(MAX_IDS);
for (int i = 0; i < MAX_IDS; i++) {
int targetId = (int) packet.decodeShort();
if (targetId > -1) ids.add(targetId);
}
return new MultiTargetPNPResults(results, ids);
}
public void populatePacket(Packet packet) {
estimatedPose.populatePacket(packet);
for (int i = 0; i < MAX_IDS; i++) {
if (i < fiducialIDsUsed.size()) {
packet.encode((short) fiducialIDsUsed.get(i).byteValue());
} else {
packet.encode((short) -1);
}
}
}
@Override
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + ((estimatedPose == null) ? 0 : estimatedPose.hashCode());
result = prime * result + ((fiducialIDsUsed == null) ? 0 : fiducialIDsUsed.hashCode());
return result;
}
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj == null) return false;
if (getClass() != obj.getClass()) return false;
MultiTargetPNPResults other = (MultiTargetPNPResults) obj;
if (estimatedPose == null) {
if (other.estimatedPose != null) return false;
} else if (!estimatedPose.equals(other.estimatedPose)) return false;
if (fiducialIDsUsed == null) {
if (other.fiducialIDsUsed != null) return false;
} else if (!fiducialIDsUsed.equals(other.fiducialIDsUsed)) return false;
return true;
}
@Override
public String toString() {
return "MultiTargetPNPResults [estimatedPose="
+ estimatedPose
+ ", fiducialIDsUsed="
+ fiducialIDsUsed
+ "]";
}
}

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/*
* 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.targeting;
import edu.wpi.first.math.geometry.Transform3d;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.utils.PacketUtils;
/**
* The best estimated transformation from solvePnP, and possibly an alternate transformation
* depending on the solvePNP method. If an alternate solution is present, the ambiguity value
* represents the ratio of reprojection error in the best solution to the alternate (best /
* alternate).
*
* <p>Note that the coordinate frame of these transforms depends on the implementing solvePnP
* method.
*/
public class PNPResults {
/**
* If this result is valid. A false value indicates there was an error in estimation, and this
* result should not be used.
*/
public final boolean isPresent;
/**
* The best-fit transform. The coordinate frame of this transform depends on the method which gave
* this result.
*/
public final Transform3d best;
/** Reprojection error of the best solution, in pixels */
public final double bestReprojErr;
/**
* Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal
* to the best solution.
*/
public final Transform3d alt;
/** If no alternate solution is found, this is bestReprojErr */
public final double altReprojErr;
/** If no alternate solution is found, this is 0 */
public final double ambiguity;
/** An empty (invalid) result. */
public PNPResults() {
this.isPresent = false;
this.best = new Transform3d();
this.alt = new Transform3d();
this.ambiguity = 0;
this.bestReprojErr = 0;
this.altReprojErr = 0;
}
public PNPResults(Transform3d best, double bestReprojErr) {
this(best, best, 0, bestReprojErr, bestReprojErr);
}
public PNPResults(
Transform3d best,
Transform3d alt,
double ambiguity,
double bestReprojErr,
double altReprojErr) {
this.isPresent = true;
this.best = best;
this.alt = alt;
this.ambiguity = ambiguity;
this.bestReprojErr = bestReprojErr;
this.altReprojErr = altReprojErr;
}
public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3);
public static PNPResults createFromPacket(Packet packet) {
var present = packet.decodeBoolean();
var best = PacketUtils.decodeTransform(packet);
var alt = PacketUtils.decodeTransform(packet);
var bestEr = packet.decodeDouble();
var altEr = packet.decodeDouble();
var ambiguity = packet.decodeDouble();
if (present) {
return new PNPResults(best, alt, ambiguity, bestEr, altEr);
} else {
return new PNPResults();
}
}
public Packet populatePacket(Packet packet) {
packet.encode(isPresent);
PacketUtils.encodeTransform(packet, best);
PacketUtils.encodeTransform(packet, alt);
packet.encode(bestReprojErr);
packet.encode(altReprojErr);
packet.encode(ambiguity);
return packet;
}
@Override
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + (isPresent ? 1231 : 1237);
result = prime * result + ((best == null) ? 0 : best.hashCode());
long temp;
temp = Double.doubleToLongBits(bestReprojErr);
result = prime * result + (int) (temp ^ (temp >>> 32));
result = prime * result + ((alt == null) ? 0 : alt.hashCode());
temp = Double.doubleToLongBits(altReprojErr);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(ambiguity);
result = prime * result + (int) (temp ^ (temp >>> 32));
return result;
}
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj == null) return false;
if (getClass() != obj.getClass()) return false;
PNPResults other = (PNPResults) obj;
if (isPresent != other.isPresent) return false;
if (best == null) {
if (other.best != null) return false;
} else if (!best.equals(other.best)) return false;
if (Double.doubleToLongBits(bestReprojErr) != Double.doubleToLongBits(other.bestReprojErr))
return false;
if (alt == null) {
if (other.alt != null) return false;
} else if (!alt.equals(other.alt)) return false;
if (Double.doubleToLongBits(altReprojErr) != Double.doubleToLongBits(other.altReprojErr))
return false;
if (Double.doubleToLongBits(ambiguity) != Double.doubleToLongBits(other.ambiguity))
return false;
return true;
}
@Override
public String toString() {
return "PNPResults [isPresent="
+ isPresent
+ ", best="
+ best
+ ", bestReprojErr="
+ bestReprojErr
+ ", alt="
+ alt
+ ", altReprojErr="
+ altReprojErr
+ ", ambiguity="
+ ambiguity
+ "]";
}
}

49
photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
View File

@@ -34,6 +34,9 @@ public class PhotonPipelineResult {
// Timestamp in milliseconds.
private double timestampSeconds = -1;
// Multi-tag result
private MultiTargetPNPResults multiTagResult = new MultiTargetPNPResults();
/** Constructs an empty pipeline result. */
public PhotonPipelineResult() {}
@@ -48,13 +51,30 @@ public class PhotonPipelineResult {
this.targets.addAll(targets);
}
/**
* Constructs a pipeline result.
*
* @param latencyMillis The latency in the pipeline.
* @param targets The list of targets identified by the pipeline.
* @param result Result from multi-target PNP.
*/
public PhotonPipelineResult(
double latencyMillis, List<PhotonTrackedTarget> targets, MultiTargetPNPResults result) {
this.latencyMillis = latencyMillis;
this.targets.addAll(targets);
this.multiTagResult = result;
}
/**
* Returns the size of the packet needed to store this pipeline result.
*
* @return The size of the packet needed to store this pipeline result.
*/
public int getPacketSize() {
return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2;
return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES
+ 8 // latency
+ MultiTargetPNPResults.PACK_SIZE_BYTES
+ 1; // target count
}
/**
@@ -122,6 +142,14 @@ public class PhotonPipelineResult {
return new ArrayList<>(targets);
}
/**
* Return the latest mulit-target result. Be sure to check
* getMultiTagResult().estimatedPose.isPresent before using the pose estimate!
*/
public MultiTargetPNPResults getMultiTagResult() {
return multiTagResult;
}
/**
* Populates the fields of the pipeline result from the packet.
*
@@ -131,6 +159,7 @@ public class PhotonPipelineResult {
public Packet createFromPacket(Packet packet) {
// Decode latency, existence of targets, and number of targets.
latencyMillis = packet.decodeDouble();
this.multiTagResult = MultiTargetPNPResults.createFromPacket(packet);
byte targetCount = packet.decodeByte();
targets.clear();
@@ -154,6 +183,7 @@ public class PhotonPipelineResult {
public Packet populatePacket(Packet packet) {
// Encode latency, existence of targets, and number of targets.
packet.encode(latencyMillis);
multiTagResult.populatePacket(packet);
packet.encode((byte) targets.size());
// Encode the information of each target.
@@ -173,6 +203,7 @@ public class PhotonPipelineResult {
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(timestampSeconds);
result = prime * result + (int) (temp ^ (temp >>> 32));
result = prime * result + ((multiTagResult == null) ? 0 : multiTagResult.hashCode());
return result;
}
@@ -189,6 +220,22 @@ public class PhotonPipelineResult {
return false;
if (Double.doubleToLongBits(timestampSeconds)
!= Double.doubleToLongBits(other.timestampSeconds)) return false;
if (multiTagResult == null) {
if (other.multiTagResult != null) return false;
} else if (!multiTagResult.equals(other.multiTagResult)) return false;
return true;
}
@Override
public String toString() {
return "PhotonPipelineResult [targets="
+ targets
+ ", latencyMillis="
+ latencyMillis
+ ", timestampSeconds="
+ timestampSeconds
+ ", multiTagResult="
+ multiTagResult
+ "]";
}
}

35
photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
View File

@@ -17,13 +17,11 @@
package org.photonvision.targeting;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.ArrayList;
import java.util.List;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.utils.PacketUtils;
public class PhotonTrackedTarget {
private static final int MAX_CORNERS = 8;
@@ -198,29 +196,6 @@ public class PhotonTrackedTarget {
return true;
}
private static Transform3d decodeTransform(Packet packet) {
double x = packet.decodeDouble();
double y = packet.decodeDouble();
double z = packet.decodeDouble();
var translation = new Translation3d(x, y, z);
double w = packet.decodeDouble();
x = packet.decodeDouble();
y = packet.decodeDouble();
z = packet.decodeDouble();
var rotation = new Rotation3d(new Quaternion(w, x, y, z));
return new Transform3d(translation, rotation);
}
private static void encodeTransform(Packet packet, Transform3d transform) {
packet.encode(transform.getTranslation().getX());
packet.encode(transform.getTranslation().getY());
packet.encode(transform.getTranslation().getZ());
packet.encode(transform.getRotation().getQuaternion().getW());
packet.encode(transform.getRotation().getQuaternion().getX());
packet.encode(transform.getRotation().getQuaternion().getY());
packet.encode(transform.getRotation().getQuaternion().getZ());
}
private static void encodeList(Packet packet, List<TargetCorner> list) {
packet.encode((byte) Math.min(list.size(), Byte.MAX_VALUE));
for (int i = 0; i < list.size(); i++) {
@@ -253,8 +228,8 @@ public class PhotonTrackedTarget {
this.skew = packet.decodeDouble();
this.fiducialId = packet.decodeInt();
this.bestCameraToTarget = decodeTransform(packet);
this.altCameraToTarget = decodeTransform(packet);
this.bestCameraToTarget = PacketUtils.decodeTransform(packet);
this.altCameraToTarget = PacketUtils.decodeTransform(packet);
this.poseAmbiguity = packet.decodeDouble();
@@ -282,8 +257,8 @@ public class PhotonTrackedTarget {
packet.encode(area);
packet.encode(skew);
packet.encode(fiducialId);
encodeTransform(packet, bestCameraToTarget);
encodeTransform(packet, altCameraToTarget);
PacketUtils.encodeTransform(packet, bestCameraToTarget);
PacketUtils.encodeTransform(packet, altCameraToTarget);
packet.encode(poseAmbiguity);
for (int i = 0; i < 4; i++) {

49
photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java Normal file
View File

@@ -0,0 +1,49 @@
/*
* 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.utils;
import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.geometry.Translation3d;
import org.photonvision.common.dataflow.structures.Packet;
public class PacketUtils {
public static Transform3d decodeTransform(Packet packet) {
double x = packet.decodeDouble();
double y = packet.decodeDouble();
double z = packet.decodeDouble();
var translation = new Translation3d(x, y, z);
double w = packet.decodeDouble();
x = packet.decodeDouble();
y = packet.decodeDouble();
z = packet.decodeDouble();
var rotation = new Rotation3d(new Quaternion(w, x, y, z));
return new Transform3d(translation, rotation);
}
public static void encodeTransform(Packet packet, Transform3d transform) {
packet.encode(transform.getTranslation().getX());
packet.encode(transform.getTranslation().getY());
packet.encode(transform.getTranslation().getZ());
packet.encode(transform.getRotation().getQuaternion().getW());
packet.encode(transform.getRotation().getQuaternion().getX());
packet.encode(transform.getRotation().getQuaternion().getY());
packet.encode(transform.getRotation().getQuaternion().getZ());
}
}