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Run multitag on coprocessor (#816)

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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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photon-targeting/src/main/java/org/photonvision/estimation/CameraTargetRelation.java Normal file
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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.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()));
}
}