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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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35
photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
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@@ -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++) {