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Multi-tag pnp in robot code (#787)

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Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>
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Matt
2023-02-13 17:57:01 -05:00
committed by GitHub
parent a2dfe48679
commit 5b86360b9b
33 changed files with 1785 additions and 63 deletions
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photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java Normal file
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/*
* MIT License
*
* Copyright (c) 2022 PhotonVision
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
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()));
}
}