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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>
This commit is contained in:
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/PNPResults.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.Transform3d;
/**
* 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 {
public final Transform3d best;
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;
public PNPResults() {
this(new Transform3d(), new Transform3d(), 0, 0, 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.best = best;
this.alt = alt;
this.ambiguity = ambiguity;
this.bestReprojErr = bestReprojErr;
this.altReprojErr = altReprojErr;
}
}