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Update license on orthogonalizeRotationMatrix (#615)

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Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
This commit is contained in:
Matt
2022-12-24 21:08:09 -08:00
committed by GitHub
parent 8330bf9d92
commit 6c51d8ab51
2 changed files with 37 additions and 6 deletions
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23
LICENSE_MathUtils_orthogonalizeRotationMatrix.txt Normal file
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@@ -0,0 +1,23 @@
Copyright (c) 2022 Photon Vision. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of FIRST, WPILib, nor the names of other WPILib
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

20
photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
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@@ -104,7 +104,7 @@ public class MathUtils {
return list.get(0); // always return single value for n = 1
}
// Sort array. We avoid a third copy here by just creating the
// Sort array. We avoid a third copy here by just creating the
// list directly.
double[] sorted = new double[list.size()];
for (int i = 0; i < list.size(); i++) {
@@ -184,11 +184,16 @@ public class MathUtils {
}
/*
* The AprilTag pose rotation outputs are X left, Y down, Z away from the tag with the tag facing
* the camera upright and the camera facing the target parallel to the floor. But our OpenCV
* solvePNP code would have X left, Y up, Z towards the camera with the target facing the camera
* and both parallel to the floor. So we apply a base rotation to the rotation component of the
* apriltag pose to make it consistent with the EDN system that OpenCV uses, internally a 180
* The AprilTag pose rotation outputs are X left, Y down, Z away from the tag
* with the tag facing
* the camera upright and the camera facing the target parallel to the floor.
* But our OpenCV
* solvePNP code would have X left, Y up, Z towards the camera with the target
* facing the camera
* and both parallel to the floor. So we apply a base rotation to the rotation
* component of the
* apriltag pose to make it consistent with the EDN system that OpenCV uses,
* internally a 180
* rotation about the X axis
*/
private static final Rotation3d APRILTAG_BASE_ROTATION =
@@ -213,6 +218,9 @@ public class MathUtils {
* Orthogonalize an input matrix using a QR decomposition. QR decompositions decompose a
* rectangular matrix 'A' such that 'A=QR', where Q is the closest orthogonal matrix to the input,
* and R is an upper triangular matrix.
*
* <p>The following function is released under the BSD license avaliable in
* LICENSE_MathUtils_orthogonalizeRotationMatrix.txt.
*/
public static Matrix<N3, N3> orthogonalizeRotationMatrix(Matrix<N3, N3> input) {
var a = DecompositionFactory_DDRM.qr(3, 3);