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[photonlib] Simulation Visualization Update (#895)

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amquake
2023-09-19 16:10:04 -07:00
committed by GitHub
parent 9e371de1cb
commit 7f283640c4
11 changed files with 1140 additions and 335 deletions
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22
photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
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@@ -35,6 +35,7 @@ import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import java.util.stream.Collectors;
import org.opencv.core.Point;
import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner;
@@ -66,7 +67,7 @@ public class VisionEstimation {
*
* @param cameraMatrix The camera intrinsics matrix in standard opencv form
* @param distCoeffs The camera distortion matrix in standard opencv form
* @param visTags The visible tags reported by PV
* @param visTags The visible tags reported by PV. Non-tag targets are automatically excluded.
* @param tagLayout The known tag layout on the field
* @return The transformation that maps the field origin to the camera pose. Ensure the {@link
* PNPResults} are present before utilizing them.
@@ -84,17 +85,28 @@ public class VisionEstimation {
}
var corners = new ArrayList<TargetCorner>();
for (var tag : visTags) corners.addAll(tag.getDetectedCorners());
var knownTags = getVisibleLayoutTags(visTags, tagLayout);
var knownTags = new ArrayList<AprilTag>();
// ensure these are AprilTags in our layout
for (var tgt : visTags) {
int id = tgt.getFiducialId();
tagLayout
.getTagPose(id)
.ifPresent(
pose -> {
knownTags.add(new AprilTag(id, pose));
corners.addAll(tgt.getDetectedCorners());
});
}
if (knownTags.size() == 0 || corners.size() == 0 || corners.size() % 4 != 0) {
return new PNPResults();
}
Point[] points = OpenCVHelp.cornersToPoints(corners);
// single-tag pnp
if (visTags.size() == 1) {
var camToTag =
OpenCVHelp.solvePNP_SQUARE(
cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, corners);
cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, points);
if (!camToTag.isPresent) return new PNPResults();
var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse());
var altPose = new Pose3d();
@@ -113,7 +125,7 @@ public class VisionEstimation {
else {
var objectTrls = new ArrayList<Translation3d>();
for (var tag : knownTags) objectTrls.addAll(TargetModel.kTag16h5.getFieldVertices(tag.pose));
var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, corners);
var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, points);
if (!camToOrigin.isPresent) return new PNPResults();
return new PNPResults(
camToOrigin.best.inverse(),