mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-24 01:31:44 +00:00
[photon-targeting] Move C++ targeting classes to photon-targetting (#1009)
* add classes to targeting and update gradle * rename me * Finish cleanup * Formatting fixes * just use common.gradle * Update build.gradle * Update config.gradle * remove typo * simplify * Add Packet Headers * move simulation classes into simulation folder * draw in dependency * fix * Everything working minus tests cause im lazy * formatting fixes REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN * move packet test to targeting * Formatting fixes * remove TargetCorner from c++ im not 100% sure but just doing std::pair<double, double> is sufficient and shouldnt conflict with protobuf * think i added packet * fix namespace issue * organize imports in photon-targeting * Formatting fixes * remove ctors * fix typo * Add PNP and Multitag packet tests * revert TargetCorner class * Add Test placeholders * remove annoying print * Reorganize build and publish process channeling inner Thad * add targeting as flag * Update config.gradle * fix issue with platform binaries not building * Update photonlib.json.in casing still needs to be checked * add minimum level back * add back UTF-8 encoding of javadoc * simplify publish model for photon-lib * fix windows symbol generation * formatting fixes * move task from main gradle to config * Update config.gradle
This commit is contained in:
Sriman Achanta
@@ -22,16 +22,16 @@
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* SOFTWARE.
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*/
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#include "photonlib/PhotonCamera.h"
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#include "photon/PhotonCamera.h"
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#include <frc/Errors.h>
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#include <frc/Timer.h>
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#include <opencv2/core/mat.hpp>
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#include "PhotonVersion.h"
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#include "photonlib/Packet.h"
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#include "photon/dataflow/structures/Packet.h"
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namespace photonlib {
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namespace photon {
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constexpr const units::second_t VERSION_CHECK_INTERVAL = 5_s;
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static const std::vector<std::string_view> PHOTON_PREFIX = {"/photonvision/"};
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@@ -91,7 +91,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
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const auto value = rawBytesEntry.Get();
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if (!value.size()) return result;
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photonlib::Packet packet{value};
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photon::Packet packet{value};
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packet >> result;
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@@ -192,4 +192,4 @@ void PhotonCamera::VerifyVersion() {
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}
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}
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} // namespace photonlib
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} // namespace photon
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@@ -22,7 +22,7 @@
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* SOFTWARE.
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*/
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#include "photonlib/PhotonPoseEstimator.h"
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#include "photon/PhotonPoseEstimator.h"
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#include <cmath>
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#include <iostream>
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@@ -44,11 +44,11 @@
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#include <units/math.h>
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#include <units/time.h>
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#include "photonlib/PhotonCamera.h"
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#include "photonlib/PhotonPipelineResult.h"
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#include "photonlib/PhotonTrackedTarget.h"
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#include "photon/PhotonCamera.h"
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#include "photon/targeting/PhotonPipelineResult.h"
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#include "photon/targeting/PhotonTrackedTarget.h"
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namespace photonlib {
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namespace photon {
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namespace detail {
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cv::Point3d ToPoint3d(const frc::Translation3d& translation);
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@@ -360,14 +360,14 @@ frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) {
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std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagOnCoprocStrategy(
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PhotonPipelineResult result, std::optional<cv::Mat> camMat,
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std::optional<cv::Mat> distCoeffs) {
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if (result.MultiTagResult().result.isValid) {
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if (result.MultiTagResult().result.isPresent) {
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const auto field2camera = result.MultiTagResult().result.best;
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const auto fieldToRobot =
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frc::Pose3d() + field2camera + m_robotToCamera.Inverse();
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return photonlib::EstimatedRobotPose(fieldToRobot, result.GetTimestamp(),
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result.GetTargets(),
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MULTI_TAG_PNP_ON_COPROCESSOR);
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return photon::EstimatedRobotPose(fieldToRobot, result.GetTimestamp(),
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result.GetTargets(),
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MULTI_TAG_PNP_ON_COPROCESSOR);
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}
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return Update(result, std::nullopt, std::nullopt,
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@@ -425,9 +425,9 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagOnRioStrategy(
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const Pose3d pose = detail::ToPose3d(tvec, rvec);
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return photonlib::EstimatedRobotPose(
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pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp(),
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result.GetTargets(), MULTI_TAG_PNP_ON_RIO);
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return photon::EstimatedRobotPose(pose.TransformBy(m_robotToCamera.Inverse()),
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result.GetTimestamp(), result.GetTargets(),
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MULTI_TAG_PNP_ON_RIO);
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}
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std::optional<EstimatedRobotPose>
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@@ -476,4 +476,4 @@ PhotonPoseEstimator::AverageBestTargetsStrategy(PhotonPipelineResult result) {
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result.GetTimestamp(), result.GetTargets(),
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AVERAGE_BEST_TARGETS};
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}
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} // namespace photonlib
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} // namespace photon
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@@ -1,113 +0,0 @@
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/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "photonlib/MultiTargetPNPResult.h"
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namespace photonlib {
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Packet& operator<<(Packet& packet, const MultiTargetPnpResult& target) {
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packet << target.result;
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size_t i;
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for (i = 0; i < target.fiducialIdsUsed.capacity(); i++) {
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if (i < target.fiducialIdsUsed.size()) {
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packet << static_cast<int16_t>(target.fiducialIdsUsed[i]);
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} else {
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packet << static_cast<int16_t>(-1);
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}
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}
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return packet;
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}
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Packet& operator>>(Packet& packet, MultiTargetPnpResult& target) {
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packet >> target.result;
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target.fiducialIdsUsed.clear();
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for (size_t i = 0; i < target.fiducialIdsUsed.capacity(); i++) {
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int16_t id = 0;
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packet >> id;
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if (id > -1) {
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target.fiducialIdsUsed.push_back(id);
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}
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}
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return packet;
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}
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// Encode a transform3d
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Packet& operator<<(Packet& packet, const frc::Transform3d& transform) {
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packet << transform.Translation().X().value()
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<< transform.Translation().Y().value()
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<< transform.Translation().Z().value()
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<< transform.Rotation().GetQuaternion().W()
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<< transform.Rotation().GetQuaternion().X()
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<< transform.Rotation().GetQuaternion().Y()
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<< transform.Rotation().GetQuaternion().Z();
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return packet;
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}
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// Decode a transform3d
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Packet& operator>>(Packet& packet, frc::Transform3d& transform) {
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frc::Transform3d ret;
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// We use these for best and alt transforms below
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double x = 0;
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double y = 0;
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double z = 0;
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double w = 0;
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// decode and unitify translation
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packet >> x >> y >> z;
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const auto translation = frc::Translation3d(
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units::meter_t(x), units::meter_t(y), units::meter_t(z));
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// decode and add units to rotation
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packet >> w >> x >> y >> z;
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const auto rotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
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transform = frc::Transform3d(translation, rotation);
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return packet;
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}
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Packet& operator<<(Packet& packet, PNPResults const& result) {
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packet << result.isValid << result.best << result.alt
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<< result.bestReprojectionErr << result.altReprojectionErr
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<< result.ambiguity;
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return packet;
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}
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Packet& operator>>(Packet& packet, PNPResults& result) {
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packet >> result.isValid >> result.best >> result.alt >>
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result.bestReprojectionErr >> result.altReprojectionErr >>
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result.ambiguity;
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return packet;
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}
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} // namespace photonlib
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@@ -1,71 +0,0 @@
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/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
|
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "photonlib/PhotonPipelineResult.h"
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namespace photonlib {
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PhotonPipelineResult::PhotonPipelineResult(
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units::second_t latency, std::span<const PhotonTrackedTarget> targets)
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: latency(latency),
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targets(targets.data(), targets.data() + targets.size()) {}
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bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
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return latency == other.latency && targets == other.targets;
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}
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bool PhotonPipelineResult::operator!=(const PhotonPipelineResult& other) const {
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return !operator==(other);
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}
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Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
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// Encode latency and number of targets.
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packet << result.latency.value() * 1000 << result.m_pnpResults
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<< static_cast<int8_t>(result.targets.size());
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// Encode the information of each target.
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for (auto& target : result.targets) packet << target;
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// Return the packet
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return packet;
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}
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Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
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// Decode latency, existence of targets, and number of targets.
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double latencyMillis = 0;
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int8_t targetCount = 0;
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packet >> latencyMillis >> result.m_pnpResults >> targetCount;
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result.latency = units::second_t(latencyMillis / 1000.0);
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result.targets.clear();
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// Decode the information of each target.
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for (int i = 0; i < targetCount; ++i) {
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PhotonTrackedTarget target;
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packet >> target;
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result.targets.push_back(target);
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}
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return packet;
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}
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} // namespace photonlib
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@@ -1,147 +0,0 @@
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/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
|
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
|
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*
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||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
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* SOFTWARE.
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*/
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#include "photonlib/PhotonTrackedTarget.h"
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#include <iostream>
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#include <utility>
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#include <frc/geometry/Translation2d.h>
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#include <wpi/SmallVector.h>
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static constexpr const uint8_t MAX_CORNERS = 8;
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namespace photonlib {
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PhotonTrackedTarget::PhotonTrackedTarget(
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double yaw, double pitch, double area, double skew, int id,
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const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
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double ambiguity,
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const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
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const std::vector<std::pair<double, double>> detectedCorners)
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: yaw(yaw),
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pitch(pitch),
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area(area),
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skew(skew),
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fiducialId(id),
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bestCameraToTarget(pose),
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altCameraToTarget(alternatePose),
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poseAmbiguity(ambiguity),
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minAreaRectCorners(minAreaRectCorners),
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detectedCorners(detectedCorners) {}
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bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
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return other.yaw == yaw && other.pitch == pitch && other.area == area &&
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other.skew == skew && other.bestCameraToTarget == bestCameraToTarget &&
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other.minAreaRectCorners == minAreaRectCorners;
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}
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bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
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return !operator==(other);
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}
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Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
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packet << target.yaw << target.pitch << target.area << target.skew
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<< target.fiducialId
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<< target.bestCameraToTarget.Translation().X().value()
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<< target.bestCameraToTarget.Translation().Y().value()
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<< target.bestCameraToTarget.Translation().Z().value()
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<< target.bestCameraToTarget.Rotation().GetQuaternion().W()
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<< target.bestCameraToTarget.Rotation().GetQuaternion().X()
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<< target.bestCameraToTarget.Rotation().GetQuaternion().Y()
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<< target.bestCameraToTarget.Rotation().GetQuaternion().Z()
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<< target.altCameraToTarget.Translation().X().value()
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<< target.altCameraToTarget.Translation().Y().value()
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<< target.altCameraToTarget.Translation().Z().value()
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<< target.altCameraToTarget.Rotation().GetQuaternion().W()
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<< target.altCameraToTarget.Rotation().GetQuaternion().X()
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<< target.altCameraToTarget.Rotation().GetQuaternion().Y()
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<< target.altCameraToTarget.Rotation().GetQuaternion().Z()
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<< target.poseAmbiguity;
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for (int i = 0; i < 4; i++) {
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packet << target.minAreaRectCorners[i].first
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<< target.minAreaRectCorners[i].second;
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}
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uint8_t num_corners =
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std::min<uint8_t>(target.detectedCorners.size(), MAX_CORNERS);
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packet << num_corners;
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for (size_t i = 0; i < target.detectedCorners.size(); i++) {
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packet << target.detectedCorners[i].first
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<< target.detectedCorners[i].second;
|
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}
|
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|
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return packet;
|
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}
|
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|
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Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
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packet >> target.yaw >> target.pitch >> target.area >> target.skew >>
|
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target.fiducialId;
|
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|
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// We use these for best and alt transforms below
|
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double x = 0;
|
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double y = 0;
|
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double z = 0;
|
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double w = 0;
|
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|
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// First transform is the "best" pose
|
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packet >> x >> y >> z;
|
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const auto bestTranslation = frc::Translation3d(
|
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units::meter_t(x), units::meter_t(y), units::meter_t(z));
|
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packet >> w >> x >> y >> z;
|
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const auto bestRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
|
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target.bestCameraToTarget = frc::Transform3d(bestTranslation, bestRotation);
|
||||
|
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// Second transform is the "alternate" pose
|
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packet >> x >> y >> z;
|
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const auto altTranslation = frc::Translation3d(
|
||||
units::meter_t(x), units::meter_t(y), units::meter_t(z));
|
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packet >> w >> x >> y >> z;
|
||||
const auto altRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
|
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target.altCameraToTarget = frc::Transform3d(altTranslation, altRotation);
|
||||
|
||||
packet >> target.poseAmbiguity;
|
||||
|
||||
target.minAreaRectCorners.clear();
|
||||
double first = 0;
|
||||
double second = 0;
|
||||
for (int i = 0; i < 4; i++) {
|
||||
packet >> first >> second;
|
||||
target.minAreaRectCorners.emplace_back(first, second);
|
||||
}
|
||||
|
||||
uint8_t numCorners = 0;
|
||||
packet >> numCorners;
|
||||
target.detectedCorners.clear();
|
||||
target.detectedCorners.reserve(numCorners);
|
||||
for (size_t i = 0; i < numCorners; i++) {
|
||||
packet >> first >> second;
|
||||
target.detectedCorners.emplace_back(first, second);
|
||||
}
|
||||
|
||||
return packet;
|
||||
}
|
||||
|
||||
} // namespace photonlib
|
||||
@@ -39,13 +39,17 @@
|
||||
#include <units/time.h>
|
||||
#include <wpi/deprecated.h>
|
||||
|
||||
#include "photonlib/PhotonPipelineResult.h"
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace cv {
|
||||
class Mat;
|
||||
} // namespace cv
|
||||
|
||||
namespace photonlib {
|
||||
namespace photon {
|
||||
|
||||
enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
|
||||
|
||||
@@ -207,4 +211,4 @@ class PhotonCamera {
|
||||
void VerifyVersion();
|
||||
};
|
||||
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -30,14 +30,18 @@
|
||||
#include <frc/geometry/Pose3d.h>
|
||||
#include <frc/geometry/Transform3d.h>
|
||||
|
||||
#include "photonlib/PhotonCamera.h"
|
||||
#include "photonlib/PhotonPipelineResult.h"
|
||||
#include "photon/PhotonCamera.h"
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace cv {
|
||||
class Mat;
|
||||
} // namespace cv
|
||||
|
||||
namespace photonlib {
|
||||
namespace photon {
|
||||
enum PoseStrategy {
|
||||
LOWEST_AMBIGUITY = 0,
|
||||
CLOSEST_TO_CAMERA_HEIGHT,
|
||||
@@ -296,4 +300,4 @@ class PhotonPoseEstimator {
|
||||
PhotonPipelineResult result);
|
||||
};
|
||||
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -26,9 +26,13 @@
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#include "photonlib/PhotonTrackedTarget.h"
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photonlib {
|
||||
namespace photon {
|
||||
|
||||
namespace PhotonTargetSortMode {
|
||||
|
||||
@@ -82,4 +86,4 @@ struct CenterMost {
|
||||
}
|
||||
};
|
||||
} // namespace PhotonTargetSortMode
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -32,7 +32,13 @@
|
||||
#include <units/length.h>
|
||||
#include <units/math.h>
|
||||
|
||||
namespace photonlib {
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photon {
|
||||
class PhotonUtils {
|
||||
public:
|
||||
/**
|
||||
@@ -177,4 +183,4 @@ class PhotonUtils {
|
||||
return fieldToTarget.TransformBy(targetToCamera);
|
||||
}
|
||||
};
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -32,10 +32,15 @@
|
||||
|
||||
#include <networktables/NetworkTableInstance.h>
|
||||
|
||||
#include "photonlib/PhotonCamera.h"
|
||||
#include "photonlib/PhotonTargetSortMode.h"
|
||||
#include "photon/PhotonCamera.h"
|
||||
#include "photon/PhotonTargetSortMode.h"
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photonlib {
|
||||
namespace photon {
|
||||
class SimPhotonCamera : public PhotonCamera {
|
||||
public:
|
||||
SimPhotonCamera(nt::NetworkTableInstance instance,
|
||||
@@ -129,4 +134,4 @@ class SimPhotonCamera : public PhotonCamera {
|
||||
nt::NetworkTableEntry versionEntry;
|
||||
nt::RawPublisher rawBytesPublisher;
|
||||
};
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -34,8 +34,13 @@
|
||||
|
||||
#include "SimPhotonCamera.h"
|
||||
#include "SimVisionTarget.h"
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photonlib {
|
||||
namespace photon {
|
||||
class SimVisionSystem {
|
||||
public:
|
||||
SimPhotonCamera cam;
|
||||
@@ -218,4 +223,4 @@ class SimVisionSystem {
|
||||
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
|
||||
}
|
||||
};
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -27,7 +27,13 @@
|
||||
#include <frc/geometry/Pose3d.h>
|
||||
#include <units/area.h>
|
||||
|
||||
namespace photonlib {
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
#include "photon/targeting/MultiTargetPNPResult.h"
|
||||
#include "photon/targeting/PNPResult.h"
|
||||
#include "photon/targeting/PhotonPipelineResult.h"
|
||||
#include "photon/targeting/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photon {
|
||||
class SimVisionTarget {
|
||||
public:
|
||||
SimVisionTarget() = default;
|
||||
@@ -56,4 +62,4 @@ class SimVisionTarget {
|
||||
units::square_meter_t targetArea;
|
||||
int targetId;
|
||||
};
|
||||
} // namespace photonlib
|
||||
} // namespace photon
|
||||
@@ -1,61 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <frc/geometry/Transform3d.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
|
||||
#include "photonlib/Packet.h"
|
||||
|
||||
namespace photonlib {
|
||||
|
||||
class PNPResults {
|
||||
public:
|
||||
// This could be wrapped in an std::optional, but chose to do it this way to
|
||||
// mirror Java
|
||||
bool isValid;
|
||||
|
||||
frc::Transform3d best;
|
||||
double bestReprojectionErr;
|
||||
|
||||
frc::Transform3d alt;
|
||||
double altReprojectionErr;
|
||||
|
||||
double ambiguity;
|
||||
|
||||
friend Packet& operator<<(Packet& packet, const PNPResults& result);
|
||||
friend Packet& operator>>(Packet& packet, PNPResults& result);
|
||||
};
|
||||
|
||||
class MultiTargetPnpResult {
|
||||
public:
|
||||
PNPResults result;
|
||||
wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
|
||||
|
||||
friend Packet& operator<<(Packet& packet, const MultiTargetPnpResult& result);
|
||||
friend Packet& operator>>(Packet& packet, MultiTargetPnpResult& result);
|
||||
};
|
||||
|
||||
} // namespace photonlib
|
||||
@@ -1,130 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <algorithm>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <wpi/Endian.h>
|
||||
|
||||
namespace photonlib {
|
||||
|
||||
/**
|
||||
* A packet that holds byte-packed data to be sent over NetworkTables.
|
||||
*/
|
||||
class Packet {
|
||||
public:
|
||||
/**
|
||||
* Constructs an empty packet.
|
||||
*/
|
||||
Packet() = default;
|
||||
|
||||
/**
|
||||
* Constructs a packet with the given data.
|
||||
* @param data The packet data.
|
||||
*/
|
||||
explicit Packet(std::vector<uint8_t> data) : packetData(data) {}
|
||||
|
||||
/**
|
||||
* Clears the packet and resets the read and write positions.
|
||||
*/
|
||||
void Clear() {
|
||||
packetData.clear();
|
||||
readPos = 0;
|
||||
writePos = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the packet data.
|
||||
* @return The packet data.
|
||||
*/
|
||||
const std::vector<uint8_t>& GetData() { return packetData; }
|
||||
|
||||
/**
|
||||
* Returns the number of bytes in the data.
|
||||
* @return The number of bytes in the data.
|
||||
*/
|
||||
size_t GetDataSize() const { return packetData.size(); }
|
||||
|
||||
/**
|
||||
* Adds a value to the data buffer. This should only be used with PODs.
|
||||
* @tparam T The data type.
|
||||
* @param src The data source.
|
||||
* @return A reference to the current object.
|
||||
*/
|
||||
template <typename T>
|
||||
Packet& operator<<(T src) {
|
||||
packetData.resize(packetData.size() + sizeof(T));
|
||||
std::memcpy(packetData.data() + writePos, &src, sizeof(T));
|
||||
|
||||
if constexpr (wpi::support::endian::system_endianness() ==
|
||||
wpi::support::endianness::little) {
|
||||
// Reverse to big endian for network conventions.
|
||||
std::reverse(packetData.data() + writePos,
|
||||
packetData.data() + writePos + sizeof(T));
|
||||
}
|
||||
|
||||
writePos += sizeof(T);
|
||||
return *this;
|
||||
}
|
||||
|
||||
/**
|
||||
* Extracts a value to the provided destination.
|
||||
* @tparam T The type of value to extract.
|
||||
* @param value The value to extract.
|
||||
* @return A reference to the current object.
|
||||
*/
|
||||
template <typename T>
|
||||
Packet& operator>>(T& value) {
|
||||
if (!packetData.empty()) {
|
||||
std::memcpy(&value, packetData.data() + readPos, sizeof(T));
|
||||
|
||||
if constexpr (wpi::support::endian::system_endianness() ==
|
||||
wpi::support::endianness::little) {
|
||||
// Reverse to little endian for host.
|
||||
uint8_t& raw = reinterpret_cast<uint8_t&>(value);
|
||||
std::reverse(&raw, &raw + sizeof(T));
|
||||
}
|
||||
}
|
||||
|
||||
readPos += sizeof(T);
|
||||
return *this;
|
||||
}
|
||||
|
||||
bool operator==(const Packet& right) const {
|
||||
return packetData == right.packetData;
|
||||
}
|
||||
bool operator!=(const Packet& right) const { return !operator==(right); }
|
||||
|
||||
private:
|
||||
// Data stored in the packet
|
||||
std::vector<uint8_t> packetData;
|
||||
|
||||
size_t readPos = 0;
|
||||
size_t writePos = 0;
|
||||
};
|
||||
|
||||
} // namespace photonlib
|
||||
@@ -1,133 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <span>
|
||||
#include <string>
|
||||
|
||||
#include <frc/Errors.h>
|
||||
#include <units/time.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
|
||||
#include "photonlib/MultiTargetPNPResult.h"
|
||||
#include "photonlib/Packet.h"
|
||||
#include "photonlib/PhotonTrackedTarget.h"
|
||||
|
||||
namespace photonlib {
|
||||
/**
|
||||
* Represents a pipeline result from a PhotonCamera.
|
||||
*/
|
||||
class PhotonPipelineResult {
|
||||
public:
|
||||
/**
|
||||
* Constructs an empty pipeline result.
|
||||
*/
|
||||
PhotonPipelineResult() = default;
|
||||
|
||||
/**
|
||||
* Constructs a pipeline result.
|
||||
* @param latency The latency in the pipeline.
|
||||
* @param targets The list of targets identified by the pipeline.
|
||||
*/
|
||||
PhotonPipelineResult(units::second_t latency,
|
||||
std::span<const PhotonTrackedTarget> targets);
|
||||
|
||||
/**
|
||||
* Returns the best target in this pipeline result. If there are no targets,
|
||||
* this method will return an empty target with all values set to zero. The
|
||||
* best target is determined by the target sort mode in the PhotonVision UI.
|
||||
*
|
||||
* @return The best target of the pipeline result.
|
||||
*/
|
||||
PhotonTrackedTarget GetBestTarget() const {
|
||||
if (!HasTargets() && !HAS_WARNED) {
|
||||
FRC_ReportError(
|
||||
frc::warn::Warning, "{}",
|
||||
"This PhotonPipelineResult object has no targets associated with it! "
|
||||
"Please check HasTargets() before calling this method. For more "
|
||||
"information, please review the PhotonLib documentation at "
|
||||
"http://docs.photonvision.org");
|
||||
HAS_WARNED = true;
|
||||
}
|
||||
return HasTargets() ? targets[0] : PhotonTrackedTarget();
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns the latency in the pipeline.
|
||||
* @return The latency in the pipeline.
|
||||
*/
|
||||
units::second_t GetLatency() const { return latency; }
|
||||
|
||||
/**
|
||||
* Returns the estimated time the frame was taken,
|
||||
* This is much more accurate than using GetLatency()
|
||||
* @return The timestamp in seconds or -1 if this result was not initiated
|
||||
* with a timestamp.
|
||||
*/
|
||||
units::second_t GetTimestamp() const { return timestamp; }
|
||||
|
||||
/**
|
||||
* Return the latest mulit-target result, as calculated on your coprocessor.
|
||||
* Be sure to check getMultiTagResult().estimatedPose.isValid before using the
|
||||
* pose estimate!
|
||||
*/
|
||||
const MultiTargetPnpResult& MultiTagResult() const { return m_pnpResults; }
|
||||
|
||||
/**
|
||||
* Sets the timestamp in seconds
|
||||
* @param timestamp The timestamp in seconds
|
||||
*/
|
||||
void SetTimestamp(const units::second_t timestamp) {
|
||||
this->timestamp = timestamp;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns whether the pipeline has targets.
|
||||
* @return Whether the pipeline has targets.
|
||||
*/
|
||||
bool HasTargets() const { return targets.size() > 0; }
|
||||
|
||||
/**
|
||||
* Returns a reference to the vector of targets.
|
||||
* @return A reference to the vector of targets.
|
||||
*/
|
||||
const std::span<const PhotonTrackedTarget> GetTargets() const {
|
||||
return targets;
|
||||
}
|
||||
|
||||
bool operator==(const PhotonPipelineResult& other) const;
|
||||
bool operator!=(const PhotonPipelineResult& other) const;
|
||||
|
||||
friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
|
||||
friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
|
||||
|
||||
private:
|
||||
units::second_t latency = 0_s;
|
||||
units::second_t timestamp = -1_s;
|
||||
wpi::SmallVector<PhotonTrackedTarget, 10> targets;
|
||||
MultiTargetPnpResult m_pnpResults;
|
||||
inline static bool HAS_WARNED = false;
|
||||
};
|
||||
} // namespace photonlib
|
||||
@@ -1,161 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include <frc/geometry/Transform3d.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
|
||||
#include "photonlib/Packet.h"
|
||||
|
||||
namespace photonlib {
|
||||
/**
|
||||
* Represents a tracked target within a pipeline.
|
||||
*/
|
||||
class PhotonTrackedTarget {
|
||||
public:
|
||||
/**
|
||||
* Constructs an empty target.
|
||||
*/
|
||||
PhotonTrackedTarget() = default;
|
||||
|
||||
/**
|
||||
* Constructs a target.
|
||||
* @param yaw The yaw of the target.
|
||||
* @param pitch The pitch of the target.
|
||||
* @param area The area of the target.
|
||||
* @param skew The skew of the target.
|
||||
* @param pose The camera-relative pose of the target.
|
||||
* @param alternatePose The alternate camera-relative pose of the target.
|
||||
* @Param corners The corners of the bounding rectangle.
|
||||
*/
|
||||
PhotonTrackedTarget(
|
||||
double yaw, double pitch, double area, double skew, int fiducialID,
|
||||
const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
|
||||
double ambiguity,
|
||||
const wpi::SmallVector<std::pair<double, double>, 4> corners,
|
||||
const std::vector<std::pair<double, double>> detectedCorners);
|
||||
|
||||
/**
|
||||
* Returns the target yaw (positive-left).
|
||||
* @return The target yaw.
|
||||
*/
|
||||
double GetYaw() const { return yaw; }
|
||||
|
||||
/**
|
||||
* Returns the target pitch (positive-up)
|
||||
* @return The target pitch.
|
||||
*/
|
||||
double GetPitch() const { return pitch; }
|
||||
|
||||
/**
|
||||
* Returns the target area (0-100).
|
||||
* @return The target area.
|
||||
*/
|
||||
double GetArea() const { return area; }
|
||||
|
||||
/**
|
||||
* Returns the target skew (counter-clockwise positive).
|
||||
* @return The target skew.
|
||||
*/
|
||||
double GetSkew() const { return skew; }
|
||||
|
||||
/**
|
||||
* Get the Fiducial ID of the target currently being tracked,
|
||||
* or -1 if not set.
|
||||
*/
|
||||
int GetFiducialId() const { return fiducialId; }
|
||||
|
||||
/**
|
||||
* Return a list of the 4 corners in image space (origin top left, x right, y
|
||||
* down), in no particular order, of the minimum area bounding rectangle of
|
||||
* this target
|
||||
*/
|
||||
wpi::SmallVector<std::pair<double, double>, 4> GetMinAreaRectCorners() const {
|
||||
return minAreaRectCorners;
|
||||
}
|
||||
|
||||
/**
|
||||
* Return a list of the n corners in image space (origin top left, x right, y
|
||||
* down), in no particular order, detected for this target.
|
||||
* For fiducials, the order is known and is always counter-clock wise around
|
||||
* the tag, like so
|
||||
*
|
||||
* -> +X 3 ----- 2
|
||||
* | | |
|
||||
* V + Y | |
|
||||
* 0 ----- 1
|
||||
*/
|
||||
std::vector<std::pair<double, double>> GetDetectedCorners() {
|
||||
return detectedCorners;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the ratio of pose reprojection errors, called ambiguity. Numbers above
|
||||
* 0.2 are likely to be ambiguous. -1 if invalid.
|
||||
*/
|
||||
double GetPoseAmbiguity() const { return poseAmbiguity; }
|
||||
|
||||
/**
|
||||
* Get the transform that maps camera space (X = forward, Y = left, Z = up) to
|
||||
* object/fiducial tag space (X forward, Y left, Z up) with the lowest
|
||||
* reprojection error. The ratio between this and the alternate target's
|
||||
* reprojection error is the ambiguity, which is between 0 and 1.
|
||||
* @return The pose of the target relative to the robot.
|
||||
*/
|
||||
frc::Transform3d GetBestCameraToTarget() const { return bestCameraToTarget; }
|
||||
|
||||
/**
|
||||
* Get the transform that maps camera space (X = forward, Y = left, Z = up) to
|
||||
* object/fiducial tag space (X forward, Y left, Z up) with the highest
|
||||
* reprojection error
|
||||
*/
|
||||
frc::Transform3d GetAlternateCameraToTarget() const {
|
||||
return altCameraToTarget;
|
||||
}
|
||||
|
||||
bool operator==(const PhotonTrackedTarget& other) const;
|
||||
bool operator!=(const PhotonTrackedTarget& other) const;
|
||||
|
||||
friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
|
||||
friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
|
||||
|
||||
private:
|
||||
double yaw = 0;
|
||||
double pitch = 0;
|
||||
double area = 0;
|
||||
double skew = 0;
|
||||
int fiducialId;
|
||||
frc::Transform3d bestCameraToTarget;
|
||||
frc::Transform3d altCameraToTarget;
|
||||
double poseAmbiguity;
|
||||
wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
|
||||
std::vector<std::pair<double, double>> detectedCorners;
|
||||
};
|
||||
} // namespace photonlib
|
||||
Reference in New Issue
Block a user