mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +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
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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/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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return packet;
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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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// 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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// 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(
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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 altRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
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target.altCameraToTarget = frc::Transform3d(altTranslation, altRotation);
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packet >> target.poseAmbiguity;
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target.minAreaRectCorners.clear();
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double first = 0;
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double second = 0;
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for (int i = 0; i < 4; i++) {
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packet >> first >> second;
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target.minAreaRectCorners.emplace_back(first, second);
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}
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uint8_t numCorners = 0;
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packet >> numCorners;
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target.detectedCorners.clear();
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target.detectedCorners.reserve(numCorners);
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for (size_t i = 0; i < numCorners; i++) {
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packet >> first >> second;
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target.detectedCorners.emplace_back(first, second);
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}
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return packet;
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}
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} // namespace photonlib
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