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https://github.com/PhotonVision/photonvision
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[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
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photon-lib/src/main/native/include/photon/PhotonCamera.h
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214
photon-lib/src/main/native/include/photon/PhotonCamera.h
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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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#pragma once
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#include <memory>
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#include <string>
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#include <networktables/BooleanTopic.h>
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#include <networktables/DoubleArrayTopic.h>
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#include <networktables/DoubleTopic.h>
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#include <networktables/IntegerTopic.h>
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#include <networktables/MultiSubscriber.h>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableInstance.h>
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#include <networktables/RawTopic.h>
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#include <networktables/StringTopic.h>
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#include <units/time.h>
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#include <wpi/deprecated.h>
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#include "photon/dataflow/structures/Packet.h"
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#include "photon/targeting/MultiTargetPNPResult.h"
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#include "photon/targeting/PNPResult.h"
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#include "photon/targeting/PhotonPipelineResult.h"
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#include "photon/targeting/PhotonTrackedTarget.h"
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namespace cv {
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class Mat;
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} // namespace cv
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namespace photon {
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enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 };
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/**
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* Represents a camera that is connected to PhotonVision.ß
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*/
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class PhotonCamera {
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public:
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/**
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* Constructs a PhotonCamera from a root table.
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*
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* @param instance The NetworkTableInstance to pull data from. This can be a
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* custom instance in simulation, but should *usually* be the default
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* NTInstance from {@link NetworkTableInstance::getDefault}
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* @param cameraName The name of the camera, as seen in the UI.
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* over.
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*/
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explicit PhotonCamera(nt::NetworkTableInstance instance,
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const std::string_view cameraName);
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/**
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* Constructs a PhotonCamera from the name of the camera.
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* @param cameraName The nickname of the camera (found in the PhotonVision
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* UI).
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*/
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explicit PhotonCamera(const std::string_view cameraName);
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PhotonCamera(PhotonCamera&&) = default;
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virtual ~PhotonCamera() = default;
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/**
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* Returns the latest pipeline result.
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* @return The latest pipeline result.
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*/
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virtual PhotonPipelineResult GetLatestResult();
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/**
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* Toggles driver mode.
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* @param driverMode Whether to set driver mode.
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*/
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void SetDriverMode(bool driverMode);
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/**
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* Returns whether the camera is in driver mode.
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* @return Whether the camera is in driver mode.
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*/
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bool GetDriverMode() const;
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/**
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* Request the camera to save a new image file from the input
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* camera stream with overlays.
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* Images take up space in the filesystem of the PhotonCamera.
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* Calling it frequently will fill up disk space and eventually
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* cause the system to stop working.
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* Clear out images in /opt/photonvision/photonvision_config/imgSaves
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* frequently to prevent issues.
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*/
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void TakeInputSnapshot(void);
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/**
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* Request the camera to save a new image file from the output
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* stream with overlays.
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* Images take up space in the filesystem of the PhotonCamera.
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* Calling it frequently will fill up disk space and eventually
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* cause the system to stop working.
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* Clear out images in /opt/photonvision/photonvision_config/imgSaves
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* frequently to prevent issues.
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*/
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void TakeOutputSnapshot(void);
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/**
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* Allows the user to select the active pipeline index.
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* @param index The active pipeline index.
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*/
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void SetPipelineIndex(int index);
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/**
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* Returns the active pipeline index.
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* @return The active pipeline index.
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*/
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int GetPipelineIndex() const;
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/**
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* Returns the current LED mode.
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* @return The current LED mode.
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*/
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LEDMode GetLEDMode() const;
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/**
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* Sets the LED mode.
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* @param led The mode to set to.
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*/
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void SetLEDMode(LEDMode led);
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/**
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* Returns the name of the camera.
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* This will return the same value that was given to the constructor as
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* cameraName.
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* @return The name of the camera.
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*/
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const std::string_view GetCameraName() const;
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std::optional<cv::Mat> GetCameraMatrix();
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std::optional<cv::Mat> GetDistCoeffs();
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/**
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* Returns whether the latest target result has targets.
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* This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should
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* be used instead.
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* @deprecated This method should be replaced with {@link
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* PhotonPipelineResult#HasTargets()}
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* @return Whether the latest target result has targets.
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*/
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WPI_DEPRECATED(
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"This method should be replaced with PhotonPipelineResult::HasTargets()")
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bool HasTargets() { return GetLatestResult().HasTargets(); }
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inline static void SetVersionCheckEnabled(bool enabled) {
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PhotonCamera::VERSION_CHECK_ENABLED = enabled;
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}
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// For use in tests
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bool test = false;
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PhotonPipelineResult testResult;
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protected:
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std::shared_ptr<nt::NetworkTable> mainTable;
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std::shared_ptr<nt::NetworkTable> rootTable;
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nt::RawSubscriber rawBytesEntry;
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nt::IntegerPublisher inputSaveImgEntry;
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nt::IntegerSubscriber inputSaveImgSubscriber;
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nt::IntegerPublisher outputSaveImgEntry;
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nt::IntegerSubscriber outputSaveImgSubscriber;
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nt::IntegerPublisher pipelineIndexPub;
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nt::IntegerSubscriber pipelineIndexSub;
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nt::IntegerPublisher ledModePub;
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nt::IntegerSubscriber ledModeSub;
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nt::StringSubscriber versionEntry;
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nt::DoubleArraySubscriber cameraIntrinsicsSubscriber;
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nt::DoubleArraySubscriber cameraDistortionSubscriber;
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nt::BooleanSubscriber driverModeSubscriber;
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nt::BooleanPublisher driverModePublisher;
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nt::IntegerSubscriber ledModeSubscriber;
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nt::MultiSubscriber m_topicNameSubscriber;
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std::string path;
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std::string m_cameraName;
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mutable Packet packet;
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private:
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units::second_t lastVersionCheckTime = 0_s;
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inline static bool VERSION_CHECK_ENABLED = true;
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void VerifyVersion();
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};
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} // namespace photon
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