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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
186
photon-lib/src/main/native/include/photon/PhotonUtils.h
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186
photon-lib/src/main/native/include/photon/PhotonUtils.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 <frc/geometry/Pose2d.h>
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#include <frc/geometry/Rotation2d.h>
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#include <frc/geometry/Transform2d.h>
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#include <frc/geometry/Translation2d.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include <units/math.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 photon {
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class PhotonUtils {
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public:
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/**
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* Algorithm from
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* https://docs.limelightvision.io/en/latest/cs_estimating_distance.html
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* Estimates range to a target using the target's elevation. This method can
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* produce more stable results than SolvePNP when well tuned, if the full 6d
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* robot pose is not required.
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*
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* @param cameraHeight The height of the camera off the floor.
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* @param targetHeight The height of the target off the floor.
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* @param cameraPitch The pitch of the camera from the horizontal plane.
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* Positive valueBytes up.
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* @param targetPitch The pitch of the target in the camera's lens. Positive
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* values up.
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* @return The estimated distance to the target.
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*/
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static units::meter_t CalculateDistanceToTarget(units::meter_t cameraHeight,
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units::meter_t targetHeight,
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units::radian_t cameraPitch,
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units::radian_t targetPitch) {
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return (targetHeight - cameraHeight) /
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units::math::tan(cameraPitch + targetPitch);
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}
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/**
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* Estimate the Translation2d of the target relative to the camera.
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*
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* @param targetDistance The distance to the target.
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* @param yaw The observed yaw of the target.
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*
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* @return The target's camera-relative translation.
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*/
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static frc::Translation2d EstimateCameraToTargetTranslation(
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units::meter_t targetDistance, const frc::Rotation2d& yaw) {
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return {targetDistance * yaw.Cos(), targetDistance * yaw.Sin()};
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}
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/**
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* Estimate the position of the robot in the field.
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*
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* @param cameraHeightMeters The physical height of the camera off the floor
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* in meters.
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* @param targetHeightMeters The physical height of the target off the floor
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* in meters. This should be the height of whatever is being targeted (i.e. if
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* the targeting region is set to top, this should be the height of the top of
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* the target).
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* @param cameraPitchRadians The pitch of the camera from the horizontal plane
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* in radians. Positive values up.
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* @param targetPitchRadians The pitch of the target in the camera's lens in
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* radians. Positive values up.
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* @param targetYaw The observed yaw of the target. Note that this
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* *must* be CCW-positive, and Photon returns
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* CW-positive.
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* @param gyroAngle The current robot gyro angle, likely from
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* odometry.
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* @param fieldToTarget A frc::Pose2d representing the target position in
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* the field coordinate system.
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* @param cameraToRobot The position of the robot relative to the camera.
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* If the camera was mounted 3 inches behind the
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* "origin" (usually physical center) of the robot,
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* this would be frc::Transform2d(3 inches, 0
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* inches, 0 degrees).
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* @return The position of the robot in the field.
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*/
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static frc::Pose2d EstimateFieldToRobot(
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units::meter_t cameraHeight, units::meter_t targetHeight,
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units::radian_t cameraPitch, units::radian_t targetPitch,
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const frc::Rotation2d& targetYaw, const frc::Rotation2d& gyroAngle,
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const frc::Pose2d& fieldToTarget, const frc::Transform2d& cameraToRobot) {
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return EstimateFieldToRobot(
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EstimateCameraToTarget(
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EstimateCameraToTargetTranslation(
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CalculateDistanceToTarget(cameraHeight, targetHeight,
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cameraPitch, targetPitch),
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targetYaw),
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fieldToTarget, gyroAngle),
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fieldToTarget, cameraToRobot);
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}
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/**
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* Estimates a {@link frc::Transform2d} that maps the camera position to the
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* target position, using the robot's gyro. Note that the gyro angle provided
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* *must* line up with the field coordinate system -- that is, it should read
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* zero degrees when pointed towards the opposing alliance station, and
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* increase as the robot rotates CCW.
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*
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* @param cameraToTargetTranslation A Translation2d that encodes the x/y
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* position of the target relative to the
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* camera.
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* @param fieldToTarget A frc::Pose2d representing the target
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* position in the field coordinate system.
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* @param gyroAngle The current robot gyro angle, likely from
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* odometry.
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* @return A frc::Transform2d that takes us from the camera to the target.
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*/
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static frc::Transform2d EstimateCameraToTarget(
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const frc::Translation2d& cameraToTargetTranslation,
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const frc::Pose2d& fieldToTarget, const frc::Rotation2d& gyroAngle) {
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// This pose maps our camera at the origin out to our target, in the robot
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// reference frame
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// The translation part of this frc::Transform2d is from the above step, and
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// the rotation uses our robot's gyro.
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return frc::Transform2d(cameraToTargetTranslation,
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-gyroAngle - fieldToTarget.Rotation());
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}
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/**
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* Estimates the pose of the robot in the field coordinate system, given the
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* position of the target relative to the camera, the target relative to the
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* field, and the robot relative to the camera.
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*
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* @param cameraToTarget The position of the target relative to the camera.
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* @param fieldToTarget The position of the target in the field.
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* @param cameraToRobot The position of the robot relative to the camera. If
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* the camera was mounted 3 inches behind the "origin"
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* (usually physical center) of the robot, this would be
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* frc::Transform2d(3 inches, 0 inches, 0 degrees).
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* @return The position of the robot in the field.
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*/
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static frc::Pose2d EstimateFieldToRobot(
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const frc::Transform2d& cameraToTarget, const frc::Pose2d& fieldToTarget,
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const frc::Transform2d& cameraToRobot) {
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return EstimateFieldToCamera(cameraToTarget, fieldToTarget)
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.TransformBy(cameraToRobot);
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}
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/**
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* Estimates the pose of the camera in the field coordinate system, given the
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* position of the target relative to the camera, and the target relative to
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* the field. This *only* tracks the position of the camera, not the position
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* of the robot itself.
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*
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* @param cameraToTarget The position of the target relative to the camera.
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* @param fieldToTarget The position of the target in the field.
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* @return The position of the camera in the field.
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*/
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static frc::Pose2d EstimateFieldToCamera(
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const frc::Transform2d& cameraToTarget,
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const frc::Pose2d& fieldToTarget) {
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auto targetToCamera = cameraToTarget.Inverse();
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return fieldToTarget.TransformBy(targetToCamera);
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}
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};
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} // namespace photon
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