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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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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/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 photon {
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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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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 photon
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