mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-22 01:11:40 +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
@@ -0,0 +1,122 @@
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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
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <algorithm>
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#include <string>
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#include <vector>
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#include <wpi/Endian.h>
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namespace photon {
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/**
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* A packet that holds byte-packed data to be sent over NetworkTables.
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*/
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class Packet {
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public:
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/**
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* Constructs an empty packet.
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*/
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Packet() = default;
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/**
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* Constructs a packet with the given data.
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* @param data The packet data.
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*/
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explicit Packet(std::vector<uint8_t> data) : packetData(data) {}
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/**
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* Clears the packet and resets the read and write positions.
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*/
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void Clear() {
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packetData.clear();
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readPos = 0;
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writePos = 0;
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}
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/**
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* Returns the packet data.
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* @return The packet data.
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*/
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const std::vector<uint8_t>& GetData() { return packetData; }
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/**
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* Returns the number of bytes in the data.
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* @return The number of bytes in the data.
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*/
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size_t GetDataSize() const { return packetData.size(); }
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/**
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* Adds a value to the data buffer. This should only be used with PODs.
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* @tparam T The data type.
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* @param src The data source.
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* @return A reference to the current object.
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*/
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template <typename T>
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Packet& operator<<(T src) {
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packetData.resize(packetData.size() + sizeof(T));
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std::memcpy(packetData.data() + writePos, &src, sizeof(T));
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if constexpr (wpi::support::endian::system_endianness() ==
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wpi::support::endianness::little) {
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// Reverse to big endian for network conventions.
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std::reverse(packetData.data() + writePos,
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packetData.data() + writePos + sizeof(T));
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}
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writePos += sizeof(T);
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return *this;
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}
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/**
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* Extracts a value to the provided destination.
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* @tparam T The type of value to extract.
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* @param value The value to extract.
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* @return A reference to the current object.
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*/
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template <typename T>
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Packet& operator>>(T& value) {
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if (!packetData.empty()) {
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std::memcpy(&value, packetData.data() + readPos, sizeof(T));
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if constexpr (wpi::support::endian::system_endianness() ==
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wpi::support::endianness::little) {
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// Reverse to little endian for host.
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uint8_t& raw = reinterpret_cast<uint8_t&>(value);
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std::reverse(&raw, &raw + sizeof(T));
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}
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}
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readPos += sizeof(T);
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return *this;
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}
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bool operator==(const Packet& right) const {
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return packetData == right.packetData;
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}
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bool operator!=(const Packet& right) const { return !operator==(right); }
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private:
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// Data stored in the packet
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std::vector<uint8_t> packetData;
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size_t readPos = 0;
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size_t writePos = 0;
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};
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} // namespace photon
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@@ -0,0 +1,37 @@
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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
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <frc/geometry/Transform3d.h>
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#include <wpi/SmallVector.h>
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#include "PNPResult.h"
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#include "photon/dataflow/structures/Packet.h"
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namespace photon {
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class MultiTargetPNPResult {
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public:
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PNPResult result;
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wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
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bool operator==(const MultiTargetPNPResult& other) const;
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friend Packet& operator<<(Packet& packet, const MultiTargetPNPResult& result);
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friend Packet& operator>>(Packet& packet, MultiTargetPNPResult& result);
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};
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} // namespace photon
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@@ -0,0 +1,45 @@
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/*
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* Copyright (C) Photon Vision.
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||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <frc/geometry/Transform3d.h>
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#include "photon/dataflow/structures/Packet.h"
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namespace photon {
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class PNPResult {
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public:
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// This could be wrapped in an std::optional, but chose to do it this way to
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// mirror Java
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bool isPresent;
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frc::Transform3d best;
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double bestReprojErr;
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frc::Transform3d alt;
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double altReprojErr;
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double ambiguity;
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bool operator==(const PNPResult& other) const;
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friend Packet& operator<<(Packet& packet, const PNPResult& target);
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friend Packet& operator>>(Packet& packet, PNPResult& target);
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};
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} // namespace photon
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@@ -0,0 +1,134 @@
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/*
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* Copyright (C) Photon Vision.
|
||||
*
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||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <span>
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#include <string>
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#include <frc/Errors.h>
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#include <units/time.h>
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#include <wpi/SmallVector.h>
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#include "MultiTargetPNPResult.h"
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#include "PhotonTrackedTarget.h"
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#include "photon/dataflow/structures/Packet.h"
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namespace photon {
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/**
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* Represents a pipeline result from a PhotonCamera.
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*/
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class PhotonPipelineResult {
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public:
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/**
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* Constructs an empty pipeline result
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*/
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PhotonPipelineResult() = default;
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/**
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* Constructs a pipeline result.
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* @param latency The latency in the pipeline.
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* @param targets The list of targets identified by the pipeline.
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*/
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PhotonPipelineResult(units::second_t latency,
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std::span<const PhotonTrackedTarget> targets);
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/**
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* Constructs a pipeline result.
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* @param latency The latency in the pipeline.
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* @param targets The list of targets identified by the pipeline.
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* @param multitagResult The multitarget result
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*/
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PhotonPipelineResult(units::second_t latency,
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std::span<const PhotonTrackedTarget> targets,
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MultiTargetPNPResult multitagResult);
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/**
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* Returns the best target in this pipeline result. If there are no targets,
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* this method will return null. The best target is determined by the target
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* sort mode in the PhotonVision UI.
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*
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* @return The best target of the pipeline result.
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*/
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PhotonTrackedTarget GetBestTarget() const {
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if (!HasTargets() && !HAS_WARNED) {
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FRC_ReportError(
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frc::warn::Warning, "{}",
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"This PhotonPipelineResult object has no targets associated with it! "
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"Please check HasTargets() before calling this method. For more "
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"information, please review the PhotonLib documentation at "
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"http://docs.photonvision.org");
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HAS_WARNED = true;
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}
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return HasTargets() ? targets[0] : PhotonTrackedTarget();
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}
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/**
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* Returns the latency in the pipeline.
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* @return The latency in the pipeline.
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*/
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units::second_t GetLatency() const { return latency; }
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/**
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* Returns the estimated time the frame was taken,
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* This is much more accurate than using GetLatency()
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* @return The timestamp in seconds or -1 if this result was not initiated
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* with a timestamp.
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*/
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units::second_t GetTimestamp() const { return timestamp; }
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/**
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* Return the latest mulit-target result, as calculated on your coprocessor.
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* Be sure to check getMultiTagResult().estimatedPose.isPresent before using
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* the pose estimate!
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*/
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const MultiTargetPNPResult& MultiTagResult() const { return multitagResult; }
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/**
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* Sets the timestamp in seconds
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* @param timestamp The timestamp in seconds
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*/
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void SetTimestamp(const units::second_t timestamp) {
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this->timestamp = timestamp;
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}
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/**
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* Returns whether the pipeline has targets.
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* @return Whether the pipeline has targets.
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*/
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bool HasTargets() const { return targets.size() > 0; }
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|
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/**
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* Returns a reference to the vector of targets.
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* @return A reference to the vector of targets.
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*/
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const std::span<const PhotonTrackedTarget> GetTargets() const {
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return targets;
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}
|
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|
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bool operator==(const PhotonPipelineResult& other) const;
|
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|
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friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
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friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
|
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|
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units::second_t latency = 0_s;
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units::second_t timestamp = -1_s;
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wpi::SmallVector<PhotonTrackedTarget, 10> targets;
|
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MultiTargetPNPResult multitagResult;
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inline static bool HAS_WARNED = false;
|
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};
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} // namespace photon
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@@ -0,0 +1,154 @@
|
||||
/*
|
||||
* Copyright (C) Photon Vision.
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
#include <frc/geometry/Transform3d.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
|
||||
#include "photon/dataflow/structures/Packet.h"
|
||||
|
||||
namespace photon {
|
||||
/**
|
||||
* 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 minAreaRectCorners The corners of the bounding rectangle.
|
||||
* @param detectedCorners All detected corners
|
||||
*/
|
||||
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> minAreaRectCorners,
|
||||
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
|
||||
*/
|
||||
const 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
|
||||
*/
|
||||
const std::vector<std::pair<double, double>>& GetDetectedCorners() const {
|
||||
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;
|
||||
|
||||
friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
|
||||
friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
|
||||
|
||||
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 photon
|
||||
Reference in New Issue
Block a user