[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
2026-06-25 01:41:40 +00:00 · 2023-11-19 15:16:22 -05:00
parent 308fd801d4
commit 994ea1e76b
50 changed files with 1132 additions and 910 deletions
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
@@ -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