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Examples Clean-Up (#1408)

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This commit is contained in:
Chris Gerth
2024-09-14 23:10:02 -05:00
committed by GitHub
parent 596c87519c
commit 9e6a066561
269 changed files with 9346 additions and 3734 deletions
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8
docs/source/docs/programming/photonlib/controlling-led.md
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@@ -4,13 +4,17 @@ You can control the vision LEDs of supported hardware via PhotonLib using the `s
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Blink the LEDs.
camera.setLED(VisionLEDMode.kBlink);
.. code-block:: c++
.. code-block:: C++
// Blink the LEDs.
camera.SetLED(photonlib::VisionLEDMode::kBlink);
.. code-block:: Python
# Coming Soon!
```

20
docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md
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@@ -9,7 +9,7 @@ You can use the `setDriverMode()`/`SetDriverMode()` (Java and C++ respectively)
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Set driver mode to on.
camera.setDriverMode(true);
@@ -18,6 +18,10 @@ You can use the `setDriverMode()`/`SetDriverMode()` (Java and C++ respectively)
// Set driver mode to on.
camera.SetDriverMode(true);
.. code-block:: Python
# Coming Soon!
```
## Setting the Pipeline Index
@@ -27,7 +31,7 @@ You can use the `setPipelineIndex()`/`SetPipelineIndex()` (Java and C++ respecti
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Change pipeline to 2
camera.setPipelineIndex(2);
@@ -36,6 +40,10 @@ You can use the `setPipelineIndex()`/`SetPipelineIndex()` (Java and C++ respecti
// Change pipeline to 2
camera.SetPipelineIndex(2);
.. code-block:: Python
# Coming Soon!
```
## Getting the Pipeline Latency
@@ -44,15 +52,19 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Get the pipeline latency.
double latencySeconds = result.getLatencyMillis() / 1000.0;
.. code-block:: c++
.. code-block:: C++
// Get the pipeline latency.
units::second_t latency = result.GetLatency();
.. code-block:: Python
# Coming Soon!
```
:::{note}

40
docs/source/docs/programming/photonlib/getting-target-data.md
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@@ -20,7 +20,7 @@ The `PhotonCamera` class has two constructors: one that takes a `NetworkTable` a
:language: c++
:lines: 42-43
.. code-block:: python
.. code-block:: Python
# Change this to match the name of your camera as shown in the web ui
self.camera = PhotonCamera("your_camera_name_here")
@@ -51,7 +51,7 @@ Use the `getLatestResult()`/`GetLatestResult()` (Java and C++ respectively) to o
:language: c++
:lines: 35-36
.. code-block:: python
.. code-block:: Python
# Query the latest result from PhotonVision
result = self.camera.getLatestResult()
@@ -69,17 +69,17 @@ Each pipeline result has a `hasTargets()`/`HasTargets()` (Java and C++ respectiv
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Check if the latest result has any targets.
boolean hasTargets = result.hasTargets();
.. code-block:: c++
.. code-block:: C++
// Check if the latest result has any targets.
bool hasTargets = result.HasTargets();
.. code-block:: python
.. code-block:: Python
# Check if the latest result has any targets.
hasTargets = result.hasTargets()
@@ -99,17 +99,17 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Get a list of currently tracked targets.
List<PhotonTrackedTarget> targets = result.getTargets();
.. code-block:: c++
.. code-block:: C++
// Get a list of currently tracked targets.
wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
.. code-block:: python
.. code-block:: Python
# Get a list of currently tracked targets.
targets = result.getTargets()
@@ -121,20 +121,20 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Get the current best target.
PhotonTrackedTarget target = result.getBestTarget();
.. code-block:: c++
.. code-block:: C++
// Get the current best target.
photonlib::PhotonTrackedTarget target = result.GetBestTarget();
.. code-block:: python
.. code-block:: Python
# TODO - Not currently supported
# Coming Soon!
```
@@ -149,7 +149,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Get information from target.
double yaw = target.getYaw();
@@ -159,7 +159,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
Transform2d pose = target.getCameraToTarget();
List<TargetCorner> corners = target.getCorners();
.. code-block:: c++
.. code-block:: C++
// Get information from target.
double yaw = target.GetYaw();
@@ -169,7 +169,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
frc::Transform2d pose = target.GetCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
.. code-block:: python
.. code-block:: Python
# Get information from target.
yaw = target.getYaw()
@@ -193,7 +193,7 @@ All of the data above (**except skew**) is available when using AprilTags.
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Get information from target.
int targetID = target.getFiducialId();
@@ -201,7 +201,7 @@ All of the data above (**except skew**) is available when using AprilTags.
Transform3d bestCameraToTarget = target.getBestCameraToTarget();
Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: c++
.. code-block:: C++
// Get information from target.
int targetID = target.GetFiducialId();
@@ -209,7 +209,7 @@ All of the data above (**except skew**) is available when using AprilTags.
frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: python
.. code-block:: Python
# Get information from target.
targetID = target.getFiducialId()
@@ -227,7 +227,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Capture pre-process camera stream image
camera.takeInputSnapshot();
@@ -243,7 +243,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
// Capture post-process camera stream image
camera.TakeOutputSnapshot();
.. code-block:: python
.. code-block:: Python
# Capture pre-process camera stream image
camera.takeInputSnapshot()

35
docs/source/docs/programming/photonlib/robot-pose-estimator.md
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@@ -14,16 +14,20 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// The field from AprilTagFields will be different depending on the game.
AprilTagFieldLayout aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
.. code-block:: c++
.. code-block:: C++
// The parameter for LoadAPrilTagLayoutField will be different depending on the game.
frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo);
.. code-block:: Python
# Coming Soon!
```
## Creating a `PhotonPoseEstimator`
@@ -46,7 +50,7 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
//Forward Camera
cam = new PhotonCamera("testCamera");
@@ -55,7 +59,7 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s
// Construct PhotonPoseEstimator
PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator(aprilTagFieldLayout, PoseStrategy.CLOSEST_TO_REFERENCE_POSE, cam, robotToCam);
.. code-block:: c++
.. code-block:: C++
// Forward Camera
std::shared_ptr<photonlib::PhotonCamera> cameraOne =
@@ -76,6 +80,22 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s
photonlib::RobotPoseEstimator estimator(
aprilTags, photonlib::CLOSEST_TO_REFERENCE_POSE, cameras);
.. code-block:: Python
kRobotToCam = wpimath.geometry.Transform3d(
wpimath.geometry.Translation3d(0.5, 0.0, 0.5),
wpimath.geometry.Rotation3d.fromDegrees(0.0, -30.0, 0.0),
)
self.cam = PhotonCamera("YOUR CAMERA NAME")
self.camPoseEst = PhotonPoseEstimator(
loadAprilTagLayoutField(AprilTagField.k2024Crescendo),
PoseStrategy.CLOSEST_TO_REFERENCE_POSE,
self.cam,
kRobotToCam
)
```
## Using a `PhotonPoseEstimator`
@@ -88,7 +108,7 @@ Calling `update()` on your `PhotonPoseEstimator` will return an `EstimatedRobotP
:language: java
:lines: 85-88
.. code-block:: c++
.. code-block:: C++
std::pair<frc::Pose2d, units::millisecond_t> getEstimatedGlobalPose(
frc::Pose3d prevEstimatedRobotPose) {
@@ -102,6 +122,11 @@ Calling `update()` on your `PhotonPoseEstimator` will return an `EstimatedRobotP
return std::make_pair(frc::Pose2d(), 0_ms);
}
}
.. code-block:: Python
```
You should be updating your [drivetrain pose estimator](https://docs.wpilib.org/en/latest/docs/software/advanced-controls/state-space/state-space-pose-estimators.html) with the result from the `RobotPoseEstimator` every loop using `addVisionMeasurement()`. TODO: add example note

59
docs/source/docs/programming/photonlib/using-target-data.md
View File

@@ -1,6 +1,6 @@
# Using Target Data
A `PhotonUtils` class with helpful common calculations is included within `PhotonLib` to aid teams in using target data in order to get positional information on the field. This class contains two methods, `calculateDistanceToTargetMeters()`/`CalculateDistanceToTarget()` and `estimateTargetTranslation2d()`/`EstimateTargetTranslation()` (Java and C++ respectively).
A `PhotonUtils` class with helpful common calculations is included within `PhotonLib` to aid teams in using AprilTag data in order to get positional information on the field. This class contains two methods, `calculateDistanceToTargetMeters()`/`CalculateDistanceToTarget()` and `estimateTargetTranslation2d()`/`EstimateTargetTranslation()` (Java and C++ respectively).
## Estimating Field Relative Pose with AprilTags
@@ -8,13 +8,17 @@ A `PhotonUtils` class with helpful common calculations is included within `Photo
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Calculate robot's field relative pose
Pose3d robotPose = PhotonUtils.estimateFieldToRobotAprilTag(target.getBestCameraToTarget(), aprilTagFieldLayout.getTagPose(target.getFiducialId()), cameraToRobot);
.. code-block:: c++
.. code-block:: C++
//TODO
.. code-block:: Python
# Coming Soon!
```
## Estimating Field Relative Pose (Traditional)
@@ -23,18 +27,22 @@ You can get your robot's `Pose2D` on the field using various camera data, target
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Calculate robot's field relative pose
Pose2D robotPose = PhotonUtils.estimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, Rotation2d.fromDegrees(-target.getYaw()), gyro.getRotation2d(), targetPose, cameraToRobot);
.. code-block:: c++
.. code-block:: C++
// Calculate robot's field relative pose
frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
.. code-block:: Python
# Coming Soon!
```
## Calculating Distance to Target
@@ -44,14 +52,18 @@ If your camera is at a fixed height on your robot and the height of the target i
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. rli:: https://github.com/PhotonVision/photonvision/raw/a3bcd3ac4f88acd4665371abc3073bdbe5effea8/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java
:language: java
:lines: 78-94
// TODO
.. code-block:: C++
// TODO
.. code-block:: Python
# Coming Soon!
.. rli:: https://github.com/PhotonVision/photonvision/raw/a3bcd3ac4f88acd4665371abc3073bdbe5effea8/photonlib-cpp-examples/src/main/cpp/examples/getinrange/cpp/Robot.cpp
:language: cpp
:lines: 33-46
```
:::{note}
@@ -64,13 +76,17 @@ The C++ version of PhotonLib uses the Units library. For more information, see [
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
double distanceToTarget = PhotonUtils.getDistanceToPose(robotPose, targetPose);
.. code-block:: c++
.. code-block:: C++
//TODO
.. code-block:: Python
# Coming Soon!
```
## Estimating Camera Translation to Target
@@ -79,17 +95,22 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
// Calculate a translation from the camera to the target.
Translation2d translation = PhotonUtils.estimateCameraToTargetTranslation(
distanceMeters, Rotation2d.fromDegrees(-target.getYaw()));
.. code-block:: c++
.. code-block:: C++
// Calculate a translation from the camera to the target.
frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslationn(
distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
.. code-block:: Python
# Coming Soon!
```
:::{note}
@@ -102,10 +123,14 @@ We are negating the yaw from the camera from CV (computer vision) conventions to
```{eval-rst}
.. tab-set-code::
.. code-block:: java
.. code-block:: Java
Rotation2d targetYaw = PhotonUtils.getYawToPose(robotPose, targetPose);
.. code-block:: c++
.. code-block:: C++
//TODO
.. code-block:: Python
# Coming Soon!
```