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Examples Clean-Up (#1408)

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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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59
docs/source/docs/programming/photonlib/using-target-data.md
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@@ -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!
```