Initial AprilTag support (#458)

(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>

photon-lib/src/main/native/cpp/geometry/Quaternion.cpp

@@ -0,0 +1,95 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2022 PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <frc/geometry/Quaternion.h>
+
+using namespace frc;
+
+Quaternion::Quaternion(double w, double x, double y, double z)
+    : m_r{w}, m_v{x, y, z} {}
+
+Quaternion Quaternion::operator*(const Quaternion& other) const {
+  // https://en.wikipedia.org/wiki/Quaternion#Scalar_and_vector_parts
+  const auto& r1 = m_r;
+  const auto& v1 = m_v;
+  const auto& r2 = other.m_r;
+  const auto& v2 = other.m_v;
+
+  // v₁ x v₂
+  Eigen::Vector3d cross{v1(1) * v2(2) - v2(1) * v1(2),
+                        v2(0) * v1(2) - v1(0) * v2(2),
+                        v1(0) * v2(1) - v2(0) * v1(1)};
+
+  // v = r₁v₂ + r₂v₁ + v₁ x v₂
+  Eigen::Vector3d v = r1 * v2 + r2 * v1 + cross;
+
+  return Quaternion{r1 * r2 - v1.dot(v2), v(0), v(1), v(2)};
+}
+
+bool Quaternion::operator==(const Quaternion& other) const {
+  return std::abs(m_r * other.m_r + m_v.dot(other.m_v)) > 1.0 - 1E-9;
+}
+
+bool Quaternion::operator!=(const Quaternion& other) const {
+  return !operator==(other);
+}
+
+Quaternion Quaternion::Inverse() const {
+  return Quaternion{m_r, -m_v(0), -m_v(1), -m_v(2)};
+}
+
+Quaternion Quaternion::Normalize() const {
+  double norm = std::sqrt(W() * W() + X() * X() + Y() * Y() + Z() * Z());
+  if (norm == 0.0) {
+    return Quaternion{};
+  } else {
+    return Quaternion{W() / norm, X() / norm, Y() / norm, Z() / norm};
+  }
+}
+
+double Quaternion::W() const { return m_r; }
+
+double Quaternion::X() const { return m_v(0); }
+
+double Quaternion::Y() const { return m_v(1); }
+
+double Quaternion::Z() const { return m_v(2); }
+
+Eigen::Vector3d Quaternion::ToRotationVector() const {
+  // See equation (31) in "Integrating Generic Sensor Fusion Algorithms with
+  // Sound State Representation through Encapsulation of Manifolds"
+  //
+  // https://arxiv.org/pdf/1107.1119.pdf
+  double norm = m_v.norm();
+
+  if (norm < 1e-9) {
+    return (2.0 / W() - 2.0 / 3.0 * norm * norm / (W() * W() * W())) * m_v;
+  } else {
+    if (W() < 0.0) {
+      return 2.0 * std::atan2(-norm, -W()) / norm * m_v;
+    } else {
+      return 2.0 * std::atan2(norm, W()) / norm * m_v;
+    }
+  }
+}