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Initial AprilTag support (#458)

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(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>
This commit is contained in:
shueja-personal
2022-09-28 18:21:41 -07:00
committed by GitHub
parent a3bcd3ac4f
commit a764ace7f2
114 changed files with 21488 additions and 10851 deletions
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88
photon-lib/src/main/native/cpp/geometry/Translation3d.cpp Normal file
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/*
* 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/Translation3d.h>
#include <units/math.h>
using namespace frc;
Translation3d::Translation3d(units::meter_t x, units::meter_t y,
units::meter_t z)
: m_x(x), m_y(y), m_z(z) {}
Translation3d::Translation3d(units::meter_t distance, const Rotation3d& angle) {
auto rectangular = Translation3d{distance, 0_m, 0_m}.RotateBy(angle);
m_x = rectangular.X();
m_y = rectangular.Y();
m_z = rectangular.Z();
}
units::meter_t Translation3d::Distance(const Translation3d& other) const {
return units::math::sqrt(units::math::pow<2>(other.m_x - m_x) +
units::math::pow<2>(other.m_y - m_y) +
units::math::pow<2>(other.m_z - m_z));
}
units::meter_t Translation3d::Norm() const {
return units::math::sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
}
Translation3d Translation3d::RotateBy(const Rotation3d& other) const {
Quaternion p{0.0, m_x.value(), m_y.value(), m_z.value()};
auto qprime = other.GetQuaternion() * p * other.GetQuaternion().Inverse();
return Translation3d{units::meter_t{qprime.X()}, units::meter_t{qprime.Y()},
units::meter_t{qprime.Z()}};
}
Translation2d Translation3d::ToTranslation2d() const {
return Translation2d{m_x, m_y};
}
Translation3d Translation3d::operator+(const Translation3d& other) const {
return {X() + other.X(), Y() + other.Y(), Z() + other.Z()};
}
Translation3d Translation3d::operator-(const Translation3d& other) const {
return *this + -other;
}
Translation3d Translation3d::operator-() const { return {-m_x, -m_y, -m_z}; }
Translation3d Translation3d::operator*(double scalar) const {
return {scalar * m_x, scalar * m_y, scalar * m_z};
}
Translation3d Translation3d::operator/(double scalar) const {
return *this * (1.0 / scalar);
}
bool Translation3d::operator==(const Translation3d& other) const {
return units::math::abs(m_x - other.m_x) < 1E-9_m &&
units::math::abs(m_y - other.m_y) < 1E-9_m &&
units::math::abs(m_z - other.m_z) < 1E-9_m;
}
bool Translation3d::operator!=(const Translation3d& other) const {
return !operator==(other);
}