Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-23 01:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Initial AprilTag support (#458)

Browse Source 
(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
Download Patch File Download Diff File Expand all files Collapse all files

18
photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
View File

@@ -34,13 +34,11 @@ namespace photonlib {
SimVisionSystem::SimVisionSystem(const std::string& name,
units::degree_t camDiagFOV,
units::degree_t camPitch,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea)
: camPitch(camPitch),
cameraToRobot(cameraToRobot),
: cameraToRobot(cameraToRobot),
cameraHeightOffGround(cameraHeightOffGround),
maxLEDRange(maxLEDRange),
cameraResWidth(cameraResWidth),
@@ -59,11 +57,9 @@ void SimVisionSystem::AddSimVisionTarget(SimVisionTarget tgt) {
}
void SimVisionSystem::MoveCamera(frc::Transform2d newCameraToRobot,
units::meter_t newCamHeight,
units::degree_t newCamPitch) {
units::meter_t newCamHeight) {
cameraToRobot = newCameraToRobot;
cameraHeightOffGround = newCamHeight;
camPitch = newCamPitch;
}
void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
@@ -89,11 +85,17 @@ void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
units::degree_t yawAngle = -units::math::atan2(
camToTargetTrans.Translation().Y(), camToTargetTrans.Translation().X());
units::degree_t pitchAngle =
units::math::atan2(distVertical, distAlongGround) - camPitch;
units::math::atan2(distVertical, distAlongGround);
auto translation = frc::Translation3d(camToTargetTrans.Translation().X(),
camToTargetTrans.Translation().Y(),
units::meter_t(0)); // TODO z height
auto rotation = frc::Rotation3d(units::radian_t(0), pitchAngle, -yawAngle);
frc::Transform3d camToTarget3d{translation, rotation};
if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
PhotonTrackedTarget newTgt = PhotonTrackedTarget(
yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans,
yawAngle.value(), pitchAngle.value(), area, 0.0, -1, camToTarget3d,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}});
visibleTgtList.push_back(newTgt);
}