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/include/frc/geometry/Pose3d.h

@@ -0,0 +1,200 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include <frc/geometry/Pose2d.h>
+#include <wpi/SymbolExports.h>
+
+#include "Transform3d.h"
+#include "Translation3d.h"
+#include "Twist3d.h"
+
+namespace frc {
+
+/**
+ * Represents a 3D pose containing translational and rotational elements.
+ */
+class WPILIB_DLLEXPORT Pose3d {
+ public:
+  /**
+   * Constructs a pose at the origin facing toward the positive X axis.
+   */
+  constexpr Pose3d() = default;
+
+  /**
+   * Constructs a pose with the specified translation and rotation.
+   *
+   * @param translation The translational component of the pose.
+   * @param rotation The rotational component of the pose.
+   */
+  Pose3d(Translation3d translation, Rotation3d rotation);
+
+  /**
+   * Constructs a pose with x, y, and z translations instead of a separate
+   * Translation3d.
+   *
+   * @param x The x component of the translational component of the pose.
+   * @param y The y component of the translational component of the pose.
+   * @param z The z component of the translational component of the pose.
+   * @param rotation The rotational component of the pose.
+   */
+  Pose3d(units::meter_t x, units::meter_t y, units::meter_t z,
+         Rotation3d rotation);
+
+  /**
+   * Transforms the pose by the given transformation and returns the new
+   * transformed pose.
+   *
+   * @param other The transform to transform the pose by.
+   *
+   * @return The transformed pose.
+   */
+  Pose3d operator+(const Transform3d& other) const;
+
+  /**
+   * Returns the Transform3d that maps the one pose to another.
+   *
+   * @param other The initial pose of the transformation.
+   * @return The transform that maps the other pose to the current pose.
+   */
+  Transform3d operator-(const Pose3d& other) const;
+
+  /**
+   * Checks equality between this Pose3d and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are equal.
+   */
+  bool operator==(const Pose3d& other) const;
+
+  /**
+   * Checks inequality between this Pose3d and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are not equal.
+   */
+  bool operator!=(const Pose3d& other) const;
+
+  /**
+   * Returns the underlying translation.
+   *
+   * @return Reference to the translational component of the pose.
+   */
+  const Translation3d& Translation() const { return m_translation; }
+
+  /**
+   * Returns the X component of the pose's translation.
+   *
+   * @return The x component of the pose's translation.
+   */
+  units::meter_t X() const { return m_translation.X(); }
+
+  /**
+   * Returns the Y component of the pose's translation.
+   *
+   * @return The y component of the pose's translation.
+   */
+  units::meter_t Y() const { return m_translation.Y(); }
+
+  /**
+   * Returns the Z component of the pose's translation.
+   *
+   * @return The z component of the pose's translation.
+   */
+  units::meter_t Z() const { return m_translation.Z(); }
+
+  /**
+   * Returns the underlying rotation.
+   *
+   * @return Reference to the rotational component of the pose.
+   */
+  const Rotation3d& Rotation() const { return m_rotation; }
+
+  /**
+   * Transforms the pose by the given transformation and returns the new pose.
+   * See + operator for the matrix multiplication performed.
+   *
+   * @param other The transform to transform the pose by.
+   *
+   * @return The transformed pose.
+   */
+  Pose3d TransformBy(const Transform3d& other) const;
+
+  /**
+   * Returns the other pose relative to the current pose.
+   *
+   * This function can often be used for trajectory tracking or pose
+   * stabilization algorithms to get the error between the reference and the
+   * current pose.
+   *
+   * @param other The pose that is the origin of the new coordinate frame that
+   * the current pose will be converted into.
+   *
+   * @return The current pose relative to the new origin pose.
+   */
+  Pose3d RelativeTo(const Pose3d& other) const;
+
+  /**
+   * Obtain a new Pose3d from a (constant curvature) velocity.
+   *
+   * The twist is a change in pose in the robot's coordinate frame since the
+   * previous pose update. When the user runs exp() on the previous known
+   * field-relative pose with the argument being the twist, the user will
+   * receive the new field-relative pose.
+   *
+   * "Exp" represents the pose exponential, which is solving a differential
+   * equation moving the pose forward in time.
+   *
+   * @param twist The change in pose in the robot's coordinate frame since the
+   * previous pose update. For example, if a non-holonomic robot moves forward
+   * 0.01 meters and changes angle by 0.5 degrees since the previous pose
+   * update, the twist would be Twist3d{0.01_m, 0_m, 0_m, Rotation3d{0.0, 0.0,
+   * 0.5_deg}}.
+   *
+   * @return The new pose of the robot.
+   */
+  Pose3d Exp(const Twist3d& twist) const;
+
+  /**
+   * Returns a Twist3d that maps this pose to the end pose. If c is the output
+   * of a.Log(b), then a.Exp(c) would yield b.
+   *
+   * @param end The end pose for the transformation.
+   *
+   * @return The twist that maps this to end.
+   */
+  Twist3d Log(const Pose3d& end) const;
+
+  /**
+   * Returns a Pose2d representing this Pose3d projected into the X-Y plane.
+   */
+  Pose2d ToPose2d() const;
+
+ private:
+  Translation3d m_translation;
+  Rotation3d m_rotation;
+};
+
+}  // namespace frc