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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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11
photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h
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@@ -29,7 +29,7 @@
#include <utility>
#include <vector>
#include <frc/geometry/Transform2d.h>
#include <frc/geometry/Transform3d.h>
#include <wpi/SmallVector.h>
#include "photonlib/Packet.h"
@@ -55,8 +55,8 @@ class PhotonTrackedTarget {
* @Param corners The corners of the bounding rectangle.
*/
PhotonTrackedTarget(
double yaw, double pitch, double area, double skew,
const frc::Transform2d& pose,
double yaw, double pitch, double area, double skew, int fiducialID,
const frc::Transform3d& pose,
const wpi::SmallVector<std::pair<double, double>, 4> corners);
/**
@@ -94,7 +94,7 @@ class PhotonTrackedTarget {
* Returns the pose of the target relative to the robot.
* @return The pose of the target relative to the robot.
*/
frc::Transform2d GetCameraRelativePose() const { return cameraToTarget; }
frc::Transform3d GetCameraToTarget() const { return cameraToTarget; }
bool operator==(const PhotonTrackedTarget& other) const;
bool operator!=(const PhotonTrackedTarget& other) const;
@@ -107,7 +107,8 @@ class PhotonTrackedTarget {
double pitch = 0;
double area = 0;
double skew = 0;
frc::Transform2d cameraToTarget;
int fiducialId;
frc::Transform3d cameraToTarget;
wpi::SmallVector<std::pair<double, double>, 4> corners;
};
} // namespace photonlib

4
photon-lib/src/main/native/include/photonlib/SimVisionSystem.h
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@@ -45,7 +45,6 @@ namespace photonlib {
class SimVisionSystem {
public:
explicit 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,
@@ -53,11 +52,10 @@ class SimVisionSystem {
void AddSimVisionTarget(SimVisionTarget tgt);
void MoveCamera(frc::Transform2d newcameraToRobot,
units::meter_t newCamHeight, units::degree_t newCamPitch);
units::meter_t newCamHeight);
void ProcessFrame(frc::Pose2d robotPose);
private:
units::degree_t camPitch;
frc::Transform2d cameraToRobot;
units::meter_t cameraHeightOffGround;
units::meter_t maxLEDRange;