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Sim Updates for 2023 (#512)

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* WIP updating sim stuff for 2023 and pose3d's

* vision system build fixups, but test not yet passing.

* WIP Sim fixups and working on testcases

* Still doesn't work, but closer

* tests pass

* removed C++ sim support

* formatting update

* adjusted target height above ground per review

* Turns out its unused

* missed example removal
This commit is contained in:
Chris Gerth
2022-11-03 15:05:37 -05:00
committed by GitHub
parent a64697e714
commit b408a58e9e
18 changed files with 276 additions and 1314 deletions
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51
photon-lib/src/main/native/cpp/photonlib/SimPhotonCamera.cpp
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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 "photonlib/SimPhotonCamera.h"
namespace photonlib {
SimPhotonCamera::SimPhotonCamera(
std::shared_ptr<nt::NetworkTableInstance> instance,
const std::string& cameraName)
: PhotonCamera(instance, cameraName) {}
SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
: PhotonCamera(cameraName) {}
void SimPhotonCamera::SubmitProcessedFrame(
units::second_t latency, wpi::span<const PhotonTrackedTarget> tgtList) {
if (!GetDriverMode()) {
// Clear the current packet.
simPacket.Clear();
// Create the new result and pump it into the packet
simPacket << PhotonPipelineResult(latency, tgtList);
rawBytesEntry.SetRaw(std::string_view{simPacket.GetData().data(),
simPacket.GetData().size()});
}
}
} // namespace photonlib

127
photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
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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 "photonlib/SimVisionSystem.h"
#include <cmath>
#include <units/angle.h>
#include <units/length.h>
#include <wpi/span.h>
namespace photonlib {
SimVisionSystem::SimVisionSystem(const std::string& name,
units::degree_t camDiagFOV,
frc::Transform2d cameraToRobot,
units::meter_t cameraHeightOffGround,
units::meter_t maxLEDRange, int cameraResWidth,
int cameraResHeight, double minTargetArea)
: cameraToRobot(cameraToRobot),
cameraHeightOffGround(cameraHeightOffGround),
maxLEDRange(maxLEDRange),
cameraResWidth(cameraResWidth),
cameraResHeight(cameraResHeight),
minTargetArea(minTargetArea) {
double hypotPixels = std::hypot(cameraResWidth, cameraResHeight);
camHorizFOV = camDiagFOV * cameraResWidth / hypotPixels;
camVertFOV = camDiagFOV * cameraResHeight / hypotPixels;
cam = SimPhotonCamera(name);
tgtList.clear();
}
void SimVisionSystem::AddSimVisionTarget(SimVisionTarget tgt) {
tgtList.push_back(tgt);
}
void SimVisionSystem::MoveCamera(frc::Transform2d newCameraToRobot,
units::meter_t newCamHeight) {
cameraToRobot = newCameraToRobot;
cameraHeightOffGround = newCamHeight;
}
void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
frc::Pose2d cameraPos = robotPose.TransformBy(cameraToRobot.Inverse());
std::vector<PhotonTrackedTarget> visibleTgtList = {};
for (auto&& tgt : tgtList) {
frc::Transform2d camToTargetTrans =
frc::Transform2d(cameraPos, tgt.targetPos);
units::meter_t distAlongGround = camToTargetTrans.Translation().Norm();
units::meter_t distVertical =
tgt.targetHeightAboveGround - cameraHeightOffGround;
units::meter_t distHypot =
units::math::hypot(distAlongGround, distVertical);
double area = tgt.tgtArea.value() / GetM2PerPx(distAlongGround);
// 2D yaw mode considers the target as a point, and should ignore target
// rotation.
// Photon reports it in the correct robot reference frame.
// IE: targets to the left of the image should report negative yaw.
units::degree_t yawAngle = -units::math::atan2(
camToTargetTrans.Translation().Y(), camToTargetTrans.Translation().X());
units::degree_t pitchAngle =
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, -1, camToTarget3d,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}});
visibleTgtList.push_back(newTgt);
}
}
units::second_t procDelay(0.0); // Future - tie this to something meaningful
cam.SubmitProcessedFrame(procDelay,
wpi::span<PhotonTrackedTarget>(visibleTgtList));
}
double SimVisionSystem::GetM2PerPx(units::meter_t dist) {
double heightMPerPx =
2 * dist.value() * units::math::tan(camVertFOV / 2) / cameraResHeight;
double widthMPerPx =
2 * dist.value() * units::math::tan(camHorizFOV / 2) / cameraResWidth;
return widthMPerPx * heightMPerPx;
}
bool SimVisionSystem::CamCanSeeTarget(units::meter_t distHypot,
units::degree_t yaw,
units::degree_t pitch, double area) {
bool inRange = (distHypot < maxLEDRange);
bool inHorizAngle = units::math::abs(yaw) < (camHorizFOV / 2);
bool inVertAngle = units::math::abs(pitch) < (camVertFOV / 2);
bool targetBigEnough = area > minTargetArea;
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
}
} // namespace photonlib

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photon-lib/src/main/native/cpp/photonlib/SimVisionTarget.cpp
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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 "photonlib/SimVisionTarget.h"
namespace photonlib {
SimVisionTarget::SimVisionTarget(frc::Pose2d& targetPos,
units::meter_t targetHeightAboveGround,
units::meter_t targetWidth,
units::meter_t targetHeight)
: targetPos(targetPos),
targetHeightAboveGround(targetHeightAboveGround),
targetWidth(targetWidth),
targetHeight(targetHeight) {
tgtArea = targetWidth * targetHeight;
}
} // namespace photonlib