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https://github.com/PhotonVision/photonvision
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Kill deprecated things (#1311)
This commit is contained in:
Matt
@@ -1,179 +0,0 @@
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/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* 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:
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||||
*
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||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
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||||
*
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||||
* 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
|
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision.simulation;
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import edu.wpi.first.math.Matrix;
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import edu.wpi.first.math.numbers.N1;
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import edu.wpi.first.math.numbers.N3;
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import edu.wpi.first.math.numbers.N5;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import java.util.Arrays;
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import java.util.List;
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import org.photonvision.PhotonCamera;
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import org.photonvision.PhotonTargetSortMode;
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import org.photonvision.common.networktables.NTTopicSet;
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import org.photonvision.targeting.MultiTargetPNPResult;
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import org.photonvision.targeting.PhotonPipelineResult;
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import org.photonvision.targeting.PhotonTrackedTarget;
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/**
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* @deprecated Use {@link PhotonCameraSim} instead
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*/
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@Deprecated
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@SuppressWarnings("unused")
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public class SimPhotonCamera {
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NTTopicSet ts = new NTTopicSet();
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PhotonPipelineResult latestResult;
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private long heartbeatCounter = 0;
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/**
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* Constructs a Simulated PhotonCamera from a root table.
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*
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* @param instance The NetworkTableInstance to pull data from. This can be a custom instance in
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* simulation, but should *usually* be the default NTInstance from
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* NetworkTableInstance::getDefault
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* @param cameraName The name of the camera, as seen in the UI.
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*/
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public SimPhotonCamera(NetworkTableInstance instance, String cameraName) {
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ts.removeEntries();
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ts.subTable = instance.getTable(PhotonCamera.kTableName).getSubTable(cameraName);
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ts.updateEntries();
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}
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/**
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* Publishes the camera intrinsics matrix. The matrix should be in the form: spotless:off
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* fx 0 cx
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* 0 fy cy
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* 0 0 1
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* @param cameraMatrix The cam matrix
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* spotless:on
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*/
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public void setCameraIntrinsicsMat(Matrix<N3, N3> cameraMatrix) {
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ts.cameraIntrinsicsPublisher.set(cameraMatrix.getData());
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}
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/**
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* Publishes the camera distortion matrix. The matrix should be in the form [k1 k2 p1 p2 k3]. See
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* more: https://docs.opencv.org/3.4/d4/d94/tutorial_camera_calibration.html
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*
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* @param distortionMat The distortion mat
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*/
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public void setCameraDistortionMat(Matrix<N5, N1> distortionMat) {
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ts.cameraDistortionPublisher.set(distortionMat.getData());
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}
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/**
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* Constructs a Simulated PhotonCamera from the name of the camera.
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*
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* @param cameraName The nickname of the camera (found in the PhotonVision UI).
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*/
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public SimPhotonCamera(String cameraName) {
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this(NetworkTableInstance.getDefault(), cameraName);
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}
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/**
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* Simulate one processed frame of vision data, putting one result to NT.
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*
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* @param latencyMillis Latency of the provided frame
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* @param targets Each target detected
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*/
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public void submitProcessedFrame(double latencyMillis, PhotonTrackedTarget... targets) {
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submitProcessedFrame(latencyMillis, Arrays.asList(targets));
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}
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/**
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* Simulate one processed frame of vision data, putting one result to NT.
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*
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* @param latencyMillis Latency of the provided frame
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* @param sortMode Order in which to sort targets
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* @param targets Each target detected
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*/
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public void submitProcessedFrame(
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double latencyMillis, PhotonTargetSortMode sortMode, PhotonTrackedTarget... targets) {
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submitProcessedFrame(latencyMillis, sortMode, Arrays.asList(targets));
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}
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/**
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* Simulate one processed frame of vision data, putting one result to NT.
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*
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* @param latencyMillis Latency of the provided frame
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* @param targetList List of targets detected
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*/
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public void submitProcessedFrame(double latencyMillis, List<PhotonTrackedTarget> targetList) {
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submitProcessedFrame(latencyMillis, null, targetList);
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}
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/**
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* Simulate one processed frame of vision data, putting one result to NT.
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*
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* @param latencyMillis Latency of the provided frame
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* @param sortMode Order in which to sort targets
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* @param targetList List of targets detected
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*/
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public void submitProcessedFrame(
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double latencyMillis, PhotonTargetSortMode sortMode, List<PhotonTrackedTarget> targetList) {
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ts.latencyMillisEntry.set(latencyMillis);
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if (sortMode != null) {
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targetList.sort(sortMode.getComparator());
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}
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PhotonPipelineResult newResult =
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new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResult());
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ts.resultPublisher.set(newResult, newResult.getPacketSize());
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boolean hasTargets = newResult.hasTargets();
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ts.hasTargetEntry.set(hasTargets);
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if (!hasTargets) {
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ts.targetPitchEntry.set(0.0);
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ts.targetYawEntry.set(0.0);
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ts.targetAreaEntry.set(0.0);
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ts.targetPoseEntry.set(new double[] {0.0, 0.0, 0.0});
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ts.targetSkewEntry.set(0.0);
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} else {
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var bestTarget = newResult.getBestTarget();
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ts.targetPitchEntry.set(bestTarget.getPitch());
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ts.targetYawEntry.set(bestTarget.getYaw());
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ts.targetAreaEntry.set(bestTarget.getArea());
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ts.targetSkewEntry.set(bestTarget.getSkew());
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var transform = bestTarget.getBestCameraToTarget();
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double[] poseData = {
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transform.getX(), transform.getY(), transform.getRotation().toRotation2d().getDegrees()
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};
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ts.targetPoseEntry.set(poseData);
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}
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ts.heartbeatPublisher.set(heartbeatCounter++);
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latestResult = newResult;
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}
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PhotonPipelineResult getLatestResult() {
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return latestResult;
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}
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}
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@@ -1,271 +0,0 @@
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/*
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* MIT License
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||||
*
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* Copyright (c) PhotonVision
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||||
*
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* 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.
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*/
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package org.photonvision.simulation;
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import edu.wpi.first.apriltag.AprilTag;
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import edu.wpi.first.apriltag.AprilTagFieldLayout;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Pose3d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Transform3d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.math.geometry.Translation3d;
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import edu.wpi.first.math.util.Units;
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import edu.wpi.first.wpilibj.smartdashboard.Field2d;
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import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import java.util.ArrayList;
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import java.util.List;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import org.photonvision.targeting.TargetCorner;
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/**
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* @deprecated Use {@link VisionSystemSim} instead
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*/
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@Deprecated
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public class SimVisionSystem {
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SimPhotonCamera cam;
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double camHorizFOVDegrees;
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double camVertFOVDegrees;
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double cameraHeightOffGroundMeters;
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double maxLEDRangeMeters;
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int cameraResWidth;
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int cameraResHeight;
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double minTargetArea;
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Transform3d robotToCamera;
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Field2d dbgField;
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FieldObject2d dbgRobot;
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FieldObject2d dbgCamera;
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ArrayList<SimVisionTarget> tgtList;
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/**
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* Create a simulated vision system involving a camera and coprocessor mounted on a mobile robot
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* running PhotonVision, detecting one or more targets scattered around the field. This assumes a
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* fairly simple and distortion-less pinhole camera model.
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*
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* @param camName Name of the PhotonVision camera to create. Align it with the settings you use in
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* the PhotonVision GUI.
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* @param camDiagFOVDegrees Diagonal Field of View of the camera used. Align it with the
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* manufacturer specifications, and/or whatever is configured in the PhotonVision Setting
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* page.
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* @param robotToCamera Transform to move from the center of the robot to the camera's mount
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* position
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* @param maxLEDRangeMeters Maximum distance at which your camera can illuminate the target and
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* make it visible. Set to 9000 or more if your vision system does not rely on LED's.
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* @param cameraResWidth Width of your camera's image sensor in pixels
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* @param cameraResHeight Height of your camera's image sensor in pixels
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* @param minTargetArea Minimum area that that the target should be before it's recognized as a
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* target by the camera. Match this with your contour filtering settings in the PhotonVision
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* GUI.
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*/
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public SimVisionSystem(
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String camName,
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double camDiagFOVDegrees,
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Transform3d robotToCamera,
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double maxLEDRangeMeters,
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int cameraResWidth,
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int cameraResHeight,
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double minTargetArea) {
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this.robotToCamera = robotToCamera;
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this.maxLEDRangeMeters = maxLEDRangeMeters;
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this.cameraResWidth = cameraResWidth;
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this.cameraResHeight = cameraResHeight;
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this.minTargetArea = minTargetArea;
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// Calculate horizontal/vertical FOV by similar triangles
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double hypotPixels = Math.hypot(cameraResWidth, cameraResHeight);
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this.camHorizFOVDegrees = camDiagFOVDegrees * cameraResWidth / hypotPixels;
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this.camVertFOVDegrees = camDiagFOVDegrees * cameraResHeight / hypotPixels;
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cam = new SimPhotonCamera(camName);
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tgtList = new ArrayList<>();
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dbgField = new Field2d();
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dbgRobot = dbgField.getRobotObject();
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dbgCamera = dbgField.getObject(camName + " Camera");
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SmartDashboard.putData(camName + " Sim Field", dbgField);
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}
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/**
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* Add a target on the field which your vision system is designed to detect. The PhotonCamera from
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* this system will report the location of the robot relative to the subset of these targets which
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* are visible from the given robot position.
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*
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* @param target Target to add to the simulated field
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*/
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public void addSimVisionTarget(SimVisionTarget target) {
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tgtList.add(target);
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dbgField.getObject("Target " + target.targetID).setPose(target.targetPose.toPose2d());
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}
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/**
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* Adds all apriltags from the provided {@link AprilTagFieldLayout} as sim vision targets. The
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* poses added will preserve the tag layout's alliance origin at the time of calling this method.
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*
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* @param tagLayout The field tag layout to get Apriltag poses and IDs from
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*/
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public void addVisionTargets(AprilTagFieldLayout tagLayout) {
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for (AprilTag tag : tagLayout.getTags()) {
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addSimVisionTarget(
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new SimVisionTarget(
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tagLayout.getTagPose(tag.ID).get(), // preserve alliance rotation
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Units.inchesToMeters(6),
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Units.inchesToMeters(6),
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tag.ID));
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}
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}
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/**
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* Clears all sim vision targets. This is useful for switching alliances and needing to repopulate
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* the sim targets. NOTE: Old targets will still show on the Field2d unless overwritten by new
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* targets with the same ID
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*/
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public void clearVisionTargets() {
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tgtList.clear();
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}
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/**
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* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
|
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* turret or some other mobile platform.
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*
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* @param newRobotToCamera New Transform from the robot to the camera
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*/
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public void moveCamera(Transform3d newRobotToCamera) {
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this.robotToCamera = newRobotToCamera;
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}
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/**
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* Periodic update. Call this once per frame of image data you wish to process and send to
|
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* NetworkTables
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*
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* @param robotPoseMeters current pose of the robot on the field. Will be used to calculate which
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* targets are actually in view, where they are at relative to the robot, and relevant
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* PhotonVision parameters.
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*/
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public void processFrame(Pose2d robotPoseMeters) {
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processFrame(new Pose3d(robotPoseMeters));
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}
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/**
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* Periodic update. Call this once per frame of image data you wish to process and send to
|
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* NetworkTables
|
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*
|
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* @param robotPoseMeters current pose of the robot in space. Will be used to calculate which
|
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* targets are actually in view, where they are at relative to the robot, and relevant
|
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* PhotonVision parameters.
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*/
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public void processFrame(Pose3d robotPoseMeters) {
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Pose3d cameraPose = robotPoseMeters.transformBy(robotToCamera);
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dbgRobot.setPose(robotPoseMeters.toPose2d());
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dbgCamera.setPose(cameraPose.toPose2d());
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ArrayList<PhotonTrackedTarget> visibleTgtList = new ArrayList<>(tgtList.size());
|
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tgtList.forEach(
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(tgt) -> {
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var camToTargetTrans = new Transform3d(cameraPose, tgt.targetPose);
|
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// Generate a transformation from camera to target,
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// ignoring rotation.
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var t = camToTargetTrans.getTranslation();
|
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// Rough approximation of the alternate solution, which is (so far) always incorrect.
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var altTrans =
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new Translation3d(
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t.getX(),
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-1.0 * t.getY(),
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t.getZ()); // mirrored across camera axis in Y direction
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var altRot = camToTargetTrans.getRotation().times(-1.0); // flipped
|
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var camToTargetTransAlt = new Transform3d(altTrans, altRot);
|
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|
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double distMeters = t.getNorm();
|
||||
|
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double area_px = tgt.tgtAreaMeters2 / getM2PerPx(distMeters);
|
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|
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var translationAlongGround =
|
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new Translation2d(
|
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tgt.targetPose.toPose2d().getX() - cameraPose.toPose2d().getX(),
|
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tgt.targetPose.toPose2d().getY() - cameraPose.toPose2d().getY());
|
||||
|
||||
var camAngle = cameraPose.getRotation().toRotation2d();
|
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var camToTgtRotation =
|
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new Rotation2d(translationAlongGround.getX(), translationAlongGround.getY());
|
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double yawDegrees = camToTgtRotation.minus(camAngle).getDegrees();
|
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|
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double camHeightAboveGround = cameraPose.getZ();
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double tgtHeightAboveGround = tgt.targetPose.getZ();
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double camPitchDegrees = Units.radiansToDegrees(cameraPose.getRotation().getY());
|
||||
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double distAlongGround = translationAlongGround.getNorm();
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double pitchDegrees =
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Units.radiansToDegrees(
|
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Math.atan2((tgtHeightAboveGround - camHeightAboveGround), distAlongGround))
|
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- camPitchDegrees;
|
||||
|
||||
if (camCanSeeTarget(distMeters, yawDegrees, pitchDegrees, area_px)) {
|
||||
// TODO simulate target corners
|
||||
visibleTgtList.add(
|
||||
new PhotonTrackedTarget(
|
||||
yawDegrees,
|
||||
pitchDegrees,
|
||||
area_px,
|
||||
0.0,
|
||||
tgt.targetID,
|
||||
camToTargetTrans,
|
||||
camToTargetTransAlt,
|
||||
0.0, // TODO - simulate ambiguity when straight on?
|
||||
List.of(
|
||||
new TargetCorner(0, 0), new TargetCorner(0, 0),
|
||||
new TargetCorner(0, 0), new TargetCorner(0, 0)),
|
||||
List.of(
|
||||
new TargetCorner(0, 0), new TargetCorner(0, 0),
|
||||
new TargetCorner(0, 0), new TargetCorner(0, 0))));
|
||||
}
|
||||
});
|
||||
|
||||
cam.submitProcessedFrame(0.0, visibleTgtList);
|
||||
}
|
||||
|
||||
double getM2PerPx(double dist) {
|
||||
double widthMPerPx =
|
||||
2 * dist * Math.tan(Units.degreesToRadians(this.camHorizFOVDegrees) / 2) / cameraResWidth;
|
||||
double heightMPerPx =
|
||||
2 * dist * Math.tan(Units.degreesToRadians(this.camVertFOVDegrees) / 2) / cameraResHeight;
|
||||
return widthMPerPx * heightMPerPx;
|
||||
}
|
||||
|
||||
boolean camCanSeeTarget(double distMeters, double yaw, double pitch, double area) {
|
||||
boolean inRange = (distMeters < this.maxLEDRangeMeters);
|
||||
boolean inHorizAngle = Math.abs(yaw) < (this.camHorizFOVDegrees / 2);
|
||||
boolean inVertAngle = Math.abs(pitch) < (this.camVertFOVDegrees / 2);
|
||||
boolean targetBigEnough = area > this.minTargetArea;
|
||||
return (inRange && inHorizAngle && inVertAngle && targetBigEnough);
|
||||
}
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
/*
|
||||
* MIT License
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*/
|
||||
|
||||
package org.photonvision.simulation;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
|
||||
/**
|
||||
* @deprecated Use {@link VisionTargetSim} instead
|
||||
*/
|
||||
@Deprecated
|
||||
public class SimVisionTarget {
|
||||
Pose3d targetPose;
|
||||
double targetWidthMeters;
|
||||
double targetHeightMeters;
|
||||
double tgtAreaMeters2;
|
||||
int targetID;
|
||||
|
||||
/**
|
||||
* Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
|
||||
*
|
||||
* @param targetPos Pose3d of the target in field-relative coordinates
|
||||
* @param targetWidthMeters Width of the outer bounding box of the target in meters.
|
||||
* @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
|
||||
*/
|
||||
public SimVisionTarget(
|
||||
Pose3d targetPos, double targetWidthMeters, double targetHeightMeters, int targetID) {
|
||||
this.targetPose = targetPos;
|
||||
this.targetWidthMeters = targetWidthMeters;
|
||||
this.targetHeightMeters = targetHeightMeters;
|
||||
this.tgtAreaMeters2 = targetWidthMeters * targetHeightMeters;
|
||||
this.targetID = targetID;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user