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https://github.com/PhotonVision/photonvision
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16f63e4d90
* Remove % from ambiguity * Update javadocs --------- Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
295 lines
10 KiB
Java
295 lines
10 KiB
Java
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting;
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import edu.wpi.first.math.geometry.Transform3d;
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import java.util.ArrayList;
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import java.util.List;
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import org.photonvision.common.dataflow.structures.Packet;
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import org.photonvision.utils.PacketUtils;
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public class PhotonTrackedTarget {
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private static final int MAX_CORNERS = 8;
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public static final int PACK_SIZE_BYTES =
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Double.BYTES * (5 + 7 + 2 * 4 + 1 + 7 + 2 * MAX_CORNERS);
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private double yaw;
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private double pitch;
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private double area;
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private double skew;
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private int fiducialId;
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private Transform3d bestCameraToTarget = new Transform3d();
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private Transform3d altCameraToTarget = new Transform3d();
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private double poseAmbiguity;
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// Corners from the min-area rectangle bounding the target
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private List<TargetCorner> minAreaRectCorners;
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// Corners from whatever corner detection method was used
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private List<TargetCorner> detectedCorners;
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public PhotonTrackedTarget() {}
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/** Construct a tracked target, given exactly 4 corners */
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public PhotonTrackedTarget(
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double yaw,
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double pitch,
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double area,
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double skew,
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int id,
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Transform3d pose,
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Transform3d altPose,
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double ambiguity,
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List<TargetCorner> minAreaRectCorners,
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List<TargetCorner> detectedCorners) {
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assert minAreaRectCorners.size() == 4;
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if (detectedCorners.size() > MAX_CORNERS) {
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detectedCorners = detectedCorners.subList(0, MAX_CORNERS);
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}
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this.yaw = yaw;
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this.pitch = pitch;
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this.area = area;
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this.skew = skew;
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this.fiducialId = id;
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this.bestCameraToTarget = pose;
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this.altCameraToTarget = altPose;
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this.minAreaRectCorners = minAreaRectCorners;
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this.detectedCorners = detectedCorners;
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this.poseAmbiguity = ambiguity;
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}
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public double getYaw() {
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return yaw;
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}
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public double getPitch() {
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return pitch;
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}
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public double getArea() {
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return area;
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}
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public double getSkew() {
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return skew;
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}
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/** Get the Fiducial ID, or -1 if not set. */
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public int getFiducialId() {
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return fiducialId;
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}
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/**
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* Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0
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* and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers
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* above 0.2 are likely to be ambiguous. -1 if invalid.
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*/
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public double getPoseAmbiguity() {
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return poseAmbiguity;
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}
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/**
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* Return a list of the 4 corners in image space (origin top left, x right, y down), in no
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* particular order, of the minimum area bounding rectangle of this target
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*/
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public List<TargetCorner> getMinAreaRectCorners() {
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return minAreaRectCorners;
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}
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/**
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* Return a list of the n corners in image space (origin top left, x right, y down), in no
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* particular order, detected for this target.
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*
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* <p>For fiducials, the order is known and is always counter-clock wise around the tag, like so:
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*
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* <pre>
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* ⟶ +X 3 ----- 2
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* | | |
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* V | |
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* +Y 0 ----- 1
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* </pre>
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*/
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public List<TargetCorner> getDetectedCorners() {
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return detectedCorners;
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}
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/**
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* Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag
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* space (X forward, Y left, Z up) with the lowest reprojection error
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*/
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public Transform3d getBestCameraToTarget() {
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return bestCameraToTarget;
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}
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/**
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* Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag
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* space (X forward, Y left, Z up) with the highest reprojection error
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*/
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public Transform3d getAlternateCameraToTarget() {
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return altCameraToTarget;
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}
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@Override
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public int hashCode() {
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final int prime = 31;
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int result = 1;
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long temp;
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temp = Double.doubleToLongBits(yaw);
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result = prime * result + (int) (temp ^ (temp >>> 32));
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temp = Double.doubleToLongBits(pitch);
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result = prime * result + (int) (temp ^ (temp >>> 32));
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temp = Double.doubleToLongBits(area);
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result = prime * result + (int) (temp ^ (temp >>> 32));
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temp = Double.doubleToLongBits(skew);
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result = prime * result + (int) (temp ^ (temp >>> 32));
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result = prime * result + fiducialId;
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result = prime * result + ((bestCameraToTarget == null) ? 0 : bestCameraToTarget.hashCode());
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result = prime * result + ((altCameraToTarget == null) ? 0 : altCameraToTarget.hashCode());
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temp = Double.doubleToLongBits(poseAmbiguity);
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result = prime * result + (int) (temp ^ (temp >>> 32));
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result = prime * result + ((minAreaRectCorners == null) ? 0 : minAreaRectCorners.hashCode());
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result = prime * result + ((detectedCorners == null) ? 0 : detectedCorners.hashCode());
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return result;
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}
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@Override
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public boolean equals(Object obj) {
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if (this == obj) return true;
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if (obj == null) return false;
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if (getClass() != obj.getClass()) return false;
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PhotonTrackedTarget other = (PhotonTrackedTarget) obj;
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if (Double.doubleToLongBits(yaw) != Double.doubleToLongBits(other.yaw)) return false;
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if (Double.doubleToLongBits(pitch) != Double.doubleToLongBits(other.pitch)) return false;
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if (Double.doubleToLongBits(area) != Double.doubleToLongBits(other.area)) return false;
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if (Double.doubleToLongBits(skew) != Double.doubleToLongBits(other.skew)) return false;
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if (fiducialId != other.fiducialId) return false;
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if (bestCameraToTarget == null) {
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if (other.bestCameraToTarget != null) return false;
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} else if (!bestCameraToTarget.equals(other.bestCameraToTarget)) return false;
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if (altCameraToTarget == null) {
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if (other.altCameraToTarget != null) return false;
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} else if (!altCameraToTarget.equals(other.altCameraToTarget)) return false;
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if (Double.doubleToLongBits(poseAmbiguity) != Double.doubleToLongBits(other.poseAmbiguity))
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return false;
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if (minAreaRectCorners == null) {
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if (other.minAreaRectCorners != null) return false;
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} else if (!minAreaRectCorners.equals(other.minAreaRectCorners)) return false;
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if (detectedCorners == null) {
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if (other.detectedCorners != null) return false;
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} else if (!detectedCorners.equals(other.detectedCorners)) return false;
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return true;
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}
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private static void encodeList(Packet packet, List<TargetCorner> list) {
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packet.encode((byte) Math.min(list.size(), Byte.MAX_VALUE));
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for (TargetCorner targetCorner : list) {
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packet.encode(targetCorner.x);
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packet.encode(targetCorner.y);
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}
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}
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private static List<TargetCorner> decodeList(Packet p) {
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byte len = p.decodeByte();
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var ret = new ArrayList<TargetCorner>();
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for (int i = 0; i < len; i++) {
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double cx = p.decodeDouble();
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double cy = p.decodeDouble();
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ret.add(new TargetCorner(cx, cy));
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}
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return ret;
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}
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/**
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* Populates the fields of this class with information from the incoming packet.
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*
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* @param packet The incoming packet.
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* @return The incoming packet.
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*/
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public Packet createFromPacket(Packet packet) {
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this.yaw = packet.decodeDouble();
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this.pitch = packet.decodeDouble();
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this.area = packet.decodeDouble();
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this.skew = packet.decodeDouble();
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this.fiducialId = packet.decodeInt();
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this.bestCameraToTarget = PacketUtils.decodeTransform(packet);
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this.altCameraToTarget = PacketUtils.decodeTransform(packet);
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this.poseAmbiguity = packet.decodeDouble();
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this.minAreaRectCorners = new ArrayList<>(4);
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for (int i = 0; i < 4; i++) {
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double cx = packet.decodeDouble();
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double cy = packet.decodeDouble();
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minAreaRectCorners.add(new TargetCorner(cx, cy));
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}
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detectedCorners = decodeList(packet);
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return packet;
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}
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/**
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* Populates the outgoing packet with information from the current target.
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*
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* @param packet The outgoing packet.
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* @return The outgoing packet.
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*/
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public Packet populatePacket(Packet packet) {
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packet.encode(yaw);
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packet.encode(pitch);
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packet.encode(area);
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packet.encode(skew);
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packet.encode(fiducialId);
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PacketUtils.encodeTransform(packet, bestCameraToTarget);
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PacketUtils.encodeTransform(packet, altCameraToTarget);
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packet.encode(poseAmbiguity);
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for (int i = 0; i < 4; i++) {
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packet.encode(minAreaRectCorners.get(i).x);
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packet.encode(minAreaRectCorners.get(i).y);
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}
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encodeList(packet, detectedCorners);
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return packet;
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}
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@Override
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public String toString() {
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return "PhotonTrackedTarget{"
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+ "yaw="
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+ yaw
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+ ", pitch="
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+ pitch
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+ ", area="
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+ area
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+ ", skew="
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+ skew
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+ ", fiducialId="
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+ fiducialId
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+ ", cameraToTarget="
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+ bestCameraToTarget
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+ ", targetCorners="
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+ minAreaRectCorners
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+ '}';
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}
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}
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