mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
60 lines
2.5 KiB
Java
60 lines
2.5 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.estimation;
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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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/** Holds various helper geometries describing the relation between camera and target. */
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public class CameraTargetRelation {
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public final Pose3d camPose;
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public final Transform3d camToTarg;
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public final double camToTargDist;
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public final double camToTargDistXY;
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public final Rotation2d camToTargYaw;
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public final Rotation2d camToTargPitch;
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/** Angle from the camera's relative x-axis */
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public final Rotation2d camToTargAngle;
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public final Transform3d targToCam;
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public final Rotation2d targToCamYaw;
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public final Rotation2d targToCamPitch;
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/** Angle from the target's relative x-axis */
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public final Rotation2d targToCamAngle;
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public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) {
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this.camPose = cameraPose;
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camToTarg = new Transform3d(cameraPose, targetPose);
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camToTargDist = camToTarg.getTranslation().getNorm();
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camToTargDistXY =
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Math.hypot(camToTarg.getTranslation().getX(), camToTarg.getTranslation().getY());
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camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY());
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camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ());
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camToTargAngle =
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new Rotation2d(Math.hypot(camToTargYaw.getRadians(), camToTargPitch.getRadians()));
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targToCam = new Transform3d(targetPose, cameraPose);
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targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY());
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targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ());
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targToCamAngle =
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new Rotation2d(Math.hypot(targToCamYaw.getRadians(), targToCamPitch.getRadians()));
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}
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}
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