Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
apriltag/src/dev/native/cpp/main.cpp
View File

@@ -5,7 +5,7 @@
#include "wpi/apriltag/AprilTagDetector.hpp"
int main() {
frc::AprilTagDetector detector;
wpi::apriltag::AprilTagDetector detector;
detector.AddFamily("tag16h5");
detector.SetConfig({.refineEdges = false});
}

16
apriltag/src/main/native/cpp/AprilTag.cpp
View File

@@ -20,9 +20,9 @@
#include "tag16h5.h"
#include "tag36h11.h"
using namespace frc;
using namespace wpi::apriltag;
static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
static bool FamilyToImage(wpi::util::RawFrame* frame, apriltag_family_t* family,
int id) {
image_u8_t* image = apriltag_to_image(family, id);
size_t totalDataSize = image->height * image->stride;
@@ -37,25 +37,25 @@ static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
return rv;
}
bool AprilTag::Generate36h11AprilTagImage(wpi::RawFrame* frame, int id) {
bool AprilTag::Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id) {
apriltag_family_t* tagFamily = tag36h11_create();
bool rv = FamilyToImage(frame, tagFamily, id);
tag36h11_destroy(tagFamily);
return rv;
}
bool AprilTag::Generate16h5AprilTagImage(wpi::RawFrame* frame, int id) {
bool AprilTag::Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id) {
apriltag_family_t* tagFamily = tag16h5_create();
bool rv = FamilyToImage(frame, tagFamily, id);
tag16h5_destroy(tagFamily);
return rv;
}
void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
void wpi::apriltag::to_json(wpi::util::json& json, const AprilTag& apriltag) {
json = wpi::util::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
}
void frc::from_json(const wpi::json& json, AprilTag& apriltag) {
void wpi::apriltag::from_json(const wpi::util::json& json, AprilTag& apriltag) {
apriltag.ID = json.at("ID").get<int>();
apriltag.pose = json.at("pose").get<Pose3d>();
apriltag.pose = json.at("pose").get<wpi::math::Pose3d>();
}

2
apriltag/src/main/native/cpp/AprilTagDetection.cpp
View File

@@ -16,7 +16,7 @@
#include "apriltag.h"
using namespace frc;
using namespace wpi::apriltag;
static_assert(sizeof(AprilTagDetection) == sizeof(apriltag_detection_t),
"structure sizes don't match");

2
apriltag/src/main/native/cpp/AprilTagDetector.cpp
View File

@@ -19,7 +19,7 @@
#include "tag16h5.h"
#include "tag36h11.h"
using namespace frc;
using namespace wpi::apriltag;
AprilTagDetector::Results::Results(void* impl, const private_init&)
: span{reinterpret_cast<AprilTagDetection**>(

52
apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
View File

@@ -14,26 +14,26 @@
#include "wpi/util/json.hpp"
#include "wpi/util/raw_ostream.hpp"
using namespace frc;
using namespace wpi::apriltag;
AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
auto fileBuffer = wpi::util::MemoryBuffer::GetFile(path);
if (!fileBuffer) {
throw std::runtime_error(fmt::format("Cannot open file: {}", path));
}
wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
wpi::util::json json = wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
m_apriltags[tag.ID] = tag;
}
m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
m_fieldLength = units::meter_t{json.at("field").at("length").get<double>()};
m_fieldWidth = wpi::units::meter_t{json.at("field").at("width").get<double>()};
m_fieldLength = wpi::units::meter_t{json.at("field").at("length").get<double>()};
}
AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
units::meter_t fieldLength,
units::meter_t fieldWidth)
wpi::units::meter_t fieldLength,
wpi::units::meter_t fieldWidth)
: m_fieldLength(std::move(fieldLength)),
m_fieldWidth(std::move(fieldWidth)) {
for (const auto& tag : apriltags) {
@@ -41,11 +41,11 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
}
}
units::meter_t AprilTagFieldLayout::GetFieldLength() const {
wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
return m_fieldLength;
}
units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
return m_fieldWidth;
}
@@ -61,26 +61,26 @@ std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
switch (origin) {
case OriginPosition::kBlueAllianceWallRightSide:
SetOrigin(Pose3d{});
SetOrigin(wpi::math::Pose3d{});
break;
case OriginPosition::kRedAllianceWallRightSide:
SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
Rotation3d{0_deg, 0_deg, 180_deg}});
SetOrigin(wpi::math::Pose3d{wpi::math::Translation3d{m_fieldLength, m_fieldWidth, 0_m},
wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}});
break;
default:
throw std::invalid_argument("Invalid origin");
}
}
void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
m_origin = origin;
}
Pose3d AprilTagFieldLayout::GetOrigin() const {
wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
return m_origin;
}
std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
const auto& it = m_apriltags.find(ID);
if (it == m_apriltags.end()) {
return std::nullopt;
@@ -91,43 +91,43 @@ std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
void AprilTagFieldLayout::Serialize(std::string_view path) {
std::error_code error_code;
wpi::raw_fd_ostream output{path, error_code};
wpi::util::raw_fd_ostream output{path, error_code};
if (error_code) {
throw std::runtime_error(fmt::format("Cannot open file: {}", path));
}
wpi::json json = *this;
wpi::util::json json = *this;
output << json;
output.flush();
}
void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
void wpi::apriltag::to_json(wpi::util::json& json, const AprilTagFieldLayout& layout) {
std::vector<AprilTag> tagVector;
tagVector.reserve(layout.m_apriltags.size());
for (const auto& pair : layout.m_apriltags) {
tagVector.push_back(pair.second);
}
json = wpi::json{{"field",
json = wpi::util::json{{"field",
{{"length", layout.m_fieldLength.value()},
{"width", layout.m_fieldWidth.value()}}},
{"tags", tagVector}};
}
void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
void wpi::apriltag::from_json(const wpi::util::json& json, AprilTagFieldLayout& layout) {
layout.m_apriltags.clear();
for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
layout.m_apriltags[tag.ID] = tag;
}
layout.m_fieldLength =
units::meter_t{json.at("field").at("length").get<double>()};
wpi::units::meter_t{json.at("field").at("length").get<double>()};
layout.m_fieldWidth =
units::meter_t{json.at("field").at("width").get<double>()};
wpi::units::meter_t{json.at("field").at("width").get<double>()};
}
// Use namespace declaration for forward declaration
namespace frc {
namespace wpi::apriltag {
// C++ generated from resource files
std::string_view GetResource_2022_rapidreact_json();
@@ -136,7 +136,7 @@ std::string_view GetResource_2024_crescendo_json();
std::string_view GetResource_2025_reefscape_welded_json();
std::string_view GetResource_2025_reefscape_andymark_json();
} // namespace frc
} // namespace wpi::apriltag
AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
std::string_view fieldString;
@@ -160,10 +160,10 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
throw std::invalid_argument("Invalid Field");
}
wpi::json json = wpi::json::parse(fieldString);
wpi::util::json json = wpi::util::json::parse(fieldString);
return json.get<AprilTagFieldLayout>();
}
AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField(AprilTagField field) {
return AprilTagFieldLayout::LoadField(field);
}

2
apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp
View File

@@ -6,7 +6,7 @@
#include <algorithm>
using namespace frc;
using namespace wpi::apriltag;
double AprilTagPoseEstimate::GetAmbiguity() const {
auto min = (std::min)(error1, error2);

24
apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp
View File

@@ -19,7 +19,7 @@
#include "apriltag.h"
#include "apriltag_pose.h"
using namespace frc;
using namespace wpi::apriltag;
static Eigen::Matrix3d OrthogonalizeRotationMatrix(
const Eigen::Matrix3d& input) {
@@ -42,14 +42,14 @@ static Eigen::Matrix3d OrthogonalizeRotationMatrix(
return Q;
}
static Transform3d MakePose(const apriltag_pose_t& pose) {
static wpi::math::Transform3d MakePose(const apriltag_pose_t& pose) {
if (!pose.R || !pose.t) {
return {};
}
return {Translation3d{units::meter_t{pose.t->data[0]},
units::meter_t{pose.t->data[1]},
units::meter_t{pose.t->data[2]}},
Rotation3d{OrthogonalizeRotationMatrix(
return {wpi::math::Translation3d{wpi::units::meter_t{pose.t->data[0]},
wpi::units::meter_t{pose.t->data[1]},
wpi::units::meter_t{pose.t->data[2]}},
wpi::math::Rotation3d{OrthogonalizeRotationMatrix(
Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
pose.R->data})}};
}
@@ -80,7 +80,7 @@ static apriltag_detection_t MakeBasicDet(
return detection;
}
static Transform3d DoEstimateHomography(
static wpi::math::Transform3d DoEstimateHomography(
const apriltag_detection_t* detection,
const AprilTagPoseEstimator::Config& config) {
auto info = MakeDetectionInfo(detection, config);
@@ -89,13 +89,13 @@ static Transform3d DoEstimateHomography(
return MakePose(pose);
}
Transform3d AprilTagPoseEstimator::EstimateHomography(
wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
const AprilTagDetection& detection) const {
return DoEstimateHomography(
reinterpret_cast<const apriltag_detection_t*>(&detection), m_config);
}
Transform3d AprilTagPoseEstimator::EstimateHomography(
wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
std::span<const double, 9> homography) const {
auto detection = MakeBasicDet(homography, nullptr);
auto rv = DoEstimateHomography(&detection, m_config);
@@ -130,7 +130,7 @@ AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
return rv;
}
static Transform3d DoEstimate(const apriltag_detection_t* detection,
static wpi::math::Transform3d DoEstimate(const apriltag_detection_t* detection,
const AprilTagPoseEstimator::Config& config) {
auto info = MakeDetectionInfo(detection, config);
apriltag_pose_t pose;
@@ -138,13 +138,13 @@ static Transform3d DoEstimate(const apriltag_detection_t* detection,
return MakePose(pose);
}
Transform3d AprilTagPoseEstimator::Estimate(
wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
const AprilTagDetection& detection) const {
return DoEstimate(reinterpret_cast<const apriltag_detection_t*>(&detection),
m_config);
}
Transform3d AprilTagPoseEstimator::Estimate(
wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
std::span<const double, 9> homography,
std::span<const double, 8> corners) const {
auto detection = MakeBasicDet(homography, &corners);

28
apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
View File

@@ -16,8 +16,8 @@
#include "wpi/apriltag/AprilTagDetector.hpp"
#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
using namespace frc;
using namespace wpi::java;
using namespace wpi::apriltag;
using namespace wpi::util::java;
static JavaVM* jvm = nullptr;
@@ -162,7 +162,7 @@ static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
return {
FIELD(int, Int, minClusterPixels),
FIELD(int, Int, maxNumMaxima),
.criticalAngle = units::radian_t{static_cast<double>(
.criticalAngle = wpi::units::radian_t{static_cast<double>(
env->GetDoubleField(jparams, criticalAngleField))},
FIELD(float, Float, maxLineFitMSE),
FIELD(int, Int, minWhiteBlackDiff),
@@ -256,7 +256,7 @@ static jobject MakeJObject(
static_cast<jboolean>(params.deglitch));
}
static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
static jobject MakeJObject(JNIEnv* env, const wpi::math::Translation3d& xlate) {
static jmethodID constructor =
env->GetMethodID(translation3dCls, "<init>", "(DDD)V");
if (!constructor) {
@@ -268,7 +268,7 @@ static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
static_cast<jdouble>(xlate.Y()), static_cast<jdouble>(xlate.Z()));
}
static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
static jobject MakeJObject(JNIEnv* env, const wpi::math::Quaternion& q) {
static jmethodID constructor =
env->GetMethodID(quaternionCls, "<init>", "(DDDD)V");
if (!constructor) {
@@ -281,7 +281,7 @@ static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
static_cast<jdouble>(q.Z()));
}
static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
static jobject MakeJObject(JNIEnv* env, const wpi::math::Rotation3d& rot) {
static jmethodID constructor = env->GetMethodID(
rotation3dCls, "<init>", "(Lorg/wpilib/math/geometry/Quaternion;)V");
if (!constructor) {
@@ -292,7 +292,7 @@ static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
return env->NewObject(rotation3dCls, constructor, q.obj());
}
static jobject MakeJObject(JNIEnv* env, const Transform3d& xform) {
static jobject MakeJObject(JNIEnv* env, const wpi::math::Transform3d& xform) {
static jmethodID constructor =
env->GetMethodID(transform3dCls, "<init>",
"(Lorg/wpilib/math/geometry/Translation3d;"
@@ -517,7 +517,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
return nullptr;
}
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(env, estimator.EstimateHomography(harr));
}
@@ -553,7 +553,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
return nullptr;
}
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(env,
estimator.EstimateOrthogonalIteration(harr, carr, nIters));
}
@@ -590,7 +590,7 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
return nullptr;
}
AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
AprilTagPoseEstimator estimator({wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
return MakeJObject(env, estimator.Estimate(harr, carr));
}
@@ -603,13 +603,13 @@ JNIEXPORT void JNICALL
Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
(JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
{
auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
if (!frame) {
nullPointerEx.Throw(env, "frame is null");
return;
}
bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
}
/*
@@ -621,14 +621,14 @@ JNIEXPORT void JNICALL
Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
(JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
{
auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
if (!frame) {
nullPointerEx.Throw(env, "frame is null");
return;
}
// function might reallocate
bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
}
} // extern "C"

14
apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp
View File

@@ -9,7 +9,7 @@
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/json_fwd.hpp"
namespace frc {
namespace wpi::apriltag {
/**
* Represents an AprilTag's metadata.
@@ -19,18 +19,18 @@ struct WPILIB_DLLEXPORT AprilTag {
int ID;
/// The tag's pose.
Pose3d pose;
wpi::math::Pose3d pose;
bool operator==(const AprilTag&) const = default;
static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
static bool Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id);
static bool Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id);
};
WPILIB_DLLEXPORT
void to_json(wpi::json& json, const AprilTag& apriltag);
void to_json(wpi::util::json& json, const AprilTag& apriltag);
WPILIB_DLLEXPORT
void from_json(const wpi::json& json, AprilTag& apriltag);
void from_json(const wpi::util::json& json, AprilTag& apriltag);
} // namespace frc
} // namespace wpi::apriltag

4
apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp
View File

@@ -13,7 +13,7 @@
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::apriltag {
/**
* A detection of an AprilTag tag.
@@ -158,4 +158,4 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
double p[4][2];
};
} // namespace frc
} // namespace wpi::apriltag

10
apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp
View File

@@ -16,7 +16,7 @@
#include "wpi/util/StringMap.hpp"
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::apriltag {
/**
* An AprilTag detector engine. This is expensive to set up and tear down, so
@@ -98,7 +98,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
* angles that are close to straight or close to 180 degrees. Zero means
* that no quads are rejected. Default is 45 degrees.
*/
units::radian_t criticalAngle = 45_deg;
wpi::units::radian_t criticalAngle = 45_deg;
/**
* When fitting lines to the contours, the maximum mean squared error
@@ -254,8 +254,8 @@ class WPILIB_DLLEXPORT AprilTagDetector {
void DestroyFamily(std::string_view name, void* data);
void* m_impl;
wpi::StringMap<void*> m_families;
units::radian_t m_qtpCriticalAngle = 10_deg;
wpi::util::StringMap<void*> m_families;
wpi::units::radian_t m_qtpCriticalAngle = 10_deg;
};
} // namespace frc
} // namespace wpi::apriltag

4
apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp
View File

@@ -8,11 +8,11 @@
#include "wpi/apriltag/AprilTagDetector.hpp"
namespace frc {
namespace wpi::apriltag {
inline AprilTagDetector::Results AprilTagDetect(AprilTagDetector& detector,
cv::Mat& image) {
return detector.Detect(image.cols, image.rows, image.data);
}
} // namespace frc
} // namespace wpi::apriltag

32
apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
View File

@@ -16,14 +16,14 @@
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/json_fwd.hpp"
namespace frc {
namespace wpi::apriltag {
/**
* Class for representing a layout of AprilTags on a field and reading them from
* a JSON format.
*
* The JSON format contains two top-level objects, "tags" and "field".
* The "tags" object is a list of all AprilTags contained within a layout. Each
* AprilTag serializes to a JSON object containing an ID and a Pose3d. The
* AprilTag serializes to a JSON object containing an ID and a wpi::math::Pose3d. The
* "field" object is a descriptor of the size of the field in meters with
* "width" and "length" values. This is to account for arbitrary field sizes
* when transforming the poses.
@@ -73,19 +73,19 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
* @param fieldWidth Width of field the layout is representing.
*/
AprilTagFieldLayout(std::vector<AprilTag> apriltags,
units::meter_t fieldLength, units::meter_t fieldWidth);
wpi::units::meter_t fieldLength, wpi::units::meter_t fieldWidth);
/**
* Returns the length of the field the layout is representing.
* @return length
*/
units::meter_t GetFieldLength() const;
wpi::units::meter_t GetFieldLength() const;
/**
* Returns the length of the field the layout is representing.
* @return width
*/
units::meter_t GetFieldWidth() const;
wpi::units::meter_t GetFieldWidth() const;
/**
* Returns a vector of all the april tags used in this layout.
@@ -112,13 +112,13 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
*
* @param origin The new origin for tag transformations
*/
void SetOrigin(const Pose3d& origin);
void SetOrigin(const wpi::math::Pose3d& origin);
/**
* Returns the origin used for tag pose transformation.
* @return the origin
*/
Pose3d GetOrigin() const;
wpi::math::Pose3d GetOrigin() const;
/**
* Gets an AprilTag pose by its ID.
@@ -127,7 +127,7 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
* @return The pose corresponding to the ID that was passed in or an empty
* optional if a tag with that ID is not found.
*/
std::optional<Pose3d> GetTagPose(int ID) const;
std::optional<wpi::math::Pose3d> GetTagPose(int ID) const;
/**
* Serializes an AprilTagFieldLayout to a JSON file.
@@ -143,22 +143,22 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
private:
std::unordered_map<int, AprilTag> m_apriltags;
units::meter_t m_fieldLength;
units::meter_t m_fieldWidth;
Pose3d m_origin;
wpi::units::meter_t m_fieldLength;
wpi::units::meter_t m_fieldWidth;
wpi::math::Pose3d m_origin;
friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
friend WPILIB_DLLEXPORT void to_json(wpi::util::json& json,
const AprilTagFieldLayout& layout);
friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
friend WPILIB_DLLEXPORT void from_json(const wpi::util::json& json,
AprilTagFieldLayout& layout);
};
WPILIB_DLLEXPORT
void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
void to_json(wpi::util::json& json, const AprilTagFieldLayout& layout);
WPILIB_DLLEXPORT
void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
void from_json(const wpi::util::json& json, AprilTagFieldLayout& layout);
/**
* Loads an AprilTagFieldLayout from a predefined field
@@ -171,4 +171,4 @@ void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
WPILIB_DLLEXPORT AprilTagFieldLayout
LoadAprilTagLayoutField(AprilTagField field);
} // namespace frc
} // namespace wpi::apriltag

4
apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
View File

@@ -8,7 +8,7 @@
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::apriltag {
/**
* Loadable AprilTag field layouts.
@@ -32,4 +32,4 @@ enum class AprilTagField {
kNumFields,
};
} // namespace frc
} // namespace wpi::apriltag

8
apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp
View File

@@ -7,15 +7,15 @@
#include "wpi/math/geometry/Transform3d.hpp"
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::apriltag {
/** A pair of AprilTag pose estimates. */
struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
/** Pose 1. */
Transform3d pose1;
wpi::math::Transform3d pose1;
/** Pose 2. */
Transform3d pose2;
wpi::math::Transform3d pose2;
/** Object-space error of pose 1. */
double error1;
@@ -32,4 +32,4 @@ struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
double GetAmbiguity() const;
};
} // namespace frc
} // namespace wpi::apriltag

14
apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp
View File

@@ -11,7 +11,7 @@
#include "wpi/units/length.hpp"
#include "wpi/util/SymbolExports.hpp"
namespace frc {
namespace wpi::apriltag {
class AprilTagDetection;
@@ -23,7 +23,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
bool operator==(const Config&) const = default;
/** The tag size. */
units::meter_t tagSize;
wpi::units::meter_t tagSize;
/** Camera horizontal focal length, in pixels. */
double fx;
@@ -65,7 +65,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
* @param detection Tag detection
* @return Pose estimate
*/
Transform3d EstimateHomography(const AprilTagDetection& detection) const;
wpi::math::Transform3d EstimateHomography(const AprilTagDetection& detection) const;
/**
* Estimates the pose of the tag using the homography method described in [1].
@@ -73,7 +73,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
* @param homography Homography 3x3 matrix data
* @return Pose estimate
*/
Transform3d EstimateHomography(std::span<const double, 9> homography) const;
wpi::math::Transform3d EstimateHomography(std::span<const double, 9> homography) const;
/**
* Estimates the pose of the tag. This returns one or two possible poses for
@@ -123,7 +123,7 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
* @param detection Tag detection
* @return Pose estimate
*/
Transform3d Estimate(const AprilTagDetection& detection) const;
wpi::math::Transform3d Estimate(const AprilTagDetection& detection) const;
/**
* Estimates tag pose. This method is an easier to use interface to
@@ -134,11 +134,11 @@ class WPILIB_DLLEXPORT AprilTagPoseEstimator {
* @param corners Corner point array (X and Y for each corner in order)
* @return Pose estimate
*/
Transform3d Estimate(std::span<const double, 9> homography,
wpi::math::Transform3d Estimate(std::span<const double, 9> homography,
std::span<const double, 8> corners) const;
private:
Config m_config;
};
} // namespace frc
} // namespace wpi::apriltag

2
apriltag/src/main/python/semiwrap/AprilTag.yml
View File

@@ -4,7 +4,7 @@ functions:
from_json:
ignore: true
classes:
frc::AprilTag:
wpi::apriltag::AprilTag:
attributes:
ID:
pose:

4
apriltag/src/main/python/semiwrap/AprilTagDetection.yml
View File

@@ -2,7 +2,7 @@ extra_includes:
- pybind11/eigen.h
classes:
frc::AprilTagDetection:
wpi::apriltag::AprilTagDetection:
methods:
GetFamily:
GetId:
@@ -18,7 +18,7 @@ classes:
return py::str("<AprilTagDetection tag_family={} tag_id={} hamming={} decision_margin={} center={}>")
.format(self.GetFamily(), self.GetId(), self.GetHamming(), self.GetDecisionMargin(), self.GetCenter());
})
frc::AprilTagDetection::Point:
wpi::apriltag::AprilTagDetection::Point:
attributes:
x:
y:

8
apriltag/src/main/python/semiwrap/AprilTagDetector.yml
View File

@@ -2,7 +2,7 @@ extra_includes:
- pybind11_typing.h
classes:
frc::AprilTagDetector:
wpi::apriltag::AprilTagDetector:
methods:
AprilTagDetector:
SetConfig:
@@ -59,7 +59,7 @@ classes:
:return: list of results
)doc"
)
frc::AprilTagDetector::Config:
wpi::apriltag::AprilTagDetector::Config:
attributes:
numThreads:
quadDecimate:
@@ -69,7 +69,7 @@ classes:
debug:
methods:
operator==:
frc::AprilTagDetector::QuadThresholdParameters:
wpi::apriltag::AprilTagDetector::QuadThresholdParameters:
attributes:
minClusterPixels:
maxNumMaxima:
@@ -79,7 +79,7 @@ classes:
deglitch:
methods:
operator==:
frc::AprilTagDetector::Results:
wpi::apriltag::AprilTagDetector::Results:
rename: _Results
ignored_bases:
- std::span<const AprilTagDetection* const>

6
apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml
View File

@@ -6,7 +6,7 @@ functions:
LoadAprilTagLayoutField:
ignore: true
classes:
frc::AprilTagFieldLayout:
wpi::apriltag::AprilTagFieldLayout:
enums:
OriginPosition:
methods:
@@ -14,7 +14,7 @@ classes:
overloads:
'':
std::string_view:
std::vector<AprilTag>, units::meter_t, units::meter_t:
std::vector<AprilTag>, wpi::units::meter_t, wpi::units::meter_t:
LoadField:
GetFieldLength:
GetFieldWidth:
@@ -22,7 +22,7 @@ classes:
SetOrigin:
overloads:
OriginPosition:
const Pose3d&:
const wpi::math::Pose3d&:
GetOrigin:
GetTagPose:
Serialize:

2
apriltag/src/main/python/semiwrap/AprilTagPoseEstimate.yml
View File

@@ -1,5 +1,5 @@
classes:
frc::AprilTagPoseEstimate:
wpi::apriltag::AprilTagPoseEstimate:
attributes:
pose1:
pose2:

6
apriltag/src/main/python/semiwrap/AprilTagPoseEstimator.yml
View File

@@ -2,7 +2,7 @@ extra_includes:
- wpi/apriltag/AprilTagDetection.hpp
classes:
frc::AprilTagPoseEstimator:
wpi::apriltag::AprilTagPoseEstimator:
methods:
AprilTagPoseEstimator:
SetConfig:
@@ -19,7 +19,7 @@ classes:
overloads:
const AprilTagDetection& [const]:
std::span<const double, 9>, std::span<const double, 8> [const]:
frc::AprilTagPoseEstimator::Config:
wpi::apriltag::AprilTagPoseEstimator::Config:
force_no_default_constructor: true
attributes:
tagSize:
@@ -30,7 +30,7 @@ classes:
methods:
operator==:
inline_code: |
.def(py::init([](units::meter_t tagSize, double fx, double fy, double cx, double cy) {
.def(py::init([](wpi::units::meter_t tagSize, double fx, double fy, double cx, double cy) {
AprilTagPoseEstimator::Config cfg{tagSize, fx, fy, cx, cy};
return std::make_unique<AprilTagPoseEstimator::Config>(std::move(cfg));
}), py::arg("tagSize"), py::arg("fx"), py::arg("fy"), py::arg("cx"), py::arg("cy"))

2
apriltag/src/test/native/cpp/AprilTagDetectorTest.cpp
View File

@@ -6,7 +6,7 @@
#include "wpi/apriltag/AprilTagDetector.hpp"
using namespace frc;
using namespace wpi::apriltag;
TEST(AprilTagDetectorTest, ConfigDefaults) {
AprilTagDetector detector;

8
apriltag/src/test/native/cpp/AprilTagJsonTest.cpp
View File

@@ -11,17 +11,17 @@
#include "wpi/math/geometry/Pose3d.hpp"
#include "wpi/util/json.hpp"
using namespace frc;
using namespace wpi::apriltag;
TEST(AprilTagJsonTest, DeserializeMatches) {
auto layout = AprilTagFieldLayout{
std::vector{
AprilTag{1, Pose3d{}},
AprilTag{3, Pose3d{0_m, 1_m, 0_m, Rotation3d{0_deg, 0_deg, 0_deg}}}},
AprilTag{1, wpi::math::Pose3d{}},
AprilTag{3, wpi::math::Pose3d{0_m, 1_m, 0_m, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}}},
54_ft, 27_ft};
AprilTagFieldLayout deserialized;
wpi::json json = layout;
wpi::util::json json = layout;
EXPECT_NO_THROW(deserialized = json.get<AprilTagFieldLayout>());
EXPECT_EQ(layout, deserialized);
}

10
apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp
View File

@@ -11,23 +11,23 @@
#include "wpi/math/geometry/Pose3d.hpp"
#include "wpi/util/json.hpp"
using namespace frc;
using namespace wpi::apriltag;
TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
auto layout = AprilTagFieldLayout{
std::vector<AprilTag>{
AprilTag{1,
Pose3d{0_ft, 0_ft, 0_ft, Rotation3d{0_deg, 0_deg, 0_deg}}},
wpi::math::Pose3d{0_ft, 0_ft, 0_ft, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}}},
AprilTag{
2, Pose3d{4_ft, 4_ft, 4_ft, Rotation3d{0_deg, 0_deg, 180_deg}}}},
2, wpi::math::Pose3d{4_ft, 4_ft, 4_ft, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}}}},
54_ft, 27_ft};
layout.SetOrigin(
AprilTagFieldLayout::OriginPosition::kRedAllianceWallRightSide);
auto mirrorPose =
Pose3d{54_ft, 27_ft, 0_ft, Rotation3d{0_deg, 0_deg, 180_deg}};
wpi::math::Pose3d{54_ft, 27_ft, 0_ft, wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}};
EXPECT_EQ(mirrorPose, *layout.GetTagPose(1));
mirrorPose = Pose3d{50_ft, 23_ft, 4_ft, Rotation3d{0_deg, 0_deg, 0_deg}};
mirrorPose = wpi::math::Pose3d{50_ft, 23_ft, 4_ft, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
EXPECT_EQ(mirrorPose, *layout.GetTagPose(2));
}

14
apriltag/src/test/native/cpp/LoadConfigTest.cpp
View File

@@ -9,7 +9,7 @@
#include "wpi/apriltag/AprilTagFieldLayout.hpp"
#include "wpi/apriltag/AprilTagFields.hpp"
namespace frc {
namespace wpi::apriltag {
std::vector<AprilTagField> GetAllFields() {
std::vector<AprilTagField> output;
@@ -27,21 +27,21 @@ TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
// Blue Hangar Truss - Hub
auto expectedPose =
Pose3d{127.272_in, 216.01_in, 67.932_in, Rotation3d{0_deg, 0_deg, 0_deg}};
wpi::math::Pose3d{127.272_in, 216.01_in, 67.932_in, wpi::math::Rotation3d{0_deg, 0_deg, 0_deg}};
auto maybePose = layout.GetTagPose(1);
EXPECT_TRUE(maybePose);
EXPECT_EQ(expectedPose, *maybePose);
// Blue Terminal Near Station
expectedPose = Pose3d{4.768_in, 67.631_in, 35.063_in,
Rotation3d{0_deg, 0_deg, 46.25_deg}};
expectedPose = wpi::math::Pose3d{4.768_in, 67.631_in, 35.063_in,
wpi::math::Rotation3d{0_deg, 0_deg, 46.25_deg}};
maybePose = layout.GetTagPose(5);
EXPECT_TRUE(maybePose);
EXPECT_EQ(expectedPose, *maybePose);
// Upper Hub Blue-Near
expectedPose = Pose3d{332.321_in, 183.676_in, 95.186_in,
Rotation3d{0_deg, 26.75_deg, 69_deg}};
expectedPose = wpi::math::Pose3d{332.321_in, 183.676_in, 95.186_in,
wpi::math::Rotation3d{0_deg, 26.75_deg, 69_deg}};
maybePose = layout.GetTagPose(53);
EXPECT_TRUE(maybePose);
EXPECT_EQ(expectedPose, *maybePose);
@@ -62,4 +62,4 @@ TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,
::testing::ValuesIn(GetAllFields()));
} // namespace frc
} // namespace wpi::apriltag