From 3c58b05af73538f5e82da0eaaf424913cdfb175a Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Wed, 24 Jul 2024 00:45:19 -0400 Subject: [PATCH 01/14] Use pnpm instead of npm (#1375) Pnpm is like npm except instead of keeping multiple copies of dependencies, it shares a single copy for multiple dependencies significantly reducing build time and the space needed to hold all the dependencies. Read [here](https://pnpm.io/motivation) for more info. This changes our CI to use pnpm and allows developers to choose to use pnpm instead of npm. Also, pnpm has a built-in node version manager so devs no longer need to use nvm to work on photonvision. All npm functionality (including photon-server gradle tasks) still functions using npm so this isn't breaking. We should make a docs change to suggest to use pnpm. --- .github/workflows/build.yml | 10 +- .github/workflows/lint-format.yml | 16 +- .github/workflows/photon-code-docs.yml | 10 +- .../photonvision/build-instructions.rst | 18 +- photon-client/.npmrc | 1 + photon-client/package-lock.json | 5260 ----------------- photon-client/package.json | 3 + photon-client/pnpm-lock.yaml | 3708 ++++++++++++ photon-server/build.gradle | 14 +- 9 files changed, 3754 insertions(+), 5286 deletions(-) create mode 100644 photon-client/.npmrc delete mode 100644 photon-client/package-lock.json create mode 100644 photon-client/pnpm-lock.yaml diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index de9ba3afbe..c1fe25fb0e 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -26,14 +26,20 @@ jobs: runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 + - name: Install pnpm + uses: pnpm/action-setup@v4 + with: + version: 9 - name: Setup Node.js uses: actions/setup-node@v4 with: node-version: 18 + cache: 'pnpm' + cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: npm ci + run: pnpm install - name: Build Production Client - run: npm run build + run: pnpm run build - uses: actions/upload-artifact@v4 with: name: built-client diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml index fb97eb77af..a35bf0137b 100644 --- a/.github/workflows/lint-format.yml +++ b/.github/workflows/lint-format.yml @@ -72,17 +72,23 @@ jobs: working-directory: photon-client runs-on: ubuntu-22.04 steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 + - name: Install pnpm + uses: pnpm/action-setup@v4 + with: + version: 9 - name: Setup Node.js - uses: actions/setup-node@v3 + uses: actions/setup-node@v4 with: node-version: 18 + cache: 'pnpm' + cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: npm ci + run: pnpm install - name: Check Linting - run: npm run lint-ci + run: pnpm run lint-ci - name: Check Formatting - run: npm run format-ci + run: pnpm run format-ci server-index: name: "Check server index.html not changed" runs-on: ubuntu-22.04 diff --git a/.github/workflows/photon-code-docs.yml b/.github/workflows/photon-code-docs.yml index 0eb7c50664..0a09235da7 100644 --- a/.github/workflows/photon-code-docs.yml +++ b/.github/workflows/photon-code-docs.yml @@ -36,14 +36,20 @@ jobs: runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 + - name: Install pnpm + uses: pnpm/action-setup@v4 + with: + version: 9 - name: Setup Node.js uses: actions/setup-node@v4 with: node-version: 18 + cache: 'pnpm' + cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: npm ci + run: pnpm install - name: Build Production Client - run: npm run build-demo + run: pnpm run build-demo - uses: actions/upload-artifact@v4 with: name: built-client diff --git a/docs/source/docs/contributing/photonvision/build-instructions.rst b/docs/source/docs/contributing/photonvision/build-instructions.rst index 85d8d63672..0efadb7072 100644 --- a/docs/source/docs/contributing/photonvision/build-instructions.rst +++ b/docs/source/docs/contributing/photonvision/build-instructions.rst @@ -9,18 +9,8 @@ Development Setup Prerequisites ~~~~~~~~~~~~~ -| **Java Development Kit:** This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform `here `_. -| **Node JS:** The UI is written in Node JS. To compile the UI, Node 14.18.0 to Node 16.0.0 is required. To install Node JS follow the instructions for your platform `on the official Node JS website `_. However, modify this line - -.. code-block:: bash - - nvm install 20 - -so that it instead reads - -.. code-block:: javascript - - nvm install 14.18.0 +| **Java Development Kit:** This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2024+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform `here `__. +| **Node.js and pnpm** The UI is created using Vue and built using Vite. Node.js is required to develop and build the UI. We recomend using the pnpm package manager to handle dependencies and install Node.js. You can follow the instructions to install pnpm `here `__. The project is already configured to create a Node.js v18 env when building photon-client. Compiling Instructions ---------------------- @@ -46,7 +36,7 @@ In the photon-client directory: .. code-block:: bash - npm install + pnpm install Build and Copy UI to Java Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -68,6 +58,8 @@ In the root directory: ``gradlew buildAndCopyUI`` +Please note that if you installed Node.js via pnpm, this gradle action will mirror Node.js in the gradle workdir and use that instead of the pnpm version. + Build and Run PhotonVision ~~~~~~~~~~~~~~~~~~~~~~~~~~ diff --git a/photon-client/.npmrc b/photon-client/.npmrc new file mode 100644 index 0000000000..47941647bb --- /dev/null +++ b/photon-client/.npmrc @@ -0,0 +1 @@ +use-node-version=18.20.4 diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json deleted file mode 100644 index 5ce803504d..0000000000 --- a/photon-client/package-lock.json +++ /dev/null @@ -1,5260 +0,0 @@ -{ - "name": "photonclient", - "version": "0.0.0", - "lockfileVersion": 3, - "requires": true, - "packages": { - "": { - 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1.0.7 + is-string: 1.0.7 + is-symbol: 1.0.4 + + which-typed-array@1.1.15: + dependencies: + available-typed-arrays: 1.0.7 + call-bind: 1.0.7 + for-each: 0.3.3 + gopd: 1.0.1 + has-tostringtag: 1.0.2 + + which@1.3.1: + dependencies: + isexe: 2.0.0 + + which@2.0.2: + dependencies: + isexe: 2.0.0 + + word-wrap@1.2.5: {} + + wrappy@1.0.2: {} + + xml-name-validator@4.0.0: {} + + yocto-queue@0.1.0: {} diff --git a/photon-server/build.gradle b/photon-server/build.gradle index c60c441760..e44c46415c 100644 --- a/photon-server/build.gradle +++ b/photon-server/build.gradle @@ -1,7 +1,7 @@ plugins { id "application" id 'com.github.johnrengelman.shadow' version '8.1.1' - id "com.github.node-gradle.node" version "7.0.1" + id "com.github.node-gradle.node" version "7.0.2" id "org.hidetake.ssh" version "2.11.2" id 'edu.wpi.first.WpilibTools' version '1.3.0' } @@ -32,17 +32,23 @@ shadowJar { } node { + download = true + version = "18.20.4" nodeProjectDir = file("${projectDir}/../photon-client") } -tasks.register('copyClientUIToResources', Copy) { +tasks.register('buildUI', PnpmTask) { + args = ["run", "build"] +} + +tasks.register('copyUIToResources', Copy) { from "${projectDir}/../photon-client/dist/" into "${projectDir}/src/main/resources/web/" } tasks.register("buildAndCopyUI") { - dependsOn "npm_run_build" - finalizedBy "copyClientUIToResources" + dependsOn "buildUI" + finalizedBy "copyUIToResources" } run { From 10f74bb62368f7072de7f1d58f2ed7b9e54daf2d Mon Sep 17 00:00:00 2001 From: MADMAN-Modding <115199645+MADMAN-Modding@users.noreply.github.com> Date: Wed, 24 Jul 2024 16:38:49 -0400 Subject: [PATCH 02/14] Fixed spelling error (#1376) --- docs/source/docs/integration/simpleStrategies.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/docs/integration/simpleStrategies.rst b/docs/source/docs/integration/simpleStrategies.rst index e6ef936533..b5ccc6a86c 100644 --- a/docs/source/docs/integration/simpleStrategies.rst +++ b/docs/source/docs/integration/simpleStrategies.rst @@ -24,7 +24,7 @@ See the :ref:`Aiming at a Target Date: Wed, 31 Jul 2024 12:45:10 -0400 Subject: [PATCH 03/14] Revert "Use pnpm instead of npm" (#1382) Reverts PhotonVision/photonvision#1375 Causes white screen UI Bug, "the way we currently strap everything with vue2 and vuetify has a lot of footguns in it, and using a newer package manager where each subdependency gets its own version of node is causing incorrect dependency resolution which also means we can't fix this without either updating node or patching those dependencies id say just revert the PR for now until I or someone else can do the vue3 update" --- .github/workflows/build.yml | 10 +- .github/workflows/lint-format.yml | 16 +- .github/workflows/photon-code-docs.yml | 10 +- .../photonvision/build-instructions.rst | 18 +- photon-client/.npmrc | 1 - photon-client/package-lock.json | 5260 +++++++++++++++++ photon-client/package.json | 3 - photon-client/pnpm-lock.yaml | 3708 ------------ photon-server/build.gradle | 14 +- 9 files changed, 5286 insertions(+), 3754 deletions(-) delete mode 100644 photon-client/.npmrc create mode 100644 photon-client/package-lock.json delete mode 100644 photon-client/pnpm-lock.yaml diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index c1fe25fb0e..de9ba3afbe 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -26,20 +26,14 @@ jobs: runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 - - name: Install pnpm - uses: pnpm/action-setup@v4 - with: - version: 9 - name: Setup Node.js uses: actions/setup-node@v4 with: node-version: 18 - cache: 'pnpm' - cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: pnpm install + run: npm ci - name: Build Production Client - run: pnpm run build + run: npm run build - uses: actions/upload-artifact@v4 with: name: built-client diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml index a35bf0137b..fb97eb77af 100644 --- a/.github/workflows/lint-format.yml +++ b/.github/workflows/lint-format.yml @@ -72,23 +72,17 @@ jobs: working-directory: photon-client runs-on: ubuntu-22.04 steps: - - uses: actions/checkout@v4 - - name: Install pnpm - uses: pnpm/action-setup@v4 - with: - version: 9 + - uses: actions/checkout@v3 - name: Setup Node.js - uses: actions/setup-node@v4 + uses: actions/setup-node@v3 with: node-version: 18 - cache: 'pnpm' - cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: pnpm install + run: npm ci - name: Check Linting - run: pnpm run lint-ci + run: npm run lint-ci - name: Check Formatting - run: pnpm run format-ci + run: npm run format-ci server-index: name: "Check server index.html not changed" runs-on: ubuntu-22.04 diff --git a/.github/workflows/photon-code-docs.yml b/.github/workflows/photon-code-docs.yml index 0a09235da7..0eb7c50664 100644 --- a/.github/workflows/photon-code-docs.yml +++ b/.github/workflows/photon-code-docs.yml @@ -36,20 +36,14 @@ jobs: runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 - - name: Install pnpm - uses: pnpm/action-setup@v4 - with: - version: 9 - name: Setup Node.js uses: actions/setup-node@v4 with: node-version: 18 - cache: 'pnpm' - cache-dependency-path: '**/pnpm-lock.yaml' - name: Install Dependencies - run: pnpm install + run: npm ci - name: Build Production Client - run: pnpm run build-demo + run: npm run build-demo - uses: actions/upload-artifact@v4 with: name: built-client diff --git a/docs/source/docs/contributing/photonvision/build-instructions.rst b/docs/source/docs/contributing/photonvision/build-instructions.rst index 0efadb7072..85d8d63672 100644 --- a/docs/source/docs/contributing/photonvision/build-instructions.rst +++ b/docs/source/docs/contributing/photonvision/build-instructions.rst @@ -9,8 +9,18 @@ Development Setup Prerequisites ~~~~~~~~~~~~~ -| **Java Development Kit:** This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2024+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform `here `__. -| **Node.js and pnpm** The UI is created using Vue and built using Vite. Node.js is required to develop and build the UI. We recomend using the pnpm package manager to handle dependencies and install Node.js. You can follow the instructions to install pnpm `here `__. The project is already configured to create a Node.js v18 env when building photon-client. +| **Java Development Kit:** This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. If you don't have this JDK with WPILib, you can follow the instructions to install JDK 17 for your platform `here `_. +| **Node JS:** The UI is written in Node JS. To compile the UI, Node 14.18.0 to Node 16.0.0 is required. To install Node JS follow the instructions for your platform `on the official Node JS website `_. However, modify this line + +.. code-block:: bash + + nvm install 20 + +so that it instead reads + +.. code-block:: javascript + + nvm install 14.18.0 Compiling Instructions ---------------------- @@ -36,7 +46,7 @@ In the photon-client directory: .. code-block:: bash - pnpm install + npm install Build and Copy UI to Java Source ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -58,8 +68,6 @@ In the root directory: ``gradlew buildAndCopyUI`` -Please note that if you installed Node.js via pnpm, this gradle action will mirror Node.js in the gradle workdir and use that instead of the pnpm version. - Build and Run PhotonVision ~~~~~~~~~~~~~~~~~~~~~~~~~~ diff --git a/photon-client/.npmrc b/photon-client/.npmrc deleted file mode 100644 index 47941647bb..0000000000 --- a/photon-client/.npmrc +++ /dev/null @@ -1 +0,0 @@ -use-node-version=18.20.4 diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json new file mode 100644 index 0000000000..5ce803504d --- /dev/null +++ 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1.0.7 - is-string: 1.0.7 - is-symbol: 1.0.4 - - which-typed-array@1.1.15: - dependencies: - available-typed-arrays: 1.0.7 - call-bind: 1.0.7 - for-each: 0.3.3 - gopd: 1.0.1 - has-tostringtag: 1.0.2 - - which@1.3.1: - dependencies: - isexe: 2.0.0 - - which@2.0.2: - dependencies: - isexe: 2.0.0 - - word-wrap@1.2.5: {} - - wrappy@1.0.2: {} - - xml-name-validator@4.0.0: {} - - yocto-queue@0.1.0: {} diff --git a/photon-server/build.gradle b/photon-server/build.gradle index e44c46415c..c60c441760 100644 --- a/photon-server/build.gradle +++ b/photon-server/build.gradle @@ -1,7 +1,7 @@ plugins { id "application" id 'com.github.johnrengelman.shadow' version '8.1.1' - id "com.github.node-gradle.node" version "7.0.2" + id "com.github.node-gradle.node" version "7.0.1" id "org.hidetake.ssh" version "2.11.2" id 'edu.wpi.first.WpilibTools' version '1.3.0' } @@ -32,23 +32,17 @@ shadowJar { } node { - download = true - version = "18.20.4" nodeProjectDir = file("${projectDir}/../photon-client") } -tasks.register('buildUI', PnpmTask) { - args = ["run", "build"] -} - -tasks.register('copyUIToResources', Copy) { +tasks.register('copyClientUIToResources', Copy) { from "${projectDir}/../photon-client/dist/" into "${projectDir}/src/main/resources/web/" } tasks.register("buildAndCopyUI") { - dependsOn "buildUI" - finalizedBy "copyUIToResources" + dependsOn "npm_run_build" + finalizedBy "copyClientUIToResources" } run { From 974a926e75e28f3706b276e7420d44f432f9f40b Mon Sep 17 00:00:00 2001 From: Matt Date: Fri, 2 Aug 2024 11:57:34 -0400 Subject: [PATCH 04/14] Run wpiformat (#1379) --- photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp | 2 ++ photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp | 1 + photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp | 2 ++ photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp | 2 ++ .../src/main/native/cpp/photon/dataflow/structures/Packet.cpp | 2 ++ .../main/native/cpp/photon/targeting/PhotonPipelineResult.cpp | 2 ++ .../main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp | 2 ++ .../cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp | 2 ++ .../cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp | 3 +++ .../src/main/cpp/subsystems/SwerveDrive.cpp | 1 + .../src/main/cpp/subsystems/SwerveModule.cpp | 1 + 11 files changed, 20 insertions(+) diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp index 0a8809c363..c363c12952 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp @@ -26,7 +26,9 @@ #include +#include #include +#include #include #include diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp index 2571eafe28..5ecacba292 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp @@ -30,6 +30,7 @@ #include #include #include +#include #include #include #include diff --git a/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp b/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp index 2c985c6e56..f2a24a2a2b 100644 --- a/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp +++ b/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp @@ -22,6 +22,8 @@ * SOFTWARE. */ +#include + #include "gtest/gtest.h" #include "photon/PhotonUtils.h" #include "photon/simulation/SimVisionSystem.h" diff --git a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp index e3db87318c..179c617aa1 100644 --- a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp +++ b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp @@ -24,6 +24,8 @@ #include #include +#include +#include #include "gtest/gtest.h" #include "photon/PhotonUtils.h" diff --git a/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp b/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp index a69427a488..d364c60246 100644 --- a/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp +++ b/photon-targeting/src/main/native/cpp/photon/dataflow/structures/Packet.cpp @@ -17,6 +17,8 @@ #include "photon/dataflow/structures/Packet.h" +#include + using namespace photon; Packet::Packet(std::vector data) : packetData(data) {} diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp index 2e3367d0c6..c94e55b731 100644 --- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp +++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp @@ -17,6 +17,8 @@ #include "photon/targeting/PhotonPipelineResult.h" +#include + namespace photon { PhotonPipelineResult::PhotonPipelineResult( int64_t sequenceID, units::microsecond_t captureTimestamp, diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp index c0200615ef..6a4e367d13 100644 --- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp +++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp @@ -17,8 +17,10 @@ #include "photon/targeting/PhotonTrackedTarget.h" +#include #include #include +#include #include #include diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp index 6beeccaabc..da4323482c 100644 --- a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp +++ b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonPipelineResultProto.cpp @@ -17,6 +17,8 @@ #include "photon/targeting/proto/PhotonPipelineResultProto.h" +#include + #include "photon.pb.h" #include "photon/targeting/proto/MultiTargetPNPResultProto.h" #include "photon/targeting/proto/PhotonTrackedTargetProto.h" diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp index 9e13181ab4..952996376b 100644 --- a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp +++ b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PhotonTrackedTargetProto.cpp @@ -17,6 +17,9 @@ #include "photon/targeting/proto/PhotonTrackedTargetProto.h" +#include +#include + #include "photon.pb.h" google::protobuf::Message* wpi::Protobuf::New( diff --git a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp index bf33d7189d..54c39b1d5d 100644 --- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveDrive.cpp @@ -25,6 +25,7 @@ #include "subsystems/SwerveDrive.h" #include +#include #include #include diff --git a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp index 781c28a338..785d9ca7d6 100644 --- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp +++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/cpp/subsystems/SwerveModule.cpp @@ -25,6 +25,7 @@ #include "subsystems/SwerveModule.h" #include +#include #include #include From 37e9d4076224517f8efc74fe2a72ecbbb692b5ad Mon Sep 17 00:00:00 2001 From: Craig Schardt Date: Sat, 3 Aug 2024 20:57:35 -0500 Subject: [PATCH 05/14] Use new OrangePi5 images and add OrangePi5 Pro (#1388) --- .github/workflows/build.yml | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index de9ba3afbe..6f96710a46 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -416,15 +416,21 @@ jobs: - os: ubuntu-latest artifact-name: LinuxArm64 image_suffix: orangepi5 - image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5.img.xz + image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-2/photonvision_opi5.img.xz cpu: cortex-a8 - image_additional_mb: 4096 + image_additional_mb: 1024 - os: ubuntu-latest artifact-name: LinuxArm64 image_suffix: orangepi5plus - image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5plus.img.xz + image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-2/photonvision_opi5plus.img.xz cpu: cortex-a8 - image_additional_mb: 4096 + image_additional_mb: 1024 + - os: ubuntu-latest + artifact-name: LinuxArm64 + image_suffix: orangepi5pro + image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-2/photonvision_opi5pro.img.xz + cpu: cortex-a8 + image_additional_mb: 1024 runs-on: ${{ matrix.os }} name: "Build image - ${{ matrix.image_url }}" @@ -437,7 +443,7 @@ jobs: - uses: actions/download-artifact@v4 with: name: jar-${{ matrix.artifact-name }} - - uses: pguyot/arm-runner-action@v2 + - uses: pguyot/arm-runner-action@HEAD name: Generate image id: generate_image with: From 67463a020a358b6bc4c62b49dbeb715682887477 Mon Sep 17 00:00:00 2001 From: Matt Date: Sun, 4 Aug 2024 14:23:46 -0400 Subject: [PATCH 06/14] Use ReadQueue for PhotonCamera timestamps (#1316) This removes the extra GetLastChange call to keep everything properly atomic. Closes #1303 --- photon-lib/build.gradle | 2 + photon-lib/py/photonlibpy/photonCamera.py | 34 ++ .../java/org/photonvision/PhotonCamera.java | 55 ++- .../org/photonvision/PhotonPoseEstimator.java | 78 ++-- .../simulation/PhotonCameraSim.java | 2 +- .../main/native/cpp/photon/PhotonCamera.cpp | 46 +- .../native/cpp/photon/PhotonPoseEstimator.cpp | 54 +-- .../cpp/photon/simulation/PhotonCameraSim.cpp | 392 ++++++++++++++++++ .../photon/simulation/SimCameraProperties.cpp | 223 ++++++++++ .../main/native/include/photon/PhotonCamera.h | 19 +- .../include/photon/PhotonPoseEstimator.h | 59 +-- .../photon/simulation/PhotonCameraSim.h | 388 ++--------------- .../photon/simulation/SimCameraProperties.h | 190 +-------- .../photon/simulation/SimPhotonCamera.h | 137 ------ .../photon/simulation/SimVisionSystem.h | 228 ---------- .../photon/simulation/SimVisionTarget.h | 65 --- .../photon/simulation/VisionTargetSim.h | 3 + .../photonvision/PhotonPoseEstimatorTest.java | 33 +- .../estimation/ApriltagWorkbenchTest.java | 10 +- .../native/cpp/PhotonPoseEstimatorTest.cpp | 105 +++-- .../test/native/cpp/SimVisionSystemTest.cpp | 360 ---------------- .../test/native/cpp/VisionSystemSimTest.cpp | 18 +- .../networktables/PacketSubscriber.java | 65 ++- .../include/photon/estimation/OpenCVHelp.h | 2 + .../photon/estimation/VisionEstimation.h | 1 + .../src/main/include/PhotonCameraWrapper.h | 12 +- .../src/main/include/Vision.h | 46 +- .../src/main/java/frc/robot/Vision.java | 31 +- .../subsystems/drivetrain/SwerveDriveSim.java | 9 +- 29 files changed, 1055 insertions(+), 1612 deletions(-) create mode 100644 photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp create mode 100644 photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp delete mode 100644 photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h delete mode 100644 photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h delete mode 100644 photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h delete mode 100644 photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle index d8e990b7e8..4cf56a7bd4 100644 --- a/photon-lib/build.gradle +++ b/photon-lib/build.gradle @@ -53,6 +53,8 @@ model { nativeUtils.useRequiredLibrary(it, "wpilib_shared") nativeUtils.useRequiredLibrary(it, "apriltag_shared") nativeUtils.useRequiredLibrary(it, "opencv_shared") + nativeUtils.useRequiredLibrary(it, "cscore_shared") + nativeUtils.useRequiredLibrary(it, "cameraserver_shared") } } testSuites { diff --git a/photon-lib/py/photonlibpy/photonCamera.py b/photon-lib/py/photonlibpy/photonCamera.py index 41588e7bd1..3758a801b8 100644 --- a/photon-lib/py/photonlibpy/photonCamera.py +++ b/photon-lib/py/photonlibpy/photonCamera.py @@ -1,4 +1,5 @@ from enum import Enum +from typing import List import ntcore from wpilib import RobotController, Timer import wpilib @@ -75,6 +76,39 @@ def __init__(self, cameraName: str): self._prevHeartbeat = 0 self._prevHeartbeatChangeTime = Timer.getFPGATimestamp() + def getAllUnreadResults(self) -> List[PhotonPipelineResult]: + """ + The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults(). + Calling this function clears the internal FIFO queue, and multiple calls to + getAllUnreadResults() will return different (potentially empty) result arrays. Be careful to + call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so + make sure to call this frequently enough to avoid old results being discarded, too! + """ + + self._versionCheck() + + changes = self._rawBytesEntry.readQueue() + + ret = [] + + for change in changes: + byteList = change.value + timestamp = change.time + + if len(byteList) < 1: + pass + else: + newResult = PhotonPipelineResult() + pkt = Packet(byteList) + newResult.populateFromPacket(pkt) + # NT4 allows us to correct the timestamp based on when the message was sent + newResult.setTimestampSeconds( + timestamp / 1e6 - newResult.getLatencyMillis() / 1e3 + ) + ret.append(newResult) + + return ret + def getLatestResult(self) -> PhotonPipelineResult: self._versionCheck() diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index aa92025fe0..38980d788e 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -44,8 +44,8 @@ import edu.wpi.first.networktables.PubSubOption; import edu.wpi.first.networktables.StringSubscriber; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.Timer; +import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.Optional; @@ -137,10 +137,12 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) { cameraTable .getRawTopic("rawBytes") .subscribe( - "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true)); - resultSubscriber = - new PacketSubscriber<>( - rawBytesEntry, PhotonPipelineResult.serde, new PhotonPipelineResult()); + "rawBytes", + new byte[] {}, + PubSubOption.periodic(0.01), + PubSubOption.sendAll(true), + PubSubOption.pollStorage(20)); + resultSubscriber = new PacketSubscriber<>(rawBytesEntry, PhotonPipelineResult.serde); driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish(); driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false); inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0); @@ -176,21 +178,52 @@ public PhotonCamera(String cameraName) { } /** - * Returns the latest pipeline result. + * The list of pipeline results sent by PhotonVision since the last call to getAllUnreadResults(). + * Calling this function clears the internal FIFO queue, and multiple calls to + * getAllUnreadResults() will return different (potentially empty) result arrays. Be careful to + * call this exactly ONCE per loop of your robot code! FIFO depth is limited to 20 changes, so + * make sure to call this frequently enough to avoid old results being discarded, too! + */ + public List getAllUnreadResults() { + List ret = new ArrayList<>(); + + var changes = resultSubscriber.getAllChanges(); + + // TODO: NT4 timestamps are still not to be trusted. But it's the best we can do until we can + // make time sync more reliable. + for (var c : changes) { + var result = c.value; + result.setRecieveTimestampMicros(c.timestamp); + ret.add(result); + } + + return ret; + } + + /** + * Returns the latest pipeline result. This is simply the most recent result recieved via NT. + * Calling this multiple times will always return the most recent result. * - * @return The latest pipeline result. + *

Replaced by {@link #getAllUnreadResults()} over getLatestResult, as this function can miss + * results, or provide duplicate ones! */ + @Deprecated(since = "2024", forRemoval = true) public PhotonPipelineResult getLatestResult() { verifyVersion(); var ret = resultSubscriber.get(); - // Set the timestamp of the result. + if (ret.timestamp == 0) return new PhotonPipelineResult(); + + var result = ret.value; + + // Set the timestamp of the result. Since PacketSubscriber doesn't realize that the result + // contains a thing with time knowledge, set it here. // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds. - ret.setRecieveTimestampMicros(RobotController.getFPGATime()); + // TODO: NT4 time sync is Not To Be Trusted, we should do something else? + result.setRecieveTimestampMicros(ret.timestamp); - // Return result. - return ret; + return result; } /** diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index af93968c41..ca43fca4bb 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -90,7 +90,6 @@ public enum PoseStrategy { private TargetModel tagModel = TargetModel.kAprilTag36h11; private PoseStrategy primaryStrategy; private PoseStrategy multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY; - private final PhotonCamera camera; private Transform3d robotToCamera; private Pose3d lastPose; @@ -107,31 +106,21 @@ public enum PoseStrategy { * Coordinate System. Note that setting the origin of this layout object will affect the * results from this class. * @param strategy The strategy it should use to determine the best pose. - * @param camera PhotonCamera * @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie, * robot ➔ camera) in the Robot * Coordinate System. */ public PhotonPoseEstimator( - AprilTagFieldLayout fieldTags, - PoseStrategy strategy, - PhotonCamera camera, - Transform3d robotToCamera) { + AprilTagFieldLayout fieldTags, PoseStrategy strategy, Transform3d robotToCamera) { this.fieldTags = fieldTags; this.primaryStrategy = strategy; - this.camera = camera; this.robotToCamera = robotToCamera; HAL.report(tResourceType.kResourceType_PhotonPoseEstimator, InstanceCount); InstanceCount++; } - public PhotonPoseEstimator( - AprilTagFieldLayout fieldTags, PoseStrategy strategy, Transform3d robotToCamera) { - this(fieldTags, strategy, null, robotToCamera); - } - /** Invalidates the pose cache. */ private void invalidatePoseCache() { poseCacheTimestampSeconds = -1; @@ -288,31 +277,8 @@ public void setRobotToCameraTransform(Transform3d robotToCamera) { } /** - * Poll data from the configured cameras and update the estimated position of the robot. Returns - * empty if: - * - *

    - *
  • New data has not been received since the last call to {@code update()}. - *
  • No targets were found from the camera - *
  • There is no camera set - *
- * - * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to - * create the estimate. - */ - public Optional update() { - if (camera == null) { - DriverStation.reportError("[PhotonPoseEstimator] Missing camera!", false); - return Optional.empty(); - } - - PhotonPipelineResult cameraResult = camera.getLatestResult(); - - return update(cameraResult, camera.getCameraMatrix(), camera.getDistCoeffs()); - } - - /** - * Updates the estimated position of the robot. Returns empty if: + * Updates the estimated position of the robot, assuming no camera calibration is required for the + * selected strategy. Returns empty if: * *
    *
  • The timestamp of the provided pipeline result is the same as in the previous call to @@ -320,13 +286,15 @@ public Optional update() { *
  • No targets were found in the pipeline results. *
* + * Will report a warning if strategy is multi-tag-on-rio, but camera calibration data is not + * provided + * * @param cameraResult The latest pipeline result from the camera * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to * create the estimate. */ public Optional update(PhotonPipelineResult cameraResult) { - if (camera == null) return update(cameraResult, Optional.empty(), Optional.empty()); - return update(cameraResult, camera.getCameraMatrix(), camera.getDistCoeffs()); + return update(cameraResult, Optional.empty(), Optional.empty()); } /** @@ -338,10 +306,10 @@ public Optional update(PhotonPipelineResult cameraResult) { *
  • No targets were found in the pipeline results. * * - * @param cameraMatrix Camera calibration data that can be used in the case of no assigned - * PhotonCamera. - * @param distCoeffs Camera calibration data that can be used in the case of no assigned - * PhotonCamera + * @param cameraMatrix Camera calibration data for multi-tag-on-rio strategy - can be empty + * otherwise + * @param distCoeffs Camera calibration data for multi-tag-on-rio strategy - can be empty + * otherwise * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to * create the estimate. */ @@ -378,7 +346,7 @@ private Optional update( Optional> cameraMatrix, Optional> distCoeffs, PoseStrategy strat) { - Optional estimatedPose; + Optional estimatedPose = Optional.empty(); switch (strat) { case LOWEST_AMBIGUITY: estimatedPose = lowestAmbiguityStrategy(cameraResult); @@ -397,10 +365,20 @@ private Optional update( estimatedPose = averageBestTargetsStrategy(cameraResult); break; case MULTI_TAG_PNP_ON_RIO: - estimatedPose = multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs); + if (cameraMatrix.isEmpty()) { + DriverStation.reportWarning( + "Camera matrix is empty for multi-tag-on-rio", + Thread.currentThread().getStackTrace()); + } else if (distCoeffs.isEmpty()) { + DriverStation.reportWarning( + "Camera matrix is empty for multi-tag-on-rio", + Thread.currentThread().getStackTrace()); + } else { + estimatedPose = multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs); + } break; case MULTI_TAG_PNP_ON_COPROCESSOR: - estimatedPose = multiTagOnCoprocStrategy(cameraResult, cameraMatrix, distCoeffs); + estimatedPose = multiTagOnCoprocStrategy(cameraResult); break; default: DriverStation.reportError( @@ -415,10 +393,7 @@ private Optional update( return estimatedPose; } - private Optional multiTagOnCoprocStrategy( - PhotonPipelineResult result, - Optional> cameraMatrixOpt, - Optional> distCoeffsOpt) { + private Optional multiTagOnCoprocStrategy(PhotonPipelineResult result) { if (result.getMultiTagResult().estimatedPose.isPresent) { var best_tf = result.getMultiTagResult().estimatedPose.best; var best = @@ -433,7 +408,8 @@ private Optional multiTagOnCoprocStrategy( result.getTargets(), PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR)); } else { - return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy); + // We can nver fall back on another multitag strategy + return update(result, Optional.empty(), Optional.empty(), this.multiTagFallbackStrategy); } } diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java index b2dd114037..cb3f54a2e4 100644 --- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java +++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java @@ -81,7 +81,7 @@ public class PhotonCameraSim implements AutoCloseable { private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest; private final AprilTagFieldLayout tagLayout = - AprilTagFields.kDefaultField.loadAprilTagLayoutField(); + AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); // video stream simulation private final CvSource videoSimRaw; diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp index c363c12952..97bfbf6676 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp @@ -74,7 +74,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance, rootTable(mainTable->GetSubTable(cameraName)), rawBytesEntry( rootTable->GetRawTopic("rawBytes") - .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})), + .Subscribe( + "rawBytes", {}, + {.pollStorage = 20, .periodic = 0.01, .sendAll = true})), inputSaveImgEntry( rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()), inputSaveImgSubscriber( @@ -110,15 +112,15 @@ PhotonCamera::PhotonCamera(const std::string_view cameraName) PhotonPipelineResult PhotonCamera::GetLatestResult() { if (test) { - return testResult; + if (testResult.size()) + return testResult.back(); + else + return PhotonPipelineResult{}; } // Prints warning if not connected VerifyVersion(); - // Clear the current packet. - packet.Clear(); - // Create the new result; PhotonPipelineResult result; @@ -137,6 +139,40 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() { return result; } +std::vector PhotonCamera::GetAllUnreadResults() { + if (test) { + return testResult; + } + + // Prints warning if not connected + VerifyVersion(); + + const auto changes = rawBytesEntry.ReadQueue(); + + // Create the new result list -- these will be updated in-place + std::vector ret(changes.size()); + + for (size_t i = 0; i < changes.size(); i++) { + const nt::Timestamped>& value = changes[i]; + + if (!value.value.size() || value.time == 0) { + continue; + } + + // Fill the packet with latest data and populate result. + photon::Packet packet{value.value}; + + PhotonPipelineResult& result = ret[i]; + packet >> result; + // TODO: NT4 timestamps are still not to be trusted. But it's the best we + // can do until we can make time sync more reliable. + result.SetRecieveTimestamp(units::microsecond_t(value.time) - + result.GetLatency()); + } + + return ret; +} + void PhotonCamera::SetDriverMode(bool driverMode) { driverModePublisher.Set(driverMode); } diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp index 5ecacba292..41e577eaa8 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp @@ -70,22 +70,6 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, frc::Transform3d robotToCamera) : aprilTags(tags), strategy(strat), - camera(nullptr), - m_robotToCamera(robotToCamera), - lastPose(frc::Pose3d()), - referencePose(frc::Pose3d()), - poseCacheTimestamp(-1_s) { - HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator, - InstanceCount); - InstanceCount++; -} - -PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, - PoseStrategy strat, PhotonCamera&& cam, - frc::Transform3d robotToCamera) - : aprilTags(tags), - strategy(strat), - camera(std::make_shared(std::move(cam))), m_robotToCamera(robotToCamera), lastPose(frc::Pose3d()), referencePose(frc::Pose3d()), @@ -110,25 +94,6 @@ void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { multiTagFallbackStrategy = strategy; } -std::optional PhotonPoseEstimator::Update() { - if (!camera) { - FRC_ReportError(frc::warn::Warning, "[PhotonPoseEstimator] Missing camera!", - ""); - return std::nullopt; - } - auto result = camera->GetLatestResult(); - return Update(result, camera->GetCameraMatrix(), camera->GetDistCoeffs()); -} - -std::optional PhotonPoseEstimator::Update( - const PhotonPipelineResult& result) { - // If camera is null, best we can do is pass null calibration data - if (!camera) { - return Update(result, std::nullopt, std::nullopt, this->strategy); - } - return Update(result, camera->GetCameraMatrix(), camera->GetDistCoeffs()); -} - std::optional PhotonPoseEstimator::Update( const PhotonPipelineResult& result, std::optional cameraMatrixData, @@ -181,11 +146,16 @@ std::optional PhotonPoseEstimator::Update( ret = AverageBestTargetsStrategy(result); break; case MULTI_TAG_PNP_ON_COPROCESSOR: - ret = - MultiTagOnCoprocStrategy(result, cameraMatrixData, cameraDistCoeffs); + ret = MultiTagOnCoprocStrategy(result); break; case MULTI_TAG_PNP_ON_RIO: - ret = MultiTagOnRioStrategy(result, cameraMatrixData, cameraDistCoeffs); + if (cameraMatrixData && cameraDistCoeffs) { + ret = MultiTagOnRioStrategy(result, cameraMatrixData, cameraDistCoeffs); + } else { + FRC_ReportError(frc::warn::Warning, + "No camera calibration provided to multi-tag-on-rio!", + ""); + } break; default: FRC_ReportError(frc::warn::Warning, "Invalid Pose Strategy selected!", @@ -378,9 +348,7 @@ frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { } std::optional PhotonPoseEstimator::MultiTagOnCoprocStrategy( - PhotonPipelineResult result, - std::optional camMat, - std::optional distCoeffs) { + PhotonPipelineResult result) { if (result.MultiTagResult().result.isPresent) { const auto field2camera = result.MultiTagResult().result.best; @@ -408,6 +376,10 @@ std::optional PhotonPoseEstimator::MultiTagOnRioStrategy( } if (!camMat || !distCoeffs) { + FRC_ReportError(frc::warn::Warning, + "No camera calibration data provided to " + "PhotonPoseEstimator::MultiTagOnRioStrategy!", + ""); return Update(result, std::nullopt, std::nullopt, this->multiTagFallbackStrategy); } diff --git a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp new file mode 100644 index 0000000000..381e99c9c1 --- /dev/null +++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp @@ -0,0 +1,392 @@ +/* + * 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. + */ + +#include "photon/simulation/PhotonCameraSim.h" + +#include +#include +#include +#include + +namespace photon { +PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera) + : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG()) {} +PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera, + const SimCameraProperties& props) + : prop(props), cam(camera) { + SetMinTargetAreaPixels(kDefaultMinAreaPx); + videoSimRaw = + frc::CameraServer::PutVideo(std::string{camera->GetCameraName()} + "-raw", + prop.GetResWidth(), prop.GetResHeight()); + videoSimRaw.SetPixelFormat(cs::VideoMode::PixelFormat::kGray); + videoSimProcessed = frc::CameraServer::PutVideo( + std::string{camera->GetCameraName()} + "-processed", prop.GetResWidth(), + prop.GetResHeight()); + ts.subTable = cam->GetCameraTable(); + ts.UpdateEntries(); +} +PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera, + const SimCameraProperties& props, + double minTargetAreaPercent, + units::meter_t maxSightRange) + : PhotonCameraSim(camera, props) { + this->minTargetAreaPercent = minTargetAreaPercent; + this->maxSightRange = maxSightRange; +} + +bool PhotonCameraSim::CanSeeTargetPose(const frc::Pose3d& camPose, + const VisionTargetSim& target) { + CameraTargetRelation rel{camPose, target.GetPose()}; + return ((units::math::abs(rel.camToTargYaw.Degrees()) < + prop.GetHorizFOV().Degrees() / 2.0) && + (units::math::abs(rel.camToTargPitch.Degrees()) < + prop.GetVertFOV().Degrees() / 2.0) && + (!target.GetModel().GetIsPlanar() || + units::math::abs(rel.targToCamAngle.Degrees()) < 90_deg) && + (rel.camToTarg.Translation().Norm() <= maxSightRange)); +} +bool PhotonCameraSim::CanSeeCorner(const std::vector& points) { + for (const auto& pt : points) { + if (std::clamp(pt.x, 0, prop.GetResWidth()) != pt.x || + std::clamp(pt.y, 0, prop.GetResHeight()) != pt.y) { + return false; + } + } + return true; +} +std::optional PhotonCameraSim::ConsumeNextEntryTime() { + uint64_t now = wpi::Now(); + uint64_t timestamp{}; + int iter = 0; + while (now >= nextNTEntryTime) { + timestamp = nextNTEntryTime; + uint64_t frameTime = prop.EstSecUntilNextFrame() + .convert() + .to(); + nextNTEntryTime += frameTime; + + if (iter++ > 50) { + timestamp = now; + nextNTEntryTime = now + frameTime; + break; + } + } + + if (timestamp != 0) { + return timestamp; + } else { + return std::nullopt; + } +} +PhotonPipelineResult PhotonCameraSim::Process( + units::second_t latency, const frc::Pose3d& cameraPose, + std::vector targets) { + std::sort(targets.begin(), targets.end(), + [cameraPose](const VisionTargetSim& t1, const VisionTargetSim& t2) { + units::meter_t dist1 = + t1.GetPose().Translation().Distance(cameraPose.Translation()); + units::meter_t dist2 = + t2.GetPose().Translation().Distance(cameraPose.Translation()); + return dist1 > dist2; + }); + + std::vector>> + visibleTgts{}; + std::vector detectableTgts{}; + RotTrlTransform3d camRt = RotTrlTransform3d::MakeRelativeTo(cameraPose); + + VideoSimUtil::UpdateVideoProp(videoSimRaw, prop); + VideoSimUtil::UpdateVideoProp(videoSimProcessed, prop); + cv::Size videoFrameSize{prop.GetResWidth(), prop.GetResHeight()}; + cv::Mat blankFrame = cv::Mat::zeros(videoFrameSize, CV_8UC1); + blankFrame.assignTo(videoSimFrameRaw); + + for (const auto& tgt : targets) { + if (!CanSeeTargetPose(cameraPose, tgt)) { + continue; + } + + std::vector fieldCorners = tgt.GetFieldVertices(); + if (tgt.GetModel().GetIsSpherical()) { + TargetModel model = tgt.GetModel(); + fieldCorners = model.GetFieldVertices(TargetModel::GetOrientedPose( + tgt.GetPose().Translation(), cameraPose.Translation())); + } + + std::vector imagePoints = OpenCVHelp::ProjectPoints( + prop.GetIntrinsics(), prop.GetDistCoeffs(), camRt, fieldCorners); + if (tgt.GetModel().GetIsSpherical()) { + cv::Point2d center = OpenCVHelp::AvgPoint(imagePoints); + int l = 0; + int t = 0; + int b = 0; + int r = 0; + for (int i = 0; i < 4; i++) { + if (imagePoints[i].x < imagePoints[l].x) { + l = i; + } + } + cv::Point2d lc = imagePoints[l]; + std::array angles{}; + t = (l + 1) % 4; + b = (l + 1) % 4; + for (int i = 0; i < 4; i++) { + if (i == l) { + continue; + } + cv::Point2d ic = imagePoints[i]; + angles[i] = std::atan2(lc.y - ic.y, ic.x - lc.x); + if (angles[i] >= angles[t]) { + t = i; + } + if (angles[i] <= angles[b]) { + b = i; + } + } + for (int i = 0; i < 4; i++) { + if (i != t && i != l && i != b) { + r = i; + } + } + cv::RotatedRect rect{ + cv::Point2d{center.x, center.y}, + cv::Size2d{imagePoints[r].x - lc.x, + imagePoints[b].y - imagePoints[t].y}, + units::radian_t{-angles[r]}.convert().to()}; + std::vector points{}; + rect.points(points); + + // Can't find an easier way to convert from Point2f to Point2d + imagePoints.clear(); + std::transform(points.begin(), points.end(), + std::back_inserter(imagePoints), + [](const cv::Point2f& p) { return (cv::Point2d)p; }); + } + + visibleTgts.emplace_back(std::make_pair(tgt, imagePoints)); + std::vector noisyTargetCorners = + prop.EstPixelNoise(imagePoints); + cv::RotatedRect minAreaRect = + OpenCVHelp::GetMinAreaRect(noisyTargetCorners); + std::vector minAreaRectPts; + minAreaRectPts.reserve(4); + minAreaRect.points(minAreaRectPts); + cv::Point2d centerPt = minAreaRect.center; + frc::Rotation3d centerRot = prop.GetPixelRot(centerPt); + double areaPercent = prop.GetContourAreaPercent(noisyTargetCorners); + + if (!(CanSeeCorner(noisyTargetCorners) && + areaPercent >= minTargetAreaPercent)) { + continue; + } + + PNPResult pnpSim{}; + if (tgt.fiducialId >= 0 && tgt.GetFieldVertices().size() == 4) { + pnpSim = OpenCVHelp::SolvePNP_Square( + prop.GetIntrinsics(), prop.GetDistCoeffs(), + tgt.GetModel().GetVertices(), noisyTargetCorners); + } + + std::vector> tempCorners = + OpenCVHelp::PointsToCorners(minAreaRectPts); + wpi::SmallVector, 4> smallVec; + + for (const auto& corner : tempCorners) { + smallVec.emplace_back(std::make_pair(static_cast(corner.first), + static_cast(corner.second))); + } + + std::vector> cornersFloat = + OpenCVHelp::PointsToCorners(noisyTargetCorners); + + std::vector> cornersDouble{cornersFloat.begin(), + cornersFloat.end()}; + detectableTgts.emplace_back( + -centerRot.Z().convert().to(), + -centerRot.Y().convert().to(), areaPercent, + centerRot.X().convert().to(), tgt.fiducialId, + tgt.objDetClassId, tgt.objDetConf, pnpSim.best, pnpSim.alt, + pnpSim.ambiguity, smallVec, cornersDouble); + } + + if (videoSimRawEnabled) { + if (videoSimWireframeEnabled) { + VideoSimUtil::DrawFieldWireFrame(camRt, prop, videoSimWireframeResolution, + 1.5, cv::Scalar{80}, 6, 1, + cv::Scalar{30}, videoSimFrameRaw); + } + + for (const auto& pair : visibleTgts) { + VisionTargetSim tgt = pair.first; + std::vector corners = pair.second; + + if (tgt.fiducialId > 0) { + VideoSimUtil::Warp165h5TagImage(tgt.fiducialId, corners, true, + videoSimFrameRaw); + } else if (!tgt.GetModel().GetIsSpherical()) { + std::vector contour = corners; + if (!tgt.GetModel().GetIsPlanar()) { + contour = OpenCVHelp::GetConvexHull(contour); + } + VideoSimUtil::DrawPoly(contour, -1, cv::Scalar{255}, true, + videoSimFrameRaw); + } else { + VideoSimUtil::DrawInscribedEllipse(corners, cv::Scalar{255}, + videoSimFrameRaw); + } + } + videoSimRaw.PutFrame(videoSimFrameRaw); + } else { + videoSimRaw.SetConnectionStrategy( + cs::VideoSource::ConnectionStrategy::kConnectionForceClose); + } + + if (videoSimProcEnabled) { + cv::cvtColor(videoSimFrameRaw, videoSimFrameProcessed, cv::COLOR_GRAY2BGR); + cv::drawMarker( + videoSimFrameProcessed, + cv::Point2d{prop.GetResWidth() / 2.0, prop.GetResHeight() / 2.0}, + cv::Scalar{0, 255, 0}, cv::MARKER_CROSS, + static_cast( + VideoSimUtil::GetScaledThickness(15, videoSimFrameProcessed)), + static_cast( + VideoSimUtil::GetScaledThickness(1, videoSimFrameProcessed)), + cv::LINE_AA); + for (const auto& tgt : detectableTgts) { + auto detectedCornersDouble = tgt.GetDetectedCorners(); + std::vector> detectedCornerFloat{ + detectedCornersDouble.begin(), detectedCornersDouble.end()}; + if (tgt.GetFiducialId() >= 0) { + VideoSimUtil::DrawTagDetection( + tgt.GetFiducialId(), + OpenCVHelp::CornersToPoints(detectedCornerFloat), + videoSimFrameProcessed); + } else { + cv::rectangle(videoSimFrameProcessed, + OpenCVHelp::GetBoundingRect( + OpenCVHelp::CornersToPoints(detectedCornerFloat)), + cv::Scalar{0, 0, 255}, + static_cast(VideoSimUtil::GetScaledThickness( + 1, videoSimFrameProcessed)), + cv::LINE_AA); + + wpi::SmallVector, 4> smallVec = + tgt.GetMinAreaRectCorners(); + + std::vector> cornersCopy{}; + cornersCopy.reserve(4); + + for (const auto& corner : smallVec) { + cornersCopy.emplace_back( + std::make_pair(static_cast(corner.first), + static_cast(corner.second))); + } + + VideoSimUtil::DrawPoly( + OpenCVHelp::CornersToPoints(cornersCopy), + static_cast( + VideoSimUtil::GetScaledThickness(1, videoSimFrameProcessed)), + cv::Scalar{255, 30, 30}, true, videoSimFrameProcessed); + } + } + videoSimProcessed.PutFrame(videoSimFrameProcessed); + } else { + videoSimProcessed.SetConnectionStrategy( + cs::VideoSource::ConnectionStrategy::kConnectionForceClose); + } + + MultiTargetPNPResult multiTagResults{}; + + std::vector visibleLayoutTags = + VisionEstimation::GetVisibleLayoutTags(detectableTgts, tagLayout); + if (visibleLayoutTags.size() > 1) { + wpi::SmallVector usedIds{}; + std::transform(visibleLayoutTags.begin(), visibleLayoutTags.end(), + usedIds.begin(), + [](const frc::AprilTag& tag) { return tag.ID; }); + std::sort(usedIds.begin(), usedIds.end()); + PNPResult pnpResult = VisionEstimation::EstimateCamPosePNP( + prop.GetIntrinsics(), prop.GetDistCoeffs(), detectableTgts, tagLayout, + kAprilTag36h11); + multiTagResults = MultiTargetPNPResult{pnpResult, usedIds}; + } + + heartbeatCounter++; + return PhotonPipelineResult{heartbeatCounter, 0_s, latency, detectableTgts, + multiTagResults}; +} +void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result) { + SubmitProcessedFrame(result, wpi::Now()); +} +void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result, + uint64_t recieveTimestamp) { + ts.latencyMillisEntry.Set( + result.GetLatency().convert().to(), + recieveTimestamp); + + Packet newPacket{}; + newPacket << result; + + ts.rawBytesEntry.Set(newPacket.GetData(), recieveTimestamp); + + bool hasTargets = result.HasTargets(); + ts.hasTargetEntry.Set(hasTargets, recieveTimestamp); + if (!hasTargets) { + ts.targetPitchEntry.Set(0.0, recieveTimestamp); + ts.targetYawEntry.Set(0.0, recieveTimestamp); + ts.targetAreaEntry.Set(0.0, recieveTimestamp); + std::array poseData{0.0, 0.0, 0.0}; + ts.targetPoseEntry.Set(poseData, recieveTimestamp); + ts.targetSkewEntry.Set(0.0, recieveTimestamp); + } else { + PhotonTrackedTarget bestTarget = result.GetBestTarget(); + + ts.targetPitchEntry.Set(bestTarget.GetPitch(), recieveTimestamp); + ts.targetYawEntry.Set(bestTarget.GetYaw(), recieveTimestamp); + ts.targetAreaEntry.Set(bestTarget.GetArea(), recieveTimestamp); + ts.targetSkewEntry.Set(bestTarget.GetSkew(), recieveTimestamp); + + frc::Transform3d transform = bestTarget.GetBestCameraToTarget(); + std::array poseData{ + transform.X().to(), transform.Y().to(), + transform.Rotation().ToRotation2d().Degrees().to()}; + ts.targetPoseEntry.Set(poseData, recieveTimestamp); + } + + auto intrinsics = prop.GetIntrinsics(); + std::vector intrinsicsView{intrinsics.data(), + intrinsics.data() + intrinsics.size()}; + ts.cameraIntrinsicsPublisher.Set(intrinsicsView, recieveTimestamp); + + auto distortion = prop.GetDistCoeffs(); + std::vector distortionView{distortion.data(), + distortion.data() + distortion.size()}; + ts.cameraDistortionPublisher.Set(distortionView, recieveTimestamp); + + ts.heartbeatPublisher.Set(heartbeatCounter, recieveTimestamp); + + ts.subTable->GetInstance().Flush(); +} + +} // namespace photon diff --git a/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp b/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp new file mode 100644 index 0000000000..1133a60891 --- /dev/null +++ b/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp @@ -0,0 +1,223 @@ +/* + * 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. + */ + +#include "photon/simulation/SimCameraProperties.h" + +#include +#include +#include + +using namespace photon; + +void SimCameraProperties::SetCalibration(int width, int height, + frc::Rotation2d fovDiag) { + if (fovDiag.Degrees() < 1_deg || fovDiag.Degrees() > 179_deg) { + fovDiag = frc::Rotation2d{ + std::clamp(fovDiag.Degrees(), 1_deg, 179_deg)}; + FRC_ReportError( + frc::err::Error, + "Requested invalid FOV! Clamping between (1, 179) degrees..."); + } + double resDiag = std::sqrt(width * width + height * height); + double diagRatio = units::math::tan(fovDiag.Radians() / 2.0); + frc::Rotation2d fovWidth{ + units::radian_t{std::atan(diagRatio * (width / resDiag)) * 2}}; + frc::Rotation2d fovHeight{ + units::radian_t{std::atan(diagRatio * (height / resDiag)) * 2}}; + + Eigen::Matrix newDistCoeffs = + Eigen::Matrix::Zero(); + + double cx = width / 2.0 - 0.5; + double cy = height / 2.0 - 0.5; + + double fx = cx / units::math::tan(fovWidth.Radians() / 2.0); + double fy = cy / units::math::tan(fovHeight.Radians() / 2.0); + + Eigen::Matrix newCamIntrinsics; + newCamIntrinsics << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0; + SetCalibration(width, height, newCamIntrinsics, newDistCoeffs); +} + +void SimCameraProperties::SetCalibration( + int width, int height, const Eigen::Matrix& newCamIntrinsics, + const Eigen::Matrix& newDistCoeffs) { + resWidth = width; + resHeight = height; + camIntrinsics = newCamIntrinsics; + distCoeffs = newDistCoeffs; + + std::array p{ + frc::Translation3d{1_m, frc::Rotation3d{0_rad, 0_rad, + (GetPixelYaw(0) + + frc::Rotation2d{units::radian_t{ + -std::numbers::pi / 2.0}}) + .Radians()}}, + frc::Translation3d{1_m, frc::Rotation3d{0_rad, 0_rad, + (GetPixelYaw(width) + + frc::Rotation2d{units::radian_t{ + std::numbers::pi / 2.0}}) + .Radians()}}, + frc::Translation3d{1_m, frc::Rotation3d{0_rad, + (GetPixelPitch(0) + + frc::Rotation2d{units::radian_t{ + std::numbers::pi / 2.0}}) + .Radians(), + 0_rad}}, + frc::Translation3d{1_m, frc::Rotation3d{0_rad, + (GetPixelPitch(height) + + frc::Rotation2d{units::radian_t{ + -std::numbers::pi / 2.0}}) + .Radians(), + 0_rad}}, + }; + viewplanes.clear(); + for (size_t i = 0; i < p.size(); i++) { + viewplanes.emplace_back(Eigen::Matrix{ + p[i].X().to(), p[i].Y().to(), p[i].Z().to()}); + } +} + +std::pair, std::optional> +SimCameraProperties::GetVisibleLine(const RotTrlTransform3d& camRt, + const frc::Translation3d& a, + const frc::Translation3d& b) const { + frc::Translation3d relA = camRt.Apply(a); + frc::Translation3d relB = camRt.Apply(b); + + if (relA.X() <= 0_m && relB.X() <= 0_m) { + return {std::nullopt, std::nullopt}; + } + + Eigen::Matrix av{relA.X().to(), relA.Y().to(), + relA.Z().to()}; + Eigen::Matrix bv{relB.X().to(), relB.Y().to(), + relB.Z().to()}; + Eigen::Matrix abv = bv - av; + + bool aVisible = true; + bool bVisible = true; + for (size_t i = 0; i < viewplanes.size(); i++) { + Eigen::Matrix normal = viewplanes[i]; + double aVisibility = av.dot(normal); + if (aVisibility < 0) { + aVisible = false; + } + double bVisibility = bv.dot(normal); + if (bVisibility < 0) { + bVisible = false; + } + if (aVisibility <= 0 && bVisibility <= 0) { + return {std::nullopt, std::nullopt}; + } + } + + if (aVisible && bVisible) { + return {0, 1}; + } + + std::array intersections{std::nan(""), std::nan(""), std::nan(""), + std::nan("")}; + std::vector>> ipts{ + {std::nullopt, std::nullopt, std::nullopt, std::nullopt}}; + + for (size_t i = 0; i < viewplanes.size(); i++) { + Eigen::Matrix normal = viewplanes[i]; + Eigen::Matrix a_projn{}; + a_projn = (av.dot(normal) / normal.dot(normal)) * normal; + + if (std::abs(abv.dot(normal)) < 1e-5) { + continue; + } + intersections[i] = a_projn.dot(a_projn) / -(abv.dot(a_projn)); + + Eigen::Matrix apv{}; + apv = intersections[i] * abv; + Eigen::Matrix intersectpt{}; + intersectpt = av + apv; + ipts[i] = intersectpt; + + for (size_t j = 1; j < viewplanes.size(); j++) { + int oi = (i + j) % viewplanes.size(); + Eigen::Matrix onormal = viewplanes[oi]; + if (intersectpt.dot(onormal) < 0) { + intersections[i] = std::nan(""); + ipts[i] = std::nullopt; + break; + } + } + + if (!ipts[i]) { + continue; + } + + for (int j = i - 1; j >= 0; j--) { + std::optional> oipt = ipts[j]; + if (!oipt) { + continue; + } + Eigen::Matrix diff{}; + diff = oipt.value() - intersectpt; + if (diff.cwiseAbs().maxCoeff() < 1e-4) { + intersections[i] = std::nan(""); + ipts[i] = std::nullopt; + break; + } + } + } + + double inter1 = std::nan(""); + double inter2 = std::nan(""); + for (double inter : intersections) { + if (!std::isnan(inter)) { + if (std::isnan(inter1)) { + inter1 = inter; + } else { + inter2 = inter; + } + } + } + + if (!std::isnan(inter2)) { + double max = std::max(inter1, inter2); + double min = std::min(inter1, inter2); + if (aVisible) { + min = 0; + } + if (bVisible) { + max = 1; + } + return {min, max}; + } else if (!std::isnan(inter1)) { + if (aVisible) { + return {0, inter1}; + } + if (bVisible) { + return {inter1, 1}; + } + return {inter1, std::nullopt}; + } else { + return {std::nullopt, std::nullopt}; + } +} diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h index cd1752ed0c..e1e5f35912 100644 --- a/photon-lib/src/main/native/include/photon/PhotonCamera.h +++ b/photon-lib/src/main/native/include/photon/PhotonCamera.h @@ -75,13 +75,20 @@ class PhotonCamera { PhotonCamera(PhotonCamera&&) = default; - virtual ~PhotonCamera() = default; + ~PhotonCamera() = default; /** - * Returns the latest pipeline result. - * @return The latest pipeline result. + * The list of pipeline results sent by PhotonVision since the last call to + * GetAllUnreadResults(). Calling this function clears the internal FIFO + * queue, and multiple calls to GetAllUnreadResults() will return different + * (potentially empty) result arrays. Be careful to call this exactly ONCE per + * loop of your robot code! FIFO depth is limited to 20 changes, so make sure + * to call this frequently enough to avoid old results being discarded, too! */ - virtual PhotonPipelineResult GetLatestResult(); + std::vector GetAllUnreadResults(); + + [[deprecated("Replace with GetAllUnreadResults")]] + PhotonPipelineResult GetLatestResult(); /** * Toggles driver mode. @@ -173,7 +180,7 @@ class PhotonCamera { // For use in tests bool test = false; - PhotonPipelineResult testResult; + std::vector testResult; protected: std::shared_ptr mainTable; @@ -201,8 +208,6 @@ class PhotonCamera { std::string path; std::string cameraName; - mutable Packet packet; - private: units::second_t lastVersionCheckTime = 0_s; static bool VERSION_CHECK_ENABLED; diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h index c9c36bd0d7..37e3822f3e 100644 --- a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h @@ -29,6 +29,7 @@ #include #include #include +#include #include "photon/PhotonCamera.h" #include "photon/dataflow/structures/Packet.h" @@ -37,10 +38,6 @@ #include "photon/targeting/PhotonPipelineResult.h" #include "photon/targeting/PhotonTrackedTarget.h" -namespace cv { -class Mat; -} // namespace cv - namespace photon { enum PoseStrategy { LOWEST_AMBIGUITY = 0, @@ -85,28 +82,6 @@ class PhotonPoseEstimator { /** * Create a new PhotonPoseEstimator. * - *

    Example: {@code

    Map map = new HashMap<>(); - *

    map.put(1, new Pose3d(1.0, 2.0, 3.0, new Rotation3d())); // Tag ID 1 is - * at (1.0,2.0,3.0) } - * - * @param aprilTags A AprilTagFieldLayout linking AprilTag IDs to Pose3ds with - * respect to the FIRST field. - * @param strategy The strategy it should use to determine the best pose. - * @param camera PhotonCameras and - * @param robotToCamera Transform3d from the center of the robot to the camera - * mount positions (ie, robot ➔ camera). - */ - explicit PhotonPoseEstimator(frc::AprilTagFieldLayout aprilTags, - PoseStrategy strategy, PhotonCamera&& camera, - frc::Transform3d robotToCamera); - - /** - * Create a new PhotonPoseEstimator. - * - *

    Example: {@code

    Map map = new HashMap<>(); - *

    map.put(1, new Pose3d(1.0, 2.0, 3.0, new Rotation3d())); // Tag ID 1 is - * at (1.0,2.0,3.0) } - * * @param aprilTags A AprilTagFieldLayout linking AprilTag IDs to Pose3ds with * respect to the FIRST field. * @param strategy The strategy it should use to determine the best pose. @@ -198,32 +173,26 @@ class PhotonPoseEstimator { inline void SetLastPose(frc::Pose3d lastPose) { this->lastPose = lastPose; } /** - * Update the pose estimator. Internally grabs a new PhotonPipelineResult from - * the camera and process it. - */ - std::optional Update(); - - /** - * Update the pose estimator. - */ - std::optional Update(const PhotonPipelineResult& result); - - /** - * Update the pose estimator. + * Update the pose estimator. If updating multiple times per loop, you should + * call this exactly once per new result, in order of increasing result + * timestamp. + * + * @param result The vision targeting result to process + * @param cameraIntrinsics The camera calibration pinhole coefficients matrix. + * Only required if doing multitag-on-rio, and may be nullopt otherwise. + * @param distCoeffsData The camera calibration distortion coefficients. Only + * required if doing multitag-on-rio, and may be nullopt otherwise. */ std::optional Update( const PhotonPipelineResult& result, - std::optional cameraMatrixData, - std::optional coeffsData); - - inline std::shared_ptr GetCamera() { return camera; } + std::optional cameraMatrixData = std::nullopt, + std::optional coeffsData = std::nullopt); private: frc::AprilTagFieldLayout aprilTags; PoseStrategy strategy; PoseStrategy multiTagFallbackStrategy = LOWEST_AMBIGUITY; - std::shared_ptr camera; frc::Transform3d m_robotToCamera; frc::Pose3d lastPose; @@ -280,9 +249,7 @@ class PhotonPoseEstimator { * @return the estimated position of the robot in the FCS */ std::optional MultiTagOnCoprocStrategy( - PhotonPipelineResult result, - std::optional camMat, - std::optional distCoeffs); + PhotonPipelineResult result); /** * Return the pose calculation using all targets in view in the same PNP() diff --git a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h index 84e585f1a3..fe2082b180 100644 --- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h +++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h @@ -49,382 +49,50 @@ namespace photon { class PhotonCameraSim { public: - explicit PhotonCameraSim(PhotonCamera* camera) - : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG()) {} - PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props) - : prop(props), cam(camera) { - SetMinTargetAreaPixels(kDefaultMinAreaPx); - videoSimRaw = frc::CameraServer::PutVideo( - std::string{camera->GetCameraName()} + "-raw", prop.GetResWidth(), - prop.GetResHeight()); - videoSimRaw.SetPixelFormat(cs::VideoMode::PixelFormat::kGray); - videoSimProcessed = frc::CameraServer::PutVideo( - std::string{camera->GetCameraName()} + "-processed", prop.GetResWidth(), - prop.GetResHeight()); - ts.subTable = cam->GetCameraTable(); - ts.UpdateEntries(); - } + explicit PhotonCameraSim(PhotonCamera* camera); + PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props); PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props, - double minTargetAreaPercent, units::meter_t maxSightRange) - : PhotonCameraSim(camera, props) { - this->minTargetAreaPercent = minTargetAreaPercent; - this->maxSightRange = maxSightRange; - } - PhotonCamera* GetCamera() { return cam; } - double GetMinTargetAreaPercent() { return minTargetAreaPercent; } - double GetMinTargetAreaPixels() { + double minTargetAreaPercent, units::meter_t maxSightRange); + + inline PhotonCamera* GetCamera() { return cam; } + inline double GetMinTargetAreaPercent() { return minTargetAreaPercent; } + inline double GetMinTargetAreaPixels() { return minTargetAreaPercent / 100.0 * prop.GetResArea(); } - units::meter_t GetMaxSightRange() { return maxSightRange; } - const cs::CvSource& GetVideoSimRaw() { return videoSimRaw; } - const cv::Mat& GetVideoSimFrameRaw() { return videoSimFrameRaw; } - bool CanSeeTargetPose(const frc::Pose3d& camPose, - const VisionTargetSim& target) { - CameraTargetRelation rel{camPose, target.GetPose()}; - return ((units::math::abs(rel.camToTargYaw.Degrees()) < - prop.GetHorizFOV().Degrees() / 2.0) && - (units::math::abs(rel.camToTargPitch.Degrees()) < - prop.GetVertFOV().Degrees() / 2.0) && - (!target.GetModel().GetIsPlanar() || - units::math::abs(rel.targToCamAngle.Degrees()) < 90_deg) && - (rel.camToTarg.Translation().Norm() <= maxSightRange)); - } - bool CanSeeCorner(const std::vector& points) { - for (const auto& pt : points) { - if (std::clamp(pt.x, 0, prop.GetResWidth()) != pt.x || - std::clamp(pt.y, 0, prop.GetResHeight()) != pt.y) { - return false; - } - } - return true; - } - std::optional ConsumeNextEntryTime() { - uint64_t now = wpi::Now(); - uint64_t timestamp{}; - int iter = 0; - while (now >= nextNTEntryTime) { - timestamp = nextNTEntryTime; - uint64_t frameTime = prop.EstSecUntilNextFrame() - .convert() - .to(); - nextNTEntryTime += frameTime; + inline units::meter_t GetMaxSightRange() { return maxSightRange; } + inline const cs::CvSource& GetVideoSimRaw() { return videoSimRaw; } + inline const cv::Mat& GetVideoSimFrameRaw() { return videoSimFrameRaw; } - if (iter++ > 50) { - timestamp = now; - nextNTEntryTime = now + frameTime; - break; - } - } + bool CanSeeTargetPose(const frc::Pose3d& camPose, + const VisionTargetSim& target); + bool CanSeeCorner(const std::vector& points); + std::optional ConsumeNextEntryTime(); - if (timestamp != 0) { - return timestamp; - } else { - return std::nullopt; - } - } - void SetMinTargetAreaPercent(double areaPercent) { + inline void SetMinTargetAreaPercent(double areaPercent) { minTargetAreaPercent = areaPercent; } - void SetMinTargetAreaPixels(double areaPx) { + inline void SetMinTargetAreaPixels(double areaPx) { minTargetAreaPercent = areaPx / prop.GetResArea() * 100; } - void SetMaxSightRange(units::meter_t range) { maxSightRange = range; } - void EnableRawStream(bool enabled) { videoSimRawEnabled = enabled; } - void EnableDrawWireframe(bool enabled) { videoSimWireframeEnabled = enabled; } - void SetWireframeResolution(double resolution) { + inline void SetMaxSightRange(units::meter_t range) { maxSightRange = range; } + inline void EnableRawStream(bool enabled) { videoSimRawEnabled = enabled; } + inline void EnableDrawWireframe(bool enabled) { + videoSimWireframeEnabled = enabled; + } + inline void SetWireframeResolution(double resolution) { videoSimWireframeResolution = resolution; } - void EnabledProcessedStream(double enabled) { videoSimProcEnabled = enabled; } + inline void EnabledProcessedStream(double enabled) { + videoSimProcEnabled = enabled; + } PhotonPipelineResult Process(units::second_t latency, const frc::Pose3d& cameraPose, - std::vector targets) { - std::sort( - targets.begin(), targets.end(), - [cameraPose](const VisionTargetSim& t1, const VisionTargetSim& t2) { - units::meter_t dist1 = - t1.GetPose().Translation().Distance(cameraPose.Translation()); - units::meter_t dist2 = - t2.GetPose().Translation().Distance(cameraPose.Translation()); - return dist1 > dist2; - }); - - std::vector>> - visibleTgts{}; - std::vector detectableTgts{}; - RotTrlTransform3d camRt = RotTrlTransform3d::MakeRelativeTo(cameraPose); - - VideoSimUtil::UpdateVideoProp(videoSimRaw, prop); - VideoSimUtil::UpdateVideoProp(videoSimProcessed, prop); - cv::Size videoFrameSize{prop.GetResWidth(), prop.GetResHeight()}; - cv::Mat blankFrame = cv::Mat::zeros(videoFrameSize, CV_8UC1); - blankFrame.assignTo(videoSimFrameRaw); - - for (const auto& tgt : targets) { - if (!CanSeeTargetPose(cameraPose, tgt)) { - continue; - } - - std::vector fieldCorners = tgt.GetFieldVertices(); - if (tgt.GetModel().GetIsSpherical()) { - TargetModel model = tgt.GetModel(); - fieldCorners = model.GetFieldVertices(TargetModel::GetOrientedPose( - tgt.GetPose().Translation(), cameraPose.Translation())); - } - - std::vector imagePoints = OpenCVHelp::ProjectPoints( - prop.GetIntrinsics(), prop.GetDistCoeffs(), camRt, fieldCorners); - if (tgt.GetModel().GetIsSpherical()) { - cv::Point2d center = OpenCVHelp::AvgPoint(imagePoints); - int l = 0; - int t = 0; - int b = 0; - int r = 0; - for (int i = 0; i < 4; i++) { - if (imagePoints[i].x < imagePoints[l].x) { - l = i; - } - } - cv::Point2d lc = imagePoints[l]; - std::array angles{}; - t = (l + 1) % 4; - b = (l + 1) % 4; - for (int i = 0; i < 4; i++) { - if (i == l) { - continue; - } - cv::Point2d ic = imagePoints[i]; - angles[i] = std::atan2(lc.y - ic.y, ic.x - lc.x); - if (angles[i] >= angles[t]) { - t = i; - } - if (angles[i] <= angles[b]) { - b = i; - } - } - for (int i = 0; i < 4; i++) { - if (i != t && i != l && i != b) { - r = i; - } - } - cv::RotatedRect rect{ - cv::Point2d{center.x, center.y}, - cv::Size2d{imagePoints[r].x - lc.x, - imagePoints[b].y - imagePoints[t].y}, - units::radian_t{-angles[r]}.convert().to()}; - std::vector points{}; - rect.points(points); - - // Can't find an easier way to convert from Point2f to Point2d - imagePoints.clear(); - std::transform(points.begin(), points.end(), - std::back_inserter(imagePoints), - [](const cv::Point2f& p) { return (cv::Point2d)p; }); - } - - visibleTgts.emplace_back(std::make_pair(tgt, imagePoints)); - std::vector noisyTargetCorners = - prop.EstPixelNoise(imagePoints); - cv::RotatedRect minAreaRect = - OpenCVHelp::GetMinAreaRect(noisyTargetCorners); - std::vector minAreaRectPts; - minAreaRectPts.reserve(4); - minAreaRect.points(minAreaRectPts); - cv::Point2d centerPt = minAreaRect.center; - frc::Rotation3d centerRot = prop.GetPixelRot(centerPt); - double areaPercent = prop.GetContourAreaPercent(noisyTargetCorners); - - if (!(CanSeeCorner(noisyTargetCorners) && - areaPercent >= minTargetAreaPercent)) { - continue; - } - - PNPResult pnpSim{}; - if (tgt.fiducialId >= 0 && tgt.GetFieldVertices().size() == 4) { - pnpSim = OpenCVHelp::SolvePNP_Square( - prop.GetIntrinsics(), prop.GetDistCoeffs(), - tgt.GetModel().GetVertices(), noisyTargetCorners); - } - - std::vector> tempCorners = - OpenCVHelp::PointsToCorners(minAreaRectPts); - wpi::SmallVector, 4> smallVec; - - for (const auto& corner : tempCorners) { - smallVec.emplace_back( - std::make_pair(static_cast(corner.first), - static_cast(corner.second))); - } - - std::vector> cornersFloat = - OpenCVHelp::PointsToCorners(noisyTargetCorners); + std::vector targets); - std::vector> cornersDouble{cornersFloat.begin(), - cornersFloat.end()}; - detectableTgts.emplace_back(PhotonTrackedTarget{ - -centerRot.Z().convert().to(), - -centerRot.Y().convert().to(), areaPercent, - centerRot.X().convert().to(), tgt.fiducialId, - -1, -1, pnpSim.best, pnpSim.alt, pnpSim.ambiguity, smallVec, - cornersDouble}); - } - - if (videoSimRawEnabled) { - if (videoSimWireframeEnabled) { - VideoSimUtil::DrawFieldWireFrame( - camRt, prop, videoSimWireframeResolution, 1.5, cv::Scalar{80}, 6, 1, - cv::Scalar{30}, videoSimFrameRaw); - } - - for (const auto& pair : visibleTgts) { - VisionTargetSim tgt = pair.first; - std::vector corners = pair.second; - - if (tgt.fiducialId > 0) { - VideoSimUtil::Warp165h5TagImage(tgt.fiducialId, corners, true, - videoSimFrameRaw); - } else if (!tgt.GetModel().GetIsSpherical()) { - std::vector contour = corners; - if (!tgt.GetModel().GetIsPlanar()) { - contour = OpenCVHelp::GetConvexHull(contour); - } - VideoSimUtil::DrawPoly(contour, -1, cv::Scalar{255}, true, - videoSimFrameRaw); - } else { - VideoSimUtil::DrawInscribedEllipse(corners, cv::Scalar{255}, - videoSimFrameRaw); - } - } - videoSimRaw.PutFrame(videoSimFrameRaw); - } else { - videoSimRaw.SetConnectionStrategy( - cs::VideoSource::ConnectionStrategy::kConnectionForceClose); - } - - if (videoSimProcEnabled) { - cv::cvtColor(videoSimFrameRaw, videoSimFrameProcessed, - cv::COLOR_GRAY2BGR); - cv::drawMarker( - videoSimFrameProcessed, - cv::Point2d{prop.GetResWidth() / 2.0, prop.GetResHeight() / 2.0}, - cv::Scalar{0, 255, 0}, cv::MARKER_CROSS, - static_cast( - VideoSimUtil::GetScaledThickness(15, videoSimFrameProcessed)), - static_cast( - VideoSimUtil::GetScaledThickness(1, videoSimFrameProcessed)), - cv::LINE_AA); - for (const auto& tgt : detectableTgts) { - auto detectedCornersDouble = tgt.GetDetectedCorners(); - std::vector> detectedCornerFloat{ - detectedCornersDouble.begin(), detectedCornersDouble.end()}; - if (tgt.GetFiducialId() >= 0) { - VideoSimUtil::DrawTagDetection( - tgt.GetFiducialId(), - OpenCVHelp::CornersToPoints(detectedCornerFloat), - videoSimFrameProcessed); - } else { - cv::rectangle(videoSimFrameProcessed, - OpenCVHelp::GetBoundingRect( - OpenCVHelp::CornersToPoints(detectedCornerFloat)), - cv::Scalar{0, 0, 255}, - static_cast(VideoSimUtil::GetScaledThickness( - 1, videoSimFrameProcessed)), - cv::LINE_AA); - - wpi::SmallVector, 4> smallVec = - tgt.GetMinAreaRectCorners(); - - std::vector> cornersCopy{}; - cornersCopy.reserve(4); - - for (const auto& corner : smallVec) { - cornersCopy.emplace_back( - std::make_pair(static_cast(corner.first), - static_cast(corner.second))); - } - - VideoSimUtil::DrawPoly( - OpenCVHelp::CornersToPoints(cornersCopy), - static_cast( - VideoSimUtil::GetScaledThickness(1, videoSimFrameProcessed)), - cv::Scalar{255, 30, 30}, true, videoSimFrameProcessed); - } - } - videoSimProcessed.PutFrame(videoSimFrameProcessed); - } else { - videoSimProcessed.SetConnectionStrategy( - cs::VideoSource::ConnectionStrategy::kConnectionForceClose); - } - - MultiTargetPNPResult multiTagResults{}; - - std::vector visibleLayoutTags = - VisionEstimation::GetVisibleLayoutTags(detectableTgts, tagLayout); - if (visibleLayoutTags.size() > 1) { - wpi::SmallVector usedIds{}; - std::transform(visibleLayoutTags.begin(), visibleLayoutTags.end(), - usedIds.begin(), - [](const frc::AprilTag& tag) { return tag.ID; }); - std::sort(usedIds.begin(), usedIds.end()); - PNPResult pnpResult = VisionEstimation::EstimateCamPosePNP( - prop.GetIntrinsics(), prop.GetDistCoeffs(), detectableTgts, tagLayout, - kAprilTag36h11); - multiTagResults = MultiTargetPNPResult{pnpResult, usedIds}; - } - - units::second_t now = frc::Timer::GetFPGATimestamp(); - - return PhotonPipelineResult{heartbeatCounter, now - latency, now, - detectableTgts, multiTagResults}; - } - void SubmitProcessedFrame(const PhotonPipelineResult& result) { - SubmitProcessedFrame(result, wpi::Now()); - } + void SubmitProcessedFrame(const PhotonPipelineResult& result); void SubmitProcessedFrame(const PhotonPipelineResult& result, - uint64_t recieveTimestamp) { - ts.latencyMillisEntry.Set( - result.GetLatency().convert().to(), - recieveTimestamp); - - Packet newPacket{}; - newPacket << result; - ts.rawBytesEntry.Set(newPacket.GetData(), recieveTimestamp); - - bool hasTargets = result.HasTargets(); - ts.hasTargetEntry.Set(hasTargets, recieveTimestamp); - if (!hasTargets) { - ts.targetPitchEntry.Set(0.0, recieveTimestamp); - ts.targetYawEntry.Set(0.0, recieveTimestamp); - ts.targetAreaEntry.Set(0.0, recieveTimestamp); - std::array poseData{0.0, 0.0, 0.0}; - ts.targetPoseEntry.Set(poseData, recieveTimestamp); - ts.targetSkewEntry.Set(0.0, recieveTimestamp); - } else { - PhotonTrackedTarget bestTarget = result.GetBestTarget(); + uint64_t recieveTimestamp); - ts.targetPitchEntry.Set(bestTarget.GetPitch(), recieveTimestamp); - ts.targetYawEntry.Set(bestTarget.GetYaw(), recieveTimestamp); - ts.targetAreaEntry.Set(bestTarget.GetArea(), recieveTimestamp); - ts.targetSkewEntry.Set(bestTarget.GetSkew(), recieveTimestamp); - - frc::Transform3d transform = bestTarget.GetBestCameraToTarget(); - std::array poseData{ - transform.X().to(), transform.Y().to(), - transform.Rotation().ToRotation2d().Degrees().to()}; - ts.targetPoseEntry.Set(poseData, recieveTimestamp); - } - - auto intrinsics = prop.GetIntrinsics(); - std::vector intrinsicsView{intrinsics.data(), - intrinsics.data() + intrinsics.size()}; - ts.cameraIntrinsicsPublisher.Set(intrinsicsView, recieveTimestamp); - - auto distortion = prop.GetDistCoeffs(); - std::vector distortionView{distortion.data(), - distortion.data() + distortion.size()}; - ts.cameraDistortionPublisher.Set(distortionView, recieveTimestamp); - - ts.heartbeatPublisher.Set(heartbeatCounter++, recieveTimestamp); - } SimCameraProperties prop; private: diff --git a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h index e673154061..701d466455 100644 --- a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h +++ b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h @@ -45,77 +45,11 @@ class SimCameraProperties { public: SimCameraProperties() { SetCalibration(960, 720, frc::Rotation2d{90_deg}); } SimCameraProperties(std::string path, int width, int height) {} - void SetCalibration(int width, int height, frc::Rotation2d fovDiag) { - if (fovDiag.Degrees() < 1_deg || fovDiag.Degrees() > 179_deg) { - fovDiag = frc::Rotation2d{ - std::clamp(fovDiag.Degrees(), 1_deg, 179_deg)}; - FRC_ReportError( - frc::err::Error, - "Requested invalid FOV! Clamping between (1, 179) degrees..."); - } - double resDiag = std::sqrt(width * width + height * height); - double diagRatio = units::math::tan(fovDiag.Radians() / 2.0); - frc::Rotation2d fovWidth{ - units::radian_t{std::atan(diagRatio * (width / resDiag)) * 2}}; - frc::Rotation2d fovHeight{ - units::radian_t{std::atan(diagRatio * (height / resDiag)) * 2}}; - - Eigen::Matrix newDistCoeffs = - Eigen::Matrix::Zero(); - - double cx = width / 2.0 - 0.5; - double cy = height / 2.0 - 0.5; - - double fx = cx / units::math::tan(fovWidth.Radians() / 2.0); - double fy = cy / units::math::tan(fovHeight.Radians() / 2.0); - - Eigen::Matrix newCamIntrinsics; - newCamIntrinsics << fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0; - SetCalibration(width, height, newCamIntrinsics, newDistCoeffs); - } + void SetCalibration(int width, int height, frc::Rotation2d fovDiag); void SetCalibration(int width, int height, const Eigen::Matrix& newCamIntrinsics, - const Eigen::Matrix& newDistCoeffs) { - resWidth = width; - resHeight = height; - camIntrinsics = newCamIntrinsics; - distCoeffs = newDistCoeffs; - - std::array p{ - frc::Translation3d{ - 1_m, - frc::Rotation3d{0_rad, 0_rad, - (GetPixelYaw(0) + frc::Rotation2d{units::radian_t{ - -std::numbers::pi / 2.0}}) - .Radians()}}, - frc::Translation3d{ - 1_m, frc::Rotation3d{0_rad, 0_rad, - (GetPixelYaw(width) + - frc::Rotation2d{ - units::radian_t{std::numbers::pi / 2.0}}) - .Radians()}}, - frc::Translation3d{ - 1_m, - frc::Rotation3d{0_rad, - (GetPixelPitch(0) + frc::Rotation2d{units::radian_t{ - std::numbers::pi / 2.0}}) - .Radians(), - 0_rad}}, - frc::Translation3d{ - 1_m, frc::Rotation3d{0_rad, - (GetPixelPitch(height) + - frc::Rotation2d{ - units::radian_t{-std::numbers::pi / 2.0}}) - .Radians(), - 0_rad}}, - }; - viewplanes.clear(); - for (size_t i = 0; i < p.size(); i++) { - viewplanes.emplace_back(Eigen::Matrix{ - p[i].X().to(), p[i].Y().to(), p[i].Z().to()}); - } - } + const Eigen::Matrix& newDistCoeffs); void SetCalibError(double newAvgErrorPx, double newErrorStdDevPx) { avgErrorPx = newAvgErrorPx; @@ -220,125 +154,7 @@ class SimCameraProperties { std::pair, std::optional> GetVisibleLine( const RotTrlTransform3d& camRt, const frc::Translation3d& a, - const frc::Translation3d& b) const { - frc::Translation3d relA = camRt.Apply(a); - frc::Translation3d relB = camRt.Apply(b); - - if (relA.X() <= 0_m && relB.X() <= 0_m) { - return {std::nullopt, std::nullopt}; - } - - Eigen::Matrix av{relA.X().to(), relA.Y().to(), - relA.Z().to()}; - Eigen::Matrix bv{relB.X().to(), relB.Y().to(), - relB.Z().to()}; - Eigen::Matrix abv = bv - av; - - bool aVisible = true; - bool bVisible = true; - for (size_t i = 0; i < viewplanes.size(); i++) { - Eigen::Matrix normal = viewplanes[i]; - double aVisibility = av.dot(normal); - if (aVisibility < 0) { - aVisible = false; - } - double bVisibility = bv.dot(normal); - if (bVisibility < 0) { - bVisible = false; - } - if (aVisibility <= 0 && bVisibility <= 0) { - return {std::nullopt, std::nullopt}; - } - } - - if (aVisible && bVisible) { - return {0, 1}; - } - - std::array intersections{std::nan(""), std::nan(""), - std::nan(""), std::nan("")}; - std::vector>> ipts{ - {std::nullopt, std::nullopt, std::nullopt, std::nullopt}}; - - for (size_t i = 0; i < viewplanes.size(); i++) { - Eigen::Matrix normal = viewplanes[i]; - Eigen::Matrix a_projn{}; - a_projn = (av.dot(normal) / normal.dot(normal)) * normal; - - if (std::abs(abv.dot(normal)) < 1e-5) { - continue; - } - intersections[i] = a_projn.dot(a_projn) / -(abv.dot(a_projn)); - - Eigen::Matrix apv{}; - apv = intersections[i] * abv; - Eigen::Matrix intersectpt{}; - intersectpt = av + apv; - ipts[i] = intersectpt; - - for (size_t j = 1; j < viewplanes.size(); j++) { - int oi = (i + j) % viewplanes.size(); - Eigen::Matrix onormal = viewplanes[oi]; - if (intersectpt.dot(onormal) < 0) { - intersections[i] = std::nan(""); - ipts[i] = std::nullopt; - break; - } - } - - if (!ipts[i]) { - continue; - } - - for (int j = i - 1; j >= 0; j--) { - std::optional> oipt = ipts[j]; - if (!oipt) { - continue; - } - Eigen::Matrix diff{}; - diff = oipt.value() - intersectpt; - if (diff.cwiseAbs().maxCoeff() < 1e-4) { - intersections[i] = std::nan(""); - ipts[i] = std::nullopt; - break; - } - } - } - - double inter1 = std::nan(""); - double inter2 = std::nan(""); - for (double inter : intersections) { - if (!std::isnan(inter)) { - if (std::isnan(inter1)) { - inter1 = inter; - } else { - inter2 = inter; - } - } - } - - if (!std::isnan(inter2)) { - double max = std::max(inter1, inter2); - double min = std::min(inter1, inter2); - if (aVisible) { - min = 0; - } - if (bVisible) { - max = 1; - } - return {min, max}; - } else if (!std::isnan(inter1)) { - if (aVisible) { - return {0, inter1}; - } - if (bVisible) { - return {inter1, 1}; - } - return {inter1, std::nullopt}; - } else { - return {std::nullopt, std::nullopt}; - } - } + const frc::Translation3d& b) const; std::vector EstPixelNoise( const std::vector& points) { diff --git a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h deleted file mode 100644 index c6f2e8adfc..0000000000 --- a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h +++ /dev/null @@ -1,137 +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. - */ - -#pragma once - -#include -#include -#include -#include -#include - -#include - -#include "photon/PhotonCamera.h" -#include "photon/PhotonTargetSortMode.h" -#include "photon/dataflow/structures/Packet.h" -#include "photon/targeting/MultiTargetPNPResult.h" -#include "photon/targeting/PNPResult.h" -#include "photon/targeting/PhotonPipelineResult.h" -#include "photon/targeting/PhotonTrackedTarget.h" - -namespace photon { -class SimPhotonCamera : public PhotonCamera { - public: - SimPhotonCamera(nt::NetworkTableInstance instance, - const std::string& cameraName) - : PhotonCamera(instance, cameraName) { - latencyMillisEntry = rootTable->GetEntry("latencyMillis"); - hasTargetEntry = rootTable->GetEntry("hasTargetEntry"); - targetPitchEntry = rootTable->GetEntry("targetPitchEntry"); - targetYawEntry = rootTable->GetEntry("targetYawEntry"); - targetAreaEntry = rootTable->GetEntry("targetAreaEntry"); - targetSkewEntry = rootTable->GetEntry("targetSkewEntry"); - targetPoseEntry = rootTable->GetEntry("targetPoseEntry"); - rawBytesPublisher = rootTable->GetRawTopic("rawBytes").Publish("rawBytes"); - versionEntry = instance.GetTable("photonvision")->GetEntry("version"); - // versionEntry.SetString(PhotonVersion.versionString); - } - - explicit SimPhotonCamera(const std::string& cameraName) - : SimPhotonCamera(nt::NetworkTableInstance::GetDefault(), cameraName) {} - - virtual ~SimPhotonCamera() = default; - - /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latency Latency of the provided frame - * @param targetList List of targets detected - */ - void SubmitProcessedFrame(units::millisecond_t latency, - std::vector targetList) { - SubmitProcessedFrame(latency, PhotonTargetSortMode::LeftMost(), targetList); - } - - /** - * Simulate one processed frame of vision data, putting one result to NT. - * - * @param latency Latency of the provided frame - * @param sortMode Order in which to sort targets - * @param targetList List of targets detected - */ - void SubmitProcessedFrame( - units::millisecond_t latency, - std::function - sortMode, - std::vector targetList) { - latencyMillisEntry.SetDouble(latency.to()); - std::sort(targetList.begin(), targetList.end(), - [&](auto lhs, auto rhs) { return sortMode(lhs, rhs); }); - PhotonPipelineResult newResult{0, 0_s, latency, targetList}; - Packet packet{}; - packet << newResult; - - rawBytesPublisher.Set( - std::span{packet.GetData().data(), packet.GetDataSize()}); - - bool hasTargets = newResult.HasTargets(); - hasTargetEntry.SetBoolean(hasTargets); - if (!hasTargets) { - targetPitchEntry.SetDouble(0.0); - targetYawEntry.SetDouble(0.0); - targetAreaEntry.SetDouble(0.0); - targetPoseEntry.SetDoubleArray( - std::vector{0.0, 0.0, 0.0, 0, 0, 0, 0}); - targetSkewEntry.SetDouble(0.0); - } else { - PhotonTrackedTarget bestTarget = newResult.GetBestTarget(); - targetPitchEntry.SetDouble(bestTarget.GetPitch()); - targetYawEntry.SetDouble(bestTarget.GetYaw()); - targetAreaEntry.SetDouble(bestTarget.GetArea()); - targetSkewEntry.SetDouble(bestTarget.GetSkew()); - - frc::Transform3d transform = bestTarget.GetBestCameraToTarget(); - targetPoseEntry.SetDoubleArray(std::vector{ - transform.X().to(), transform.Y().to(), - transform.Z().to(), transform.Rotation().GetQuaternion().W(), - transform.Rotation().GetQuaternion().X(), - transform.Rotation().GetQuaternion().Y(), - transform.Rotation().GetQuaternion().Z()}); - } - } - - private: - nt::NetworkTableEntry latencyMillisEntry; - nt::NetworkTableEntry hasTargetEntry; - nt::NetworkTableEntry targetPitchEntry; - nt::NetworkTableEntry targetYawEntry; - nt::NetworkTableEntry targetAreaEntry; - nt::NetworkTableEntry targetSkewEntry; - nt::NetworkTableEntry targetPoseEntry; - nt::NetworkTableEntry versionEntry; - nt::RawPublisher rawBytesPublisher; -}; -} // namespace photon diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h deleted file mode 100644 index 3cd55b707c..0000000000 --- a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h +++ /dev/null @@ -1,228 +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. - */ - -#pragma once - -#include -#include - -#include -#include -#include -#include - -#include "SimPhotonCamera.h" -#include "SimVisionTarget.h" -#include "photon/dataflow/structures/Packet.h" -#include "photon/targeting/MultiTargetPNPResult.h" -#include "photon/targeting/PNPResult.h" -#include "photon/targeting/PhotonPipelineResult.h" -#include "photon/targeting/PhotonTrackedTarget.h" - -namespace photon { -class SimVisionSystem { - public: - SimPhotonCamera cam; - units::radian_t camHorizFOV{0}; - units::radian_t camVertFOV{0}; - units::meter_t maxLEDRange{0}; - int cameraResWidth{0}; - int cameraResHeight{0}; - double minTargetArea{0.0}; - frc::Transform3d cameraToRobot; - - frc::Field2d dbgField; - frc::FieldObject2d* dbgRobot; - frc::FieldObject2d* dbgCamera; - - std::vector targetList; - - /** - * Create a simulated vision system involving a camera and coprocessor mounted - * on a mobile robot running PhotonVision, detecting one or more targets - * scattered around the field. This assumes a fairly simple and - * distortion-less pinhole camera model. - * - * @param camName Name of the PhotonVision camera to create. Align it with the - * settings you use in the PhotonVision GUI. - * @param camDiagFOV Diagonal Field of View of the camera used. Align it with - * the manufacturer specifications, and/or whatever is configured in the - * PhotonVision Setting page. - * @param cameraToRobot Transform to move from the camera's mount position to - * the robot's position - * @param maxLEDRange Maximum distance at which your camera can illuminate the - * target and make it visible. Set to 9000 or more if your vision system does - * not rely on LED's. - * @param cameraResWidth Width of your camera's image sensor in pixels - * @param cameraResHeight Height of your camera's image sensor in pixels - * @param minTargetArea Minimum area that that the target should be before - * it's recognized as a target by the camera. Match this with your contour - * filtering settings in the PhotonVision GUI. - */ - SimVisionSystem(std::string camName, units::degree_t camDiagFOV, - frc::Transform3d cameraToRobot, units::meter_t maxLEDRange, - int cameraResWidth, int cameraResHeight, double minTargetArea) - : cam(camName), - camHorizFOV((camDiagFOV * cameraResWidth) / - std::hypot(cameraResWidth, cameraResHeight)), - camVertFOV((camDiagFOV * cameraResHeight) / - std::hypot(cameraResWidth, cameraResHeight)), - maxLEDRange(maxLEDRange), - cameraResWidth(cameraResWidth), - cameraResHeight(cameraResHeight), - minTargetArea(minTargetArea), - cameraToRobot(cameraToRobot), - dbgField(), - dbgRobot(dbgField.GetRobotObject()), - dbgCamera(dbgField.GetObject(camName + " Camera")) { - frc::SmartDashboard::PutData(camName + " Sim Field", &dbgField); - } - - /** - * Add a target on the field which your vision system is designed to detect. - * The PhotonCamera from this system will report the location of the robot - * relative to the subset of these targets which are visible from the given - * robot position. - * - * @param target Target to add to the simulated field - */ - void AddSimVisionTarget(SimVisionTarget target) { - targetList.push_back(target); - dbgField.GetObject("Target " + std::to_string(target.targetId)) - ->SetPose(target.targetPose.ToPose2d()); - } - - /** - * Clears all sim vision targets. - * This is useful for switching alliances and needing to repopulate the sim - * targets. NOTE: Old targets will still show on the Field2d unless - * overwritten by new targets with the same ID - */ - void ClearVisionTargets() { targetList.clear(); } - - /** - * Adjust the camera position relative to the robot. Use this if your camera - * is on a gimbal or turret or some other mobile platform. - * - * @param newCameraToRobot New Transform from the robot to the camera - */ - void MoveCamera(frc::Transform3d newCameraToRobot) { - cameraToRobot = newCameraToRobot; - } - - /** - * Periodic update. Call this once per frame of image data you wish to process - * and send to NetworkTables - * - * @param robotPose current pose of the robot on the field. Will be used to - * calculate which targets are actually in view, where they are at relative to - * the robot, and relevant PhotonVision parameters. - */ - void ProcessFrame(frc::Pose2d robotPose) { - ProcessFrame(frc::Pose3d{ - robotPose.X(), robotPose.Y(), 0.0_m, - frc::Rotation3d{0_rad, 0_rad, robotPose.Rotation().Radians()}}); - } - - /** - * Periodic update. Call this once per frame of image data you wish to process - * and send to NetworkTables - * - * @param robotPose current pose of the robot in space. Will be used to - * calculate which targets are actually in view, where they are at relative to - * the robot, and relevant PhotonVision parameters. - */ - void ProcessFrame(frc::Pose3d robotPose) { - frc::Pose3d cameraPose = robotPose.TransformBy(cameraToRobot.Inverse()); - dbgRobot->SetPose(robotPose.ToPose2d()); - dbgCamera->SetPose(cameraPose.ToPose2d()); - - std::vector visibleTargetList{}; - - for (const auto& target : targetList) { - frc::Transform3d camToTargetTransform{cameraPose, target.targetPose}; - frc::Translation3d camToTargetTranslation{ - camToTargetTransform.Translation()}; - - frc::Translation3d altTranslation{camToTargetTranslation.X(), - -1.0 * camToTargetTranslation.Y(), - camToTargetTranslation.Z()}; - frc::Rotation3d altRotation{camToTargetTransform.Rotation() * -1.0}; - frc::Transform3d camToTargetAltTransform{altTranslation, altRotation}; - units::meter_t dist{camToTargetTranslation.Norm()}; - double areaPixels{target.targetArea / GetM2PerPx(dist)}; - units::radian_t yaw{units::math::atan2(camToTargetTranslation.Y(), - camToTargetTranslation.X())}; - units::meter_t cameraHeightOffGround{cameraPose.Z()}; - units::meter_t targetHeightAboveGround(target.targetPose.Z()); - units::radian_t camPitch{cameraPose.Rotation().Y()}; - frc::Transform2d transformAlongGround{cameraPose.ToPose2d(), - target.targetPose.ToPose2d()}; - units::meter_t distanceAlongGround{ - transformAlongGround.Translation().Norm()}; - units::radian_t pitch = - units::math::atan2(targetHeightAboveGround - cameraHeightOffGround, - distanceAlongGround) - - camPitch; - - if (CamCamSeeTarget(dist, yaw, pitch, areaPixels)) { - visibleTargetList.push_back( - PhotonTrackedTarget{yaw.convert().to(), - pitch.convert().to(), - areaPixels, - 0.0, - target.targetId, - -1, - -1, - camToTargetTransform, - // TODO sim alternate pose - camToTargetTransform, - // TODO ambiguity - 0.0, - {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, - {{0, 0}, {0, 0}, {0, 0}, {0, 0}}}); - } - - cam.SubmitProcessedFrame(0_s, visibleTargetList); - } - } - - units::square_meter_t GetM2PerPx(units::meter_t dist) { - units::meter_t widthMPerPx = - 2 * dist * units::math::tan(camHorizFOV / 2) / cameraResWidth; - units::meter_t heightMPerPx = - 2 * dist * units::math::tan(camVertFOV / 2) / cameraResHeight; - return widthMPerPx * heightMPerPx; - } - - bool CamCamSeeTarget(units::meter_t dist, units::radian_t yaw, - units::radian_t pitch, double area) { - bool inRange = dist < maxLEDRange; - bool inHorizAngle = units::math::abs(yaw) < camHorizFOV / 2; - bool inVertAngle = units::math::abs(pitch) < camVertFOV / 2; - bool targetBigEnough = area > minTargetArea; - return (inRange && inHorizAngle && inVertAngle && targetBigEnough); - } -}; -} // namespace photon diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h deleted file mode 100644 index 33a9adfee4..0000000000 --- a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h +++ /dev/null @@ -1,65 +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. - */ - -#pragma once - -#include -#include - -#include "photon/dataflow/structures/Packet.h" -#include "photon/targeting/MultiTargetPNPResult.h" -#include "photon/targeting/PNPResult.h" -#include "photon/targeting/PhotonPipelineResult.h" -#include "photon/targeting/PhotonTrackedTarget.h" - -namespace photon { -class SimVisionTarget { - public: - SimVisionTarget() = default; - - /** - * Describes a vision target located somewhere on the field that your - * SimVisionSystem can detect. - * - * @param targetPose Pose3d of the target in field-relative coordinates - * @param targetWidth Width of the outer bounding box of the target. - * @param targetHeight Pair Height of the outer bounding box of the - * target. - * @param targetId Id of the target - */ - SimVisionTarget(frc::Pose3d targetPose, units::meter_t targetWidth, - units::meter_t targetHeight, int targetId) - : targetPose(targetPose), - targetWidth(targetWidth), - targetHeight(targetHeight), - targetArea(targetHeight * targetWidth), - targetId(targetId) {} - - frc::Pose3d targetPose; - units::meter_t targetWidth; - units::meter_t targetHeight; - units::square_meter_t targetArea; - int targetId; -}; -} // namespace photon diff --git a/photon-lib/src/main/native/include/photon/simulation/VisionTargetSim.h b/photon-lib/src/main/native/include/photon/simulation/VisionTargetSim.h index f8d4d6676b..a0d04ab789 100644 --- a/photon-lib/src/main/native/include/photon/simulation/VisionTargetSim.h +++ b/photon-lib/src/main/native/include/photon/simulation/VisionTargetSim.h @@ -46,6 +46,9 @@ class VisionTargetSim { } int fiducialId; + int objDetClassId = -1; + float objDetConf = -1; + bool operator<(const VisionTargetSim& right) const { return pose.Translation().Norm() < right.pose.Translation().Norm(); } diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java index d80595fc3d..28c6392cae 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java @@ -133,10 +133,9 @@ void testLowestAmbiguityStrategy() { cameraOne.result.setRecieveTimestampMicros((long) (11 * 1e6)); PhotonPoseEstimator estimator = - new PhotonPoseEstimator( - aprilTags, PoseStrategy.LOWEST_AMBIGUITY, cameraOne, new Transform3d()); + new PhotonPoseEstimator(aprilTags, PoseStrategy.LOWEST_AMBIGUITY, new Transform3d()); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); Pose3d pose = estimatedPose.get().estimatedPose; assertEquals(11, estimatedPose.get().timestampSeconds); @@ -224,10 +223,9 @@ void testClosestToCameraHeightStrategy() { new PhotonPoseEstimator( aprilTags, PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT, - cameraOne, new Transform3d(new Translation3d(0, 0, 4), new Rotation3d())); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); Pose3d pose = estimatedPose.get().estimatedPose; assertEquals(4, estimatedPose.get().timestampSeconds); @@ -314,11 +312,10 @@ void closestToReferencePoseStrategy() { new PhotonPoseEstimator( aprilTags, PoseStrategy.CLOSEST_TO_REFERENCE_POSE, - cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())); estimator.setReferencePose(new Pose3d(1, 1, 1, new Rotation3d())); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); Pose3d pose = estimatedPose.get().estimatedPose; assertEquals(17, estimatedPose.get().timestampSeconds); @@ -405,12 +402,11 @@ void closestToLastPose() { new PhotonPoseEstimator( aprilTags, PoseStrategy.CLOSEST_TO_LAST_POSE, - cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())); estimator.setLastPose(new Pose3d(1, 1, 1, new Rotation3d())); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); Pose3d pose = estimatedPose.get().estimatedPose; cameraOne.result = @@ -484,7 +480,7 @@ void closestToLastPose() { new TargetCorner(7, 8))))); cameraOne.result.setRecieveTimestampMicros((long) (7 * 1e6)); - estimatedPose = estimator.update(); + estimatedPose = estimator.update(cameraOne.result); pose = estimatedPose.get().estimatedPose; assertEquals(7, estimatedPose.get().timestampSeconds); @@ -529,25 +525,24 @@ void cacheIsInvalidated() { new PhotonPoseEstimator( aprilTags, PoseStrategy.AVERAGE_BEST_TARGETS, - cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())); // Empty result, expect empty result cameraOne.result = new PhotonPipelineResult(); cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6)); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); assertFalse(estimatedPose.isPresent()); // Set actual result cameraOne.result = result; - estimatedPose = estimator.update(); + estimatedPose = estimator.update(cameraOne.result); assertTrue(estimatedPose.isPresent()); assertEquals(20, estimatedPose.get().timestampSeconds, .01); assertEquals(20, estimator.poseCacheTimestampSeconds); // And again -- pose cache should mean this is empty cameraOne.result = result; - estimatedPose = estimator.update(); + estimatedPose = estimator.update(cameraOne.result); assertFalse(estimatedPose.isPresent()); // Expect the old timestamp to still be here assertEquals(20, estimator.poseCacheTimestampSeconds); @@ -557,7 +552,7 @@ void cacheIsInvalidated() { assertEquals(-1, estimator.poseCacheTimestampSeconds); // Update should cache the current timestamp (20) again cameraOne.result = result; - estimatedPose = estimator.update(); + estimatedPose = estimator.update(cameraOne.result); assertEquals(20, estimatedPose.get().timestampSeconds, .01); assertEquals(20, estimator.poseCacheTimestampSeconds); } @@ -640,10 +635,9 @@ void averageBestPoses() { new PhotonPoseEstimator( aprilTags, PoseStrategy.AVERAGE_BEST_TARGETS, - cameraOne, new Transform3d(new Translation3d(0, 0, 0), new Rotation3d())); - Optional estimatedPose = estimator.update(); + Optional estimatedPose = estimator.update(cameraOne.result); Pose3d pose = estimatedPose.get().estimatedPose; assertEquals(20, estimatedPose.get().timestampSeconds, .01); @@ -659,6 +653,11 @@ public PhotonCameraInjector() { PhotonPipelineResult result; + @Override + public List getAllUnreadResults() { + return List.of(result); + } + @Override public PhotonPipelineResult getLatestResult() { return result; diff --git a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java index 1c0750d82b..24ea9fa6cd 100644 --- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -61,7 +61,6 @@ public void testMeme() throws IOException, InterruptedException { new PhotonPoseEstimator( tagLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - cam, robotToCamera); var field = new Field2d(); @@ -70,10 +69,11 @@ public void testMeme() throws IOException, InterruptedException { while (!Thread.interrupted()) { Thread.sleep(500); - var ret = pe.update(); - System.out.println(ret); - - field.setRobotPose(ret.get().estimatedPose.toPose2d()); + for (var change : cam.getAllUnreadResults()) { + var ret = pe.update(change); + System.out.println(ret); + field.setRobotPose(ret.get().estimatedPose.toPose2d()); + } } } } diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp index 700287ac36..6cd5ce9cc0 100644 --- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp +++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp @@ -83,12 +83,16 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) { 0.4, corners, detectedCorners}}; cameraOne.test = true; - cameraOne.testResult = {0, 0_s, 2_ms, targets}; - cameraOne.testResult.SetRecieveTimestamp(units::second_t(11)); + cameraOne.testResult = {{0, 0_s, 2_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(11)); photon::PhotonPoseEstimator estimator(aprilTags, photon::LOWEST_AMBIGUITY, - std::move(cameraOne), {}); - auto estimatedPose = estimator.Update(); + frc::Transform3d{}); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } frc::Pose3d pose = estimatedPose.value().estimatedPose; EXPECT_NEAR(11, units::unit_cast(estimatedPose.value().timestamp), @@ -138,13 +142,17 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) { 0.4, corners, detectedCorners}}; cameraOne.test = true; - cameraOne.testResult = {0, 0_s, 2_ms, targets}; - cameraOne.testResult.SetRecieveTimestamp(17_s); + cameraOne.testResult = {{0, 0_s, 2_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(17_s); photon::PhotonPoseEstimator estimator( - aprilTags, photon::CLOSEST_TO_CAMERA_HEIGHT, std::move(cameraOne), - {{0_m, 0_m, 4_m}, {}}); - auto estimatedPose = estimator.Update(); + aprilTags, photon::CLOSEST_TO_CAMERA_HEIGHT, {{0_m, 0_m, 4_m}, {}}); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + frc::Pose3d pose = estimatedPose.value().estimatedPose; EXPECT_NEAR(17, units::unit_cast(estimatedPose.value().timestamp), @@ -181,14 +189,19 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) { 0.4, corners, detectedCorners}}; cameraOne.test = true; - cameraOne.testResult = {0, 0_s, 2_ms, targets}; - cameraOne.testResult.SetRecieveTimestamp(units::second_t(17)); + cameraOne.testResult = {{0, 0_s, 2_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(17)); - photon::PhotonPoseEstimator estimator( - aprilTags, photon::CLOSEST_TO_REFERENCE_POSE, std::move(cameraOne), {}); + photon::PhotonPoseEstimator estimator(aprilTags, + photon::CLOSEST_TO_REFERENCE_POSE, {}); estimator.SetReferencePose( frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad))); - auto estimatedPose = estimator.Update(); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + frc::Pose3d pose = estimatedPose.value().estimatedPose; EXPECT_NEAR(17, units::unit_cast(estimatedPose.value().timestamp), @@ -225,14 +238,19 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) { 0.4, corners, detectedCorners}}; cameraOne.test = true; - cameraOne.testResult = {0, 0_s, 2_ms, targets}; - cameraOne.testResult.SetRecieveTimestamp(units::second_t(17)); + cameraOne.testResult = {{0, 0_s, 2_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(17)); photon::PhotonPoseEstimator estimator(aprilTags, photon::CLOSEST_TO_LAST_POSE, - std::move(cameraOne), {}); + {}); estimator.SetLastPose( frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad))); - auto estimatedPose = estimator.Update(); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + ASSERT_TRUE(estimatedPose); frc::Pose3d pose = estimatedPose.value().estimatedPose; @@ -259,10 +277,14 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) { frc::Rotation3d(0_rad, 0_rad, 0_rad)), 0.4, corners, detectedCorners}}; - estimator.GetCamera()->testResult = {0, 0_s, 2_ms, targetsThree}; - estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(21)); + cameraOne.testResult = {{0, 0_s, 2_ms, targetsThree}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(21)); + + // std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } - estimatedPose = estimator.Update(); ASSERT_TRUE(estimatedPose); pose = estimatedPose.value().estimatedPose; @@ -300,12 +322,17 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) { 0.4, corners, detectedCorners}}; cameraOne.test = true; - cameraOne.testResult = {0, 0_ms, 2_ms, targets}; - cameraOne.testResult.SetRecieveTimestamp(units::second_t(15)); + cameraOne.testResult = {{0, 0_s, 2_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(15)); photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS, - std::move(cameraOne), {}); - auto estimatedPose = estimator.Update(); + {}); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + frc::Pose3d pose = estimatedPose.value().estimatedPose; EXPECT_NEAR(15.0, units::unit_cast(estimatedPose.value().timestamp), @@ -344,23 +371,35 @@ TEST(PhotonPoseEstimatorTest, PoseCache) { cameraOne.test = true; photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS, - std::move(cameraOne), {}); + {}); // empty input, expect empty out - estimator.GetCamera()->testResult = {0, 0_s, 2_ms, {}}; - estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(1)); - auto estimatedPose = estimator.Update(); + cameraOne.testResult = {{0, 0_s, 2_ms, {}}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(1)); + + std::optional estimatedPose; + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + EXPECT_FALSE(estimatedPose); // Set result, and update -- expect present and timestamp to be 15 - estimator.GetCamera()->testResult = {0, 0_s, 3_ms, targets}; - estimator.GetCamera()->testResult.SetRecieveTimestamp(units::second_t(15)); - estimatedPose = estimator.Update(); + cameraOne.testResult = {{0, 0_s, 3_ms, targets}}; + cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(15)); + + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + EXPECT_TRUE(estimatedPose); EXPECT_NEAR((15_s - 3_ms).to(), estimatedPose.value().timestamp.to(), 1e-6); // And again -- now pose cache should be empty - estimatedPose = estimator.Update(); + for (const auto& result : cameraOne.GetAllUnreadResults()) { + estimatedPose = estimator.Update(result); + } + EXPECT_FALSE(estimatedPose); } diff --git a/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp b/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp deleted file mode 100644 index f2a24a2a2b..0000000000 --- a/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp +++ /dev/null @@ -1,360 +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. - */ - -#include - -#include "gtest/gtest.h" -#include "photon/PhotonUtils.h" -#include "photon/simulation/SimVisionSystem.h" - -class SimVisionSystemTest : public ::testing::Test { - void SetUp() override { - nt::NetworkTableInstance::GetDefault().StartServer(); - photon::PhotonCamera::SetVersionCheckEnabled(false); - } - - void TearDown() override {} -}; - -class SimVisionSystemTestWithParamsTest - : public SimVisionSystemTest, - public testing::WithParamInterface {}; -class SimVisionSystemTestDistanceParamsTest - : public SimVisionSystemTest, - public testing::WithParamInterface< - std::tuple> {}; - -TEST_F(SimVisionSystemTest, TestEmpty) { - photon::SimVisionSystem sys{ - "Test", 80.0_deg, frc::Transform3d{}, 99999_m, 320, 240, 0}; - SUCCEED(); -} - -TEST_F(SimVisionSystemTest, TestVisibilityCupidShuffle) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 2_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - photon::SimVisionSystem sys{ - "Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 3_m, 3}); - - // To the right, to the right - frc::Pose2d robotPose{{5_m, 0_m}, frc::Rotation2d{-70_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); - - // To the right, to the right - robotPose = frc::Pose2d{{5_m, 0_m}, frc::Rotation2d{-95_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); - - // To the left, to the left - robotPose = frc::Pose2d{{5_m, 0_m}, frc::Rotation2d{90_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); - - // To the left, to the left - robotPose = frc::Pose2d{{5_m, 0_m}, frc::Rotation2d{65_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); - - // now kick, now kick - robotPose = frc::Pose2d{{2_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - - // now kick, now kick - robotPose = frc::Pose2d{{2_m, 0_m}, frc::Rotation2d{-5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - - // now walk it by yourself - robotPose = frc::Pose2d{{2_m, 0_m}, frc::Rotation2d{-179_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); - - // now walk it by yourself - sys.MoveCamera(frc::Transform3d{ - frc::Translation3d{}, - frc::Rotation3d{0_rad, 0_rad, units::constants::detail::PI_VAL * 1_rad}}); - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); -} - -TEST_F(SimVisionSystemTest, TestNotVisibleVertOne) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 1_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - photon::SimVisionSystem sys{ - "Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 3_m, 3}); - - frc::Pose2d robotPose{{5_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - - sys.MoveCamera(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 5000_m}, - frc::Rotation3d{0_rad, 0_rad, units::constants::detail::PI_VAL * 1_rad}}); - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); -} - -// TEST_F(SimVisionSystemTest, TestNotVisibleVertTwo) { -// const frc::Pose3d targetPose{ -// {15.98_m, 0_m, 2_m}, -// frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * -// 1_rad}}; -// frc::Transform3d robotToCamera{ -// frc::Translation3d{0_m, 0_m, 1_m}, -// frc::Rotation3d{0_deg, (units::constants::detail::PI_VAL / 4) * 1_rad, -// 0_deg}}; -// photon::SimVisionSystem sys{ -// "Test", 80.0_deg, robotToCamera.Inverse(), 99999_m, 1234, 1234, 0}; -// sys.AddSimVisionTarget( -// photon::SimVisionTarget{targetPose, 3_m, 0.5_m, 1736}); - -// frc::Pose2d robotPose{{14.98_m, 0_m}, frc::Rotation2d{5_deg}}; -// sys.ProcessFrame(robotPose); -// ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - -// robotPose = frc::Pose2d{frc::Translation2d{0_m, 0_m}, -// frc::Rotation2d{5_deg}}; sys.ProcessFrame(robotPose); -// ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); -// } - -TEST_F(SimVisionSystemTest, TestNotVisibleTargetSize) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 1_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - photon::SimVisionSystem sys{ - "Test", 80.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 20.0}; - sys.AddSimVisionTarget( - photon::SimVisionTarget{targetPose, 0.1_m, 0.025_m, 24}); - - frc::Pose2d robotPose{{12_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - - robotPose = frc::Pose2d{frc::Translation2d{0_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); -} - -TEST_F(SimVisionSystemTest, TestNotVisibleTooFarForLEDs) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 1_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - photon::SimVisionSystem sys{"Test", 80.0_deg, frc::Transform3d{}, 10_m, 640, - 480, 1.0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 0.25_m, 78}); - - frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_TRUE(sys.cam.GetLatestResult().HasTargets()); - - robotPose = frc::Pose2d{frc::Translation2d{0_m, 0_m}, frc::Rotation2d{5_deg}}; - sys.ProcessFrame(robotPose); - ASSERT_FALSE(sys.cam.GetLatestResult().HasTargets()); -} - -TEST_P(SimVisionSystemTestWithParamsTest, YawAngles) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 0_m}, - frc::Rotation3d{0_deg, 0_deg, - (3 * units::constants::detail::PI_VAL / 4) * 1_rad}}; - frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{GetParam() * -1.0}}; - photon::SimVisionSystem sys{ - "Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23}); - - sys.ProcessFrame(robotPose); - - auto results = sys.cam.GetLatestResult(); - - ASSERT_TRUE(results.HasTargets()); - - photon::PhotonTrackedTarget target = results.GetBestTarget(); - - ASSERT_NEAR(GetParam().to(), target.GetYaw(), 0.0001); -} - -TEST_P(SimVisionSystemTestWithParamsTest, PitchAngles) { - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 0_m}, - frc::Rotation3d{0_deg, 0_deg, - (3 * units::constants::detail::PI_VAL / 4) * 1_rad}}; - frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{0_deg}}; - photon::SimVisionSystem sys{ - "Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23}); - - sys.MoveCamera(frc::Transform3d{frc::Translation3d{}, - frc::Rotation3d{0_deg, GetParam(), 0_deg}}); - sys.ProcessFrame(robotPose); - - auto results = sys.cam.GetLatestResult(); - - ASSERT_TRUE(results.HasTargets()); - - photon::PhotonTrackedTarget target = results.GetBestTarget(); - - ASSERT_NEAR(GetParam().to(), target.GetPitch(), 0.0001); -} - -INSTANTIATE_TEST_SUITE_P(AnglesTests, SimVisionSystemTestWithParamsTest, - testing::Values(-10_deg, -5_deg, -0_deg, -1_deg, - -2_deg, 5_deg, 7_deg, 10.23_deg, - 20.21_deg, -19.999_deg)); - -TEST_P(SimVisionSystemTestDistanceParamsTest, DistanceCalc) { - units::foot_t distParam; - units::degree_t pitchParam; - units::foot_t heightParam; - std::tie(distParam, pitchParam, heightParam) = GetParam(); - - const frc::Pose3d targetPose{ - {15.98_m, 0_m, 1_m}, - frc::Rotation3d{0_deg, 0_deg, - (units::constants::detail::PI_VAL * 0.98) * 1_rad}}; - frc::Pose3d robotPose{{15.98_m - distParam, 0_m, 0_m}, frc::Rotation3d{}}; - frc::Transform3d robotToCamera{frc::Translation3d{0_m, 0_m, heightParam}, - frc::Rotation3d{0_deg, pitchParam, 0_deg}}; - photon::SimVisionSystem sys{ - "absurdlylongnamewhichshouldneveractuallyhappenbuteehwelltestitanywaysoho" - "wsyourdaygoingihopegoodhaveagreatrestofyourlife", - 160.0_deg, - robotToCamera.Inverse(), - 99999_m, - 640, - 480, - 0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 0}); - sys.ProcessFrame(robotPose); - - auto results = sys.cam.GetLatestResult(); - - ASSERT_TRUE(results.HasTargets()); - - photon::PhotonTrackedTarget target = results.GetBestTarget(); - - ASSERT_NEAR(target.GetYaw(), 0.0, 0.0001); - - units::meter_t dist = photon::PhotonUtils::CalculateDistanceToTarget( - robotToCamera.Z(), targetPose.Z(), pitchParam, - units::degree_t{target.GetPitch()}); - ASSERT_NEAR(dist.to(), - distParam.convert().to(), 0.001); -} - -INSTANTIATE_TEST_SUITE_P( - DistanceParamsTests, SimVisionSystemTestDistanceParamsTest, - testing::Values(std::make_tuple(5_ft, 15.98_deg, 0_ft), - std::make_tuple(6_ft, 15.98_deg, 1_ft), - std::make_tuple(10_ft, 15.98_deg, 0_ft), - std::make_tuple(15_ft, 15.98_deg, 2_ft), - std::make_tuple(19.95_ft, 15.98_deg, 0_ft), - std::make_tuple(20_ft, 15.98_deg, 0_ft), - std::make_tuple(5_ft, 42_deg, 1_ft), - std::make_tuple(6_ft, 42_deg, 0_ft), - std::make_tuple(10_ft, 42_deg, 2_ft), - std::make_tuple(15_ft, 42_deg, 0.5_ft), - std::make_tuple(19.42_ft, 15.98_deg, 0_ft), - std::make_tuple(20_ft, 42_deg, 0_ft), - std::make_tuple(5_ft, 55_deg, 2_ft), - std::make_tuple(6_ft, 55_deg, 0_ft), - std::make_tuple(10_ft, 54_deg, 2.2_ft), - std::make_tuple(15_ft, 53_deg, 0_ft), - std::make_tuple(19.52_ft, 15.98_deg, 1.1_ft))); - -TEST_F(SimVisionSystemTest, TestMultipleTargets) { - const frc::Pose3d targetPoseL{ - {15.98_m, 2_m, 0_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - const frc::Pose3d targetPoseC{ - {15.98_m, 0_m, 0_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - const frc::Pose3d targetPoseR{ - {15.98_m, -2_m, 0_m}, - frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}}; - photon::SimVisionSystem sys{ - "Test", 160.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 20.0}; - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseL.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 1}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseC.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 2}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseR.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 3}); - - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseL.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 4}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseC.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 5}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseR.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 1_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 6}); - - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseL.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0.5_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 7}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseC.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0.5_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 8}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseL.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0.75_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 9}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseR.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0.75_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 10}); - sys.AddSimVisionTarget(photon::SimVisionTarget{ - targetPoseL.TransformBy(frc::Transform3d{ - frc::Translation3d{0_m, 0_m, 0.25_m}, frc::Rotation3d{}}), - 0.25_m, 0.25_m, 11}); - - frc::Pose2d robotPose{{6_m, 0_m}, frc::Rotation2d{.25_deg}}; - sys.ProcessFrame(robotPose); - - auto results = sys.cam.GetLatestResult(); - - ASSERT_TRUE(results.HasTargets()); - - auto targetList = results.GetTargets(); - - ASSERT_EQ(targetList.size(), size_t(11)); -} diff --git a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp index 179c617aa1..e223512dd6 100644 --- a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp +++ b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp @@ -27,10 +27,15 @@ #include #include +#include + #include "gtest/gtest.h" #include "photon/PhotonUtils.h" #include "photon/simulation/VisionSystemSim.h" +// Ignore GetLatestResult warnings +WPI_IGNORE_DEPRECATED + class VisionSystemSimTest : public ::testing::Test { void SetUp() override { nt::NetworkTableInstance::GetDefault().StartServer(); @@ -229,9 +234,10 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) { robotPose = frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}}; visionSysSim.Update(robotPose); - ASSERT_TRUE(camera.GetLatestResult().HasTargets()); - ASSERT_NEAR(GetParam().to(), - camera.GetLatestResult().GetBestTarget().GetYaw(), 0.25); + + const auto result = camera.GetLatestResult(); + ASSERT_TRUE(result.HasTargets()); + ASSERT_NEAR(GetParam().to(), result.GetBestTarget().GetYaw(), 0.25); } TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) { @@ -257,9 +263,9 @@ TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) { frc::Rotation3d{0_rad, units::degree_t{GetParam()}, 0_rad}}); visionSysSim.Update(robotPose); - ASSERT_TRUE(camera.GetLatestResult().HasTargets()); - ASSERT_NEAR(GetParam().to(), - camera.GetLatestResult().GetBestTarget().GetPitch(), 0.25); + const auto result = camera.GetLatestResult(); + ASSERT_TRUE(result.HasTargets()); + ASSERT_NEAR(GetParam().to(), result.GetBestTarget().GetPitch(), 0.25); } INSTANTIATE_TEST_SUITE_P(AnglesTests, VisionSystemSimTestWithParamsTest, diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java index 8cc9f44545..964c1c3661 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java +++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/PacketSubscriber.java @@ -18,33 +18,84 @@ package org.photonvision.common.networktables; import edu.wpi.first.networktables.RawSubscriber; +import java.util.ArrayList; +import java.util.List; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.dataflow.structures.PacketSerde; public class PacketSubscriber implements AutoCloseable { + public static class PacketResult { + public final U value; + public final long timestamp; + + public PacketResult(U value, long timestamp) { + this.value = value; + this.timestamp = timestamp; + } + + public PacketResult() { + this(null, 0); + } + } + public final RawSubscriber subscriber; private final PacketSerde serde; - private final T defaultValue; private final Packet packet = new Packet(1); - public PacketSubscriber(RawSubscriber subscriber, PacketSerde serde, T defaultValue) { + /** + * Create a PacketSubscriber + * + * @param subscriber NT subscriber. Set pollStorage to 1 to make get() faster + * @param serde How we convert raw to actual things + */ + public PacketSubscriber(RawSubscriber subscriber, PacketSerde serde) { this.subscriber = subscriber; this.serde = serde; - this.defaultValue = defaultValue; } - public T get() { + /** Parse one chunk of timestamped data into T */ + private PacketResult parse(byte[] data, long timestamp) { packet.clear(); + packet.setData(data); + if (packet.getSize() < 1) { + return new PacketResult(); + } + + return new PacketResult<>(serde.unpack(packet), timestamp); + } - packet.setData(subscriber.get(new byte[] {})); - if (packet.getSize() < 1) return defaultValue; + /** + * Get the latest value sent over NT. If the value has never been set, returns the provided + * default + */ + public PacketResult get() { + // Get /all/ changes since last call to readQueue + var data = subscriber.getAtomic(); - return serde.unpack(packet); + // Topic has never been published to? + if (data.timestamp == 0) { + return new PacketResult<>(); + } + + return parse(data.value, data.timestamp); } @Override public void close() { subscriber.close(); } + + public List> getAllChanges() { + List> ret = new ArrayList<>(); + + // Get /all/ changes since last call to readQueue + var changes = subscriber.readQueue(); + + for (var change : changes) { + ret.add(parse(change.value, change.timestamp)); + } + + return ret; + } } diff --git a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h index d72e2dc2cc..120e063ab3 100644 --- a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h +++ b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h @@ -51,6 +51,7 @@ static std::vector GetConvexHull( return convexPoints; } +[[maybe_unused]] static cv::RotatedRect GetMinAreaRect(const std::vector& points) { return cv::minAreaRect(points); } @@ -120,6 +121,7 @@ static std::vector RotationToRVec( return cv::boundingRect(points); } +[[maybe_unused]] static std::vector ProjectPoints( const Eigen::Matrix& cameraMatrix, const Eigen::Matrix& distCoeffs, diff --git a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h index 08a418e6e8..61213422e0 100644 --- a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h +++ b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h @@ -32,6 +32,7 @@ namespace photon { namespace VisionEstimation { +[[maybe_unused]] static std::vector GetVisibleLayoutTags( const std::vector& visTags, const frc::AprilTagFieldLayout& layout) { diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h index 4cb11e2e0c..b63362eee1 100644 --- a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h @@ -33,15 +33,21 @@ #include class PhotonCameraWrapper { + private: + photon::PhotonCamera camera{"WPI2023"}; + public: photon::PhotonPoseEstimator m_poseEstimator{ frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp), - photon::MULTI_TAG_PNP_ON_RIO, std::move(photon::PhotonCamera{"WPI2023"}), - frc::Transform3d{}}; + photon::MULTI_TAG_PNP_ON_RIO, frc::Transform3d{}}; inline std::optional Update( frc::Pose2d estimatedPose) { m_poseEstimator.SetReferencePose(frc::Pose3d(estimatedPose)); - return m_poseEstimator.Update(); + std::optional ret = std::nullopt; + for (const auto& change : camera.GetAllUnreadResults()) + ret = m_poseEstimator.Update(change); + + return ret; } }; diff --git a/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h b/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h index 0caeae102c..0253f5c4cd 100644 --- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h +++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h @@ -58,37 +58,37 @@ class Vision { cameraProp->SetAvgLatency(50_ms); cameraProp->SetLatencyStdDev(15_ms); - cameraSim = std::make_shared(camera.get(), - *cameraProp.get()); + cameraSim = + std::make_shared(&camera, *cameraProp.get()); visionSim->AddCamera(cameraSim.get(), constants::Vision::kRobotToCam); cameraSim->EnableDrawWireframe(true); } } - photon::PhotonPipelineResult GetLatestResult() { - return camera->GetLatestResult(); - } + photon::PhotonPipelineResult GetLatestResult() { return m_latestResult; } std::optional GetEstimatedGlobalPose() { - auto visionEst = photonEstimator.Update(); - units::second_t latestTimestamp = camera->GetLatestResult().GetTimestamp(); - bool newResult = - units::math::abs(latestTimestamp - lastEstTimestamp) > 1e-5_s; - if (frc::RobotBase::IsSimulation()) { - if (visionEst.has_value()) { - GetSimDebugField() - .GetObject("VisionEstimation") - ->SetPose(visionEst.value().estimatedPose.ToPose2d()); - } else { - if (newResult) { + std::optional visionEst; + + // Run each new pipeline result through our pose estimator + for (const auto& result : camera.GetAllUnreadResults()) { + // cache result and update pose estimator + auto visionEst = photonEstimator.Update(result); + m_latestResult = result; + + // In sim only, add our vision estimate to the sim debug field + if (frc::RobotBase::IsSimulation()) { + if (visionEst.has_value()) { + GetSimDebugField() + .GetObject("VisionEstimation") + ->SetPose(visionEst.value().estimatedPose.ToPose2d()); + } else { GetSimDebugField().GetObject("VisionEstimation")->SetPoses({}); } } } - if (newResult) { - lastEstTimestamp = latestTimestamp; - } + return visionEst; } @@ -141,10 +141,12 @@ class Vision { photon::PhotonPoseEstimator photonEstimator{ constants::Vision::kTagLayout, photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR, - photon::PhotonCamera{"photonvision"}, constants::Vision::kRobotToCam}; - std::shared_ptr camera{photonEstimator.GetCamera()}; + constants::Vision::kRobotToCam}; + photon::PhotonCamera camera{"photonvision"}; std::unique_ptr visionSim; std::unique_ptr cameraProp; std::shared_ptr cameraSim; - units::second_t lastEstTimestamp{0_s}; + + // The most recent result, cached for calculating std devs + photon::PhotonPipelineResult m_latestResult; }; diff --git a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java index d1e88c9258..f156099cd6 100644 --- a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java +++ b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Vision.java @@ -46,7 +46,6 @@ public class Vision { private final PhotonCamera camera; private final PhotonPoseEstimator photonEstimator; - private double lastEstTimestamp = 0; // Simulation private PhotonCameraSim cameraSim; @@ -56,8 +55,7 @@ public Vision() { camera = new PhotonCamera(kCameraName); photonEstimator = - new PhotonPoseEstimator( - kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, camera, kRobotToCam); + new PhotonPoseEstimator(kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, kRobotToCam); photonEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); // ----- Simulation @@ -95,20 +93,21 @@ public PhotonPipelineResult getLatestResult() { * used for estimation. */ public Optional getEstimatedGlobalPose() { - var visionEst = photonEstimator.update(); - double latestTimestamp = camera.getLatestResult().getTimestampSeconds(); - boolean newResult = Math.abs(latestTimestamp - lastEstTimestamp) > 1e-5; - if (Robot.isSimulation()) { - visionEst.ifPresentOrElse( - est -> - getSimDebugField() - .getObject("VisionEstimation") - .setPose(est.estimatedPose.toPose2d()), - () -> { - if (newResult) getSimDebugField().getObject("VisionEstimation").setPoses(); - }); + Optional visionEst = Optional.empty(); + for (var change : camera.getAllUnreadResults()) { + visionEst = photonEstimator.update(change); + + if (Robot.isSimulation()) { + visionEst.ifPresentOrElse( + est -> + getSimDebugField() + .getObject("VisionEstimation") + .setPose(est.estimatedPose.toPose2d()), + () -> { + getSimDebugField().getObject("VisionEstimation").setPoses(); + }); + } } - if (newResult) lastEstTimestamp = latestTimestamp; return visionEst; } diff --git a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java index aff69fc703..85849141d4 100644 --- a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java +++ b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java @@ -24,6 +24,7 @@ package frc.robot.subsystems.drivetrain; +import edu.wpi.first.math.MatBuilder; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; @@ -114,18 +115,18 @@ public SwerveDriveSim( SwerveDriveKinematics kinematics) { this( new LinearSystem( - Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 0.0, -driveFF.kv / driveFF.ka), + MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -driveFF.kv / driveFF.ka), VecBuilder.fill(0.0, 1.0 / driveFF.ka), - Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), + MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0), VecBuilder.fill(0.0, 0.0)), driveFF.ks, driveMotor, driveGearing, driveWheelRadius, new LinearSystem( - Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 0.0, -steerFF.kv / steerFF.ka), + MatBuilder.fill(Nat.N2(), Nat.N2(), 0.0, 1.0, 0.0, -steerFF.kv / steerFF.ka), VecBuilder.fill(0.0, 1.0 / steerFF.ka), - Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), + MatBuilder.fill(Nat.N2(), Nat.N2(), 1.0, 0.0, 0.0, 1.0), VecBuilder.fill(0.0, 0.0)), steerFF.ks, steerMotor, From ac1fc2a46b5fa482baf2cca1a2ffb4554475f6be Mon Sep 17 00:00:00 2001 From: Jade Date: Mon, 5 Aug 2024 09:58:54 +0800 Subject: [PATCH 07/14] Add API docs to sidebar (#1383) --- docs/source/index.rst | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/docs/source/index.rst b/docs/source/index.rst index 62a87b4c05..05ed0285ab 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -110,3 +110,12 @@ PhotonVision is licensed under the `GNU GPL v3 + + C++ From c3302045d9144338971ebfa06df4a35829a0b794 Mon Sep 17 00:00:00 2001 From: Matt Date: Mon, 12 Aug 2024 11:01:04 -0400 Subject: [PATCH 08/14] Add rsync & sphinx-autobuild docs (#1391) --- .github/workflows/build.yml | 2 +- docs/.gitignore | 2 -- docs/requirements.txt | 2 ++ docs/source/conf.py | 3 +++ .../{photonvision => }/assets/git-download.png | Bin .../{photonvision-docs => }/building-docs.rst | 12 +++++++----- ...ild-instructions.rst => building-photon.rst} | 0 .../docs/contributing/developer-docs/index.rst | 6 ++++++ .../developer-docs/photonlib-backups.md | 16 ++++++++++++++++ docs/source/docs/contributing/index.rst | 5 +++-- .../contributing/photonvision-docs/index.rst | 8 -------- .../photonvision-docs/style-guide.rst | 3 --- .../photonvision-docs/top-contributors.rst | 5 ----- .../docs/contributing/photonvision/index.rst | 7 ------- .../photonvision/top-contributors.rst | 5 ----- docs/source/docs/installation/updating.rst | 2 +- .../programming/photonlib/adding-vendordep.rst | 5 ++++- photon-docs/README.md | 3 +++ 18 files changed, 46 insertions(+), 40 deletions(-) rename docs/source/docs/contributing/{photonvision => }/assets/git-download.png (100%) rename docs/source/docs/contributing/{photonvision-docs => }/building-docs.rst (71%) rename docs/source/docs/contributing/{photonvision/build-instructions.rst => building-photon.rst} (100%) create mode 100644 docs/source/docs/contributing/developer-docs/index.rst create mode 100644 docs/source/docs/contributing/developer-docs/photonlib-backups.md delete mode 100644 docs/source/docs/contributing/photonvision-docs/index.rst delete mode 100644 docs/source/docs/contributing/photonvision-docs/style-guide.rst delete mode 100644 docs/source/docs/contributing/photonvision-docs/top-contributors.rst delete mode 100644 docs/source/docs/contributing/photonvision/index.rst delete mode 100644 docs/source/docs/contributing/photonvision/top-contributors.rst create mode 100644 photon-docs/README.md diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 6f96710a46..b4d49323c0 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -468,7 +468,7 @@ jobs: name: image-${{ matrix.image_suffix }} path: photonvision*.xz release: - needs: [build-package, build-image] + needs: [build-package, build-image, combine] runs-on: ubuntu-22.04 steps: # Download all fat JARs diff --git a/docs/.gitignore b/docs/.gitignore index f79cf99890..b7a9f77acb 100644 --- a/docs/.gitignore +++ b/docs/.gitignore @@ -3,8 +3,6 @@ build/* .vscode/* .idea/* source/_build -source/_build -photon-docs/build source/docs/_build venv/* diff --git a/docs/requirements.txt b/docs/requirements.txt index 582e43a6c3..84c1582463 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -40,3 +40,5 @@ sphinxext-remoteliteralinclude==0.4.0 stevedore==5.1.0 urllib3==2.1.0 yarg==0.1.9 +sphinx-autobuild==2024.4.16 +myst_parser==3.0.1 diff --git a/docs/source/conf.py b/docs/source/conf.py index cfc08effe9..48c878bdf6 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -35,6 +35,7 @@ "sphinxext.opengraph", "sphinxcontrib.ghcontributors", "sphinx_design", + "myst_parser", ] # Configure OpenGraph support @@ -71,6 +72,8 @@ # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = ["_static"] +source_suffix = [".rst", ".md"] + def setup(app): app.add_css_file("css/pv-icons.css") diff --git a/docs/source/docs/contributing/photonvision/assets/git-download.png b/docs/source/docs/contributing/assets/git-download.png similarity index 100% rename from docs/source/docs/contributing/photonvision/assets/git-download.png rename to docs/source/docs/contributing/assets/git-download.png diff --git a/docs/source/docs/contributing/photonvision-docs/building-docs.rst b/docs/source/docs/contributing/building-docs.rst similarity index 71% rename from docs/source/docs/contributing/photonvision-docs/building-docs.rst rename to docs/source/docs/contributing/building-docs.rst index 3133721245..d3da03b0a4 100644 --- a/docs/source/docs/contributing/photonvision-docs/building-docs.rst +++ b/docs/source/docs/contributing/building-docs.rst @@ -17,17 +17,19 @@ You must install a set of Python dependencies in order to build the documentatio Building the Documentation -------------------------- -In order to build the documentation, you can run the following command in the docs sub-folder: +In order to build the documentation, you can run the following command in the docs sub-folder. This will automatically build docs every time a file changes, and serves them locally at `localhost:8000` by default. -``~/photonvision/docs$ make html`` - -.. note:: You may have to run ``./make html`` on Windows. +``~/photonvision/docs$ sphinx-autobuild --open-browser source/_build/html`` Opening the Documentation ------------------------- -The built documentation is located at ``docs/build/html/index.html`` relative to the root project directory. +The built documentation is located at ``docs/build/html/index.html`` relative to the root project directory, or can be accessed via the local web server if using sphinx-autobuild. Docs Builds on Pull Requests ---------------------------- Pre-merge builds of docs can be found at: ``https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html``. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to ``https://photonvision-docs--325.org.readthedocs.build/en/325/index.html``. Additionally, the pull requrest will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder. + +Style Guide +----------- +PhotonVision follows the frc-docs style guide which can be found `here `_. In order to run the linter locally (which builds on doc8 and checks for compliance with the style guide), follow the instructions `on GitHub `_. diff --git a/docs/source/docs/contributing/photonvision/build-instructions.rst b/docs/source/docs/contributing/building-photon.rst similarity index 100% rename from docs/source/docs/contributing/photonvision/build-instructions.rst rename to docs/source/docs/contributing/building-photon.rst diff --git a/docs/source/docs/contributing/developer-docs/index.rst b/docs/source/docs/contributing/developer-docs/index.rst new file mode 100644 index 0000000000..3eb90cf885 --- /dev/null +++ b/docs/source/docs/contributing/developer-docs/index.rst @@ -0,0 +1,6 @@ +PhotonVision Developer Documentation +==================================== + +.. toctree:: + + photonlib-backups diff --git a/docs/source/docs/contributing/developer-docs/photonlib-backups.md b/docs/source/docs/contributing/developer-docs/photonlib-backups.md new file mode 100644 index 0000000000..87e01703c9 --- /dev/null +++ b/docs/source/docs/contributing/developer-docs/photonlib-backups.md @@ -0,0 +1,16 @@ +# Photonlib Developer Docs + +Our maven server is located at https://maven.photonvision.org/#/. This server runs [Reposilite](https://hub.docker.com/r/dzikoysk/reposilite) in Docker, and uses Caddy for serving requests. + + +## Backing up using Rsync + +The Clarkson Open Source Institute at Clarkson University provides a mirror of our artifacts available [online](https://mirror.clarkson.edu/photonvision). Learn more about them at [their homepage](https://mirror.clarkson.edu/home). + +Artifacts from our Maven server can also be backed up locally to a folder called `photonlib-backup` using the following command, which excludes "snapshots" for space reasons: + +``` +rsync -avzrHy --no-perms --no-group --no-owner --ignore-errors --exclude ".~tmp~" --exclude "snapshots/org/photonvision/photontargeting*" \ +--exclude "snapshots/org/photonvision/photonlib*" maven.photonvision.org::reposilite-data \ +/path/to/photonlib-backup +``` diff --git a/docs/source/docs/contributing/index.rst b/docs/source/docs/contributing/index.rst index 14b1dceb56..1780ba849f 100644 --- a/docs/source/docs/contributing/index.rst +++ b/docs/source/docs/contributing/index.rst @@ -3,5 +3,6 @@ Contributing to PhotonVision Projects .. toctree:: - photonvision/index - photonvision-docs/index + building-photon + building-docs + developer-docs/index diff --git a/docs/source/docs/contributing/photonvision-docs/index.rst b/docs/source/docs/contributing/photonvision-docs/index.rst deleted file mode 100644 index d869754ac1..0000000000 --- a/docs/source/docs/contributing/photonvision-docs/index.rst +++ /dev/null @@ -1,8 +0,0 @@ -Contributing to PhotonVision Documentation -========================================== - -.. toctree:: - - building-docs - style-guide - top-contributors diff --git a/docs/source/docs/contributing/photonvision-docs/style-guide.rst b/docs/source/docs/contributing/photonvision-docs/style-guide.rst deleted file mode 100644 index 6b130c76e8..0000000000 --- a/docs/source/docs/contributing/photonvision-docs/style-guide.rst +++ /dev/null @@ -1,3 +0,0 @@ -Style Guide -=========== -PhotonVision follows the frc-docs style guide which can be found `here `_. In order to run the linter locally (which builds on doc8 and checks for compliance with the style guide), follow the instructions `on GitHub `_. diff --git a/docs/source/docs/contributing/photonvision-docs/top-contributors.rst b/docs/source/docs/contributing/photonvision-docs/top-contributors.rst deleted file mode 100644 index bc1fe933ea..0000000000 --- a/docs/source/docs/contributing/photonvision-docs/top-contributors.rst +++ /dev/null @@ -1,5 +0,0 @@ -Top Contributors -================ - -.. ghcontributors:: PhotonVision/photonvision-docs - :limit: 10 diff --git a/docs/source/docs/contributing/photonvision/index.rst b/docs/source/docs/contributing/photonvision/index.rst deleted file mode 100644 index 93185e0641..0000000000 --- a/docs/source/docs/contributing/photonvision/index.rst +++ /dev/null @@ -1,7 +0,0 @@ -Contributing to PhotonVision -============================ - -.. toctree:: - - build-instructions - top-contributors diff --git a/docs/source/docs/contributing/photonvision/top-contributors.rst b/docs/source/docs/contributing/photonvision/top-contributors.rst deleted file mode 100644 index 9c27a60562..0000000000 --- a/docs/source/docs/contributing/photonvision/top-contributors.rst +++ /dev/null @@ -1,5 +0,0 @@ -Top Contributors -================ - -.. ghcontributors:: PhotonVision/photonvision - :limit: 10 diff --git a/docs/source/docs/installation/updating.rst b/docs/source/docs/installation/updating.rst index f5a98fbec1..dff11508c2 100644 --- a/docs/source/docs/installation/updating.rst +++ b/docs/source/docs/installation/updating.rst @@ -31,7 +31,7 @@ Unless otherwise noted on the release page, config files should be backward comp Installing Pre-Release Versions ------------------------------- -Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's ``master`` branch, or by :ref:`compiling PhotonVision locally `. +Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's ``master`` branch, or by :ref:`compiling PhotonVision locally `. .. warning:: If testing a pre-release version of PhotonVision with a robot, PhotonLib must be updated to match the version downloaded! If not, packet schema definitions may not match and unexpected things will occur. diff --git a/docs/source/docs/programming/photonlib/adding-vendordep.rst b/docs/source/docs/programming/photonlib/adding-vendordep.rst index 178ad29c53..92f34b14f0 100644 --- a/docs/source/docs/programming/photonlib/adding-vendordep.rst +++ b/docs/source/docs/programming/photonlib/adding-vendordep.rst @@ -19,9 +19,12 @@ Paste the following URL into the box that pops up: .. note:: It is recommended to Build Robot Code at least once when connected to the Internet before heading to an area where Internet connectivity is limited (for example, a competition). This ensures that the relevant files are downloaded to your filesystem. +Refer to `The WPILib docs ` for more details on installing vendor libraries. + Offline Install - Java/C++ -------------------------- -This installation option is currently a work-in-progress. For now, we recommend users use the online installation method. + +Download the latest photonlib release from our GitHub releases page (named something like `photonlib-VERSION.zip``), and extract the contents to `$HOME/wpilib/YEAR`. This adds PhotonLib maven artifacts to your local maven repository. PhotonLib will now also appear available in the "install vendor libraries (offline)" menu in WPILib VSCode. Refer to `The WPILib docs ` for more details on installing vendor libraries offline. Install - Python ---------------- diff --git a/photon-docs/README.md b/photon-docs/README.md new file mode 100644 index 0000000000..9b31e7a6dc --- /dev/null +++ b/photon-docs/README.md @@ -0,0 +1,3 @@ +# photon-docs + +This subproject configures Gradle to build Doxygen & Javadoc HTML documentation for our other subprojects. These are published to https://javadocs.photonvision.org/ and https://cppdocs.photonvision.org/ . From dbe566cb55948f19e93228a46eddca1a68c491eb Mon Sep 17 00:00:00 2001 From: Craig Schardt Date: Tue, 13 Aug 2024 09:54:26 -0500 Subject: [PATCH 09/14] Update install.sh for OPi5 Ubuntu 24.04 (#1390) This updates the install script to work correctly on Ubuntu 24.04 versions of the Orange Pi 5 images. Changes include: - installing libatomic1 - disabling networkd-wait-online if using Network Manager - using systemctl instead of service to detect if photonvision is running - detecting if this is a RK3588 cpu and enabling all cores --- scripts/install.sh | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/scripts/install.sh b/scripts/install.sh index 472715598a..ba9cb69198 100755 --- a/scripts/install.sh +++ b/scripts/install.sh @@ -102,9 +102,14 @@ else echo 'GOVERNOR=performance' > /etc/default/cpufrequtils fi +echo "Installing libatomic" +apt-get install --yes libatomic1 +echo "libatomic installation complete." + if [[ "$INSTALL_NETWORK_MANAGER" == "true" ]]; then echo "Installing network-manager..." - apt-get install --yes network-manager + apt-get install --yes network-manager net-tools + systemctl disable systemd-networkd-wait-online.service cat > /etc/netplan/00-default-nm-renderer.yaml < Date: Sat, 17 Aug 2024 10:02:59 -0500 Subject: [PATCH 10/14] Move to using Absolute Exposure Range (#1352) Uses logic in https://github.com/PhotonVision/photon-libcamera-gl-driver/pull/16 to push the ov9281 down to its true minimum exposure. Updates UI to list the exposure settings in ~~microseconds.~~ Native units - not everyone works in microseconds. Does its darndest to actually try to set the exposure in ~~microseconds.~~ Native Units. To do this... Lifecam is funky when doing this - [cscore limits the exposure settings to certain quantized values](https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129). Add a new camera quirk to allow that. ~~Updated camera quirks to re-evaluate every camera load (rather than recalling from settings - this shouldn't be necessary)~~ This should be rolled back, needed for arducam type selection. Updated camera quirk matching logic to make PID/VID optional, and basename optional (and only match trailing characters). This enables mirroring CSCore's logic for identifying lifecams by name. Updated the USBCamera to primarily use cscore's exposed property names. Since camera manufacturers use a potpourri of names for the same thing.... For nice-to-have settings: new soft-set logic to try all possible names, but gracefully pass if the property isn't there. For required settings: Search a list for the first setting that's supported, fail if none are supported. More logging of camera properties to help debug. Note: most of this work is because cscore doesn't directly expose a massaged exposure-setting-absolute API (and, given what we've seen, probably _shouldn't_, this struggle is not for the faint of heart). --------- Co-authored-by: Matt --- .../cameras/CameraCalibrationCard.vue | 14 +- .../components/cameras/CameraSettingsCard.vue | 30 +- .../components/dashboard/tabs/InputTab.vue | 12 +- .../stores/settings/CameraSettingsStore.ts | 8 + photon-client/src/types/PipelineTypes.ts | 16 +- photon-client/src/types/SettingTypes.ts | 18 +- photon-client/src/types/WebsocketDataTypes.ts | 2 + .../configuration/PhotonConfiguration.java | 2 + .../common/util/math/MathUtils.java | 17 + .../vision/camera/CameraQuirk.java | 20 +- .../vision/camera/FileVisionSource.java | 23 +- .../vision/camera/LibcameraGpuSettables.java | 47 +- .../vision/camera/LibcameraGpuSource.java | 11 + .../vision/camera/QuirkyCamera.java | 77 +-- .../vision/camera/TestSource.java | 16 +- .../vision/camera/USBCameraSource.java | 495 ------------------ .../USBCameras/ArduOV2311CameraSettables.java | 36 ++ .../USBCameras/ArduOV9281CameraSettables.java | 36 ++ .../USBCameras/ArduOV9782CameraSettables.java | 37 ++ .../USBCameras/GenericUSBCameraSettables.java | 306 +++++++++++ .../USBCameras/InnoOV9281CameraSettables.java | 36 ++ .../USBCameras/LifeCam3kCameraSettables.java | 88 ++++ .../LifeCam3kWindowsCameraSettables.java | 86 +++ .../USBCameras/PsEyeCameraSettables.java | 56 ++ .../camera/USBCameras/USBCameraSource.java | 250 +++++++++ .../pipeline/AprilTagPipelineSettings.java | 2 +- .../pipeline/ArucoPipelineSettings.java | 2 +- .../vision/pipeline/CVPipelineSettings.java | 16 +- .../ColoredShapePipelineSettings.java | 2 +- .../vision/pipeline/DriverModePipeline.java | 5 - .../ObjectDetectionPipelineSettings.java | 2 +- .../pipeline/ReflectivePipelineSettings.java | 2 +- .../vision/processes/VisionModule.java | 14 +- .../vision/processes/VisionSource.java | 4 + .../vision/processes/VisionSourceManager.java | 2 +- .../processes/VisionSourceSettables.java | 6 +- .../photonvision/vision/QuirkyCameraTest.java | 15 +- .../vision/processes/MockUsbCameraSource.java | 76 +++ .../processes/VisionModuleManagerTest.java | 28 +- photon-server/build.gradle | 6 - 40 files changed, 1275 insertions(+), 646 deletions(-) delete mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV2311CameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9281CameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ArduOV9782CameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/InnoOV9281CameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kCameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/LifeCam3kWindowsCameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/PsEyeCameraSettables.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java create mode 100644 photon-core/src/test/java/org/photonvision/vision/processes/MockUsbCameraSource.java diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue index c24cb4dbe7..59198a2213 100644 --- a/photon-client/src/components/cameras/CameraCalibrationCard.vue +++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue @@ -389,15 +389,17 @@ const setSelectedVideoFormat = (format: VideoFormat) => { ({ const arducamSelectWrapper = computed({ get: () => { - if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1; - else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2; - else if (tempSettingsStruct.value.quirksToChange.ArduOV9782) return 3; + if (tempSettingsStruct.value.quirksToChange.ArduOV9281Controls) return 1; + else if (tempSettingsStruct.value.quirksToChange.ArduOV2311Controls) return 2; + else if (tempSettingsStruct.value.quirksToChange.ArduOV9782Controls) return 3; else return 0; }, set: (v) => { switch (v) { case 1: - tempSettingsStruct.value.quirksToChange.ArduOV9281 = true; - tempSettingsStruct.value.quirksToChange.ArduOV2311 = false; - tempSettingsStruct.value.quirksToChange.ArduOV9782 = false; + tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = true; + tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false; break; case 2: - tempSettingsStruct.value.quirksToChange.ArduOV9281 = false; - tempSettingsStruct.value.quirksToChange.ArduOV2311 = true; - tempSettingsStruct.value.quirksToChange.ArduOV9782 = false; + tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = true; + tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false; break; case 3: - tempSettingsStruct.value.quirksToChange.ArduOV9281 = false; - tempSettingsStruct.value.quirksToChange.ArduOV2311 = false; - tempSettingsStruct.value.quirksToChange.ArduOV9782 = true; + tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = true; break; default: - tempSettingsStruct.value.quirksToChange.ArduOV9281 = false; - tempSettingsStruct.value.quirksToChange.ArduOV2311 = false; - tempSettingsStruct.value.quirksToChange.ArduOV9782 = false; + tempSettingsStruct.value.quirksToChange.ArduOV9281Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV2311Controls = false; + tempSettingsStruct.value.quirksToChange.ArduOV9782Controls = false; break; } } diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue index 086cb32207..9c883ad20a 100644 --- a/photon-client/src/components/dashboard/tabs/InputTab.vue +++ b/photon-client/src/components/dashboard/tabs/InputTab.vue @@ -74,15 +74,15 @@ const interactiveCols = computed(() =>