From 3c8a789733dbc9709865f7b1f6799b31b7e66c9d Mon Sep 17 00:00:00 2001 From: Matt Date: Tue, 24 Jan 2023 20:10:22 -0500 Subject: [PATCH 001/115] Matt's confused --- .../vision/estimation/CameraProperties.java | 542 ++++++++++++++++++ .../estimation/CameraTargetRelation.java | 44 ++ .../vision/estimation/OpenCVHelp.java | 517 +++++++++++++++++ .../vision/estimation/RotTrlTransform3d.java | 87 +++ .../vision/estimation/TargetModel.java | 111 ++++ .../vision/estimation/VisionEstimation.java | 145 +++++ .../vision/megatag/ApriltagWorkbenchTest.java | 117 ++++ .../vision/megatag/PhotonCamera.java | 351 ++++++++++++ 8 files changed, 1914 insertions(+) create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java create mode 100644 photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java create mode 100644 photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java b/photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java new file mode 100644 index 0000000000..3850f706fb --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java @@ -0,0 +1,542 @@ +package org.photonvision.vision.estimation; + +import java.io.IOException; +import java.nio.file.Path; +import java.util.List; +import java.util.Random; +import java.util.stream.Collectors; + +import org.photonvision.targeting.PhotonTrackedTarget; +import org.photonvision.targeting.TargetCorner; + +import com.fasterxml.jackson.databind.ObjectMapper; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.numbers.*; + +/** + * Calibration and performance values for this camera. + * + *

+ * The resolution will affect the accuracy of projected(3d->2d) target corners + * and + * similarly the severity of image noise on estimation(2d->3d). + * + *

+ * The camera intrinsics and distortion coefficients describe the results of + * calibration, + * and how to map between 3d field points and 2d image points. + * + *

+ * The performance values (framerate/exposure time, latency) determine how often + * results + * should be updated and with how much latency in simulation. High exposure time + * causes motion + * blur which can inhibit target detection while moving. Note that latency + * estimation does not + * account for network latency and the latency reported will always be perfect. + */ +public class CameraProperties { + private final Random rand = new Random(); + // calibration + private int resWidth; + private int resHeight; + private Matrix camIntrinsics; + private Matrix distCoeffs; + private double avgErrorPx; + private double errorStdDevPx; + // performance + private double frameSpeedMs = 0; + private double exposureTimeMs = 0; + private double avgLatencyMs = 0; + private double latencyStdDevMs = 0; + + /** + * Default constructor which is the same as {@link #PERFECT_90DEG} + */ + public CameraProperties() { + setCalibration(960, 720, Rotation2d.fromDegrees(90)); + }; + + /** + * Reads camera properties from a photonvision config.json file. + * This is only the resolution, camera intrinsics, distortion coefficients, + * and average/std. dev. pixel error. Other camera properties must be set. + * + * @param path Path to the config.json file + * @param width The width of the desired resolution in the JSON + * @param height The height of the desired resolution in the JSON + * @throws IOException If reading the JSON fails, either from an invalid path + * or a missing/invalid calibrated resolution. + */ + public CameraProperties(String path, int width, int height) throws IOException { + this(Path.of(path), width, height); + } + + /** + * Reads camera properties from a photonvision config.json file. + * This is only the resolution, camera intrinsics, distortion coefficients, + * and average/std. dev. pixel error. Other camera properties must be set. + * + * @param path Path to the config.json file + * @param width The width of the desired resolution in the JSON + * @param height The height of the desired resolution in the JSON + * @throws IOException If reading the JSON fails, either from an invalid path + * or a missing/invalid calibrated resolution. + */ + public CameraProperties(Path path, int width, int height) throws IOException { + var mapper = new ObjectMapper(); + var json = mapper.readTree(path.toFile()); + json = json.get("calibrations"); + boolean success = false; + try { + for (int i = 0; i < json.size() && !success; i++) { + // check if this calibration entry is our desired resolution + var calib = json.get(i); + int jsonWidth = calib.get("resolution").get("width").asInt(); + int jsonHeight = calib.get("resolution").get("height").asInt(); + if (jsonWidth != width || jsonHeight != height) + continue; + // get the relevant calibration values + var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data"); + double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()]; + for (int j = 0; j < jsonIntrinsicsNode.size(); j++) { + jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble(); + } + var jsonDistortNode = calib.get("cameraExtrinsics").get("data"); + double[] jsonDistortion = new double[jsonDistortNode.size()]; + for (int j = 0; j < jsonDistortNode.size(); j++) { + jsonDistortion[j] = jsonDistortNode.get(j).asDouble(); + } + var jsonViewErrors = calib.get("perViewErrors"); + double jsonAvgError = 0; + for (int j = 0; j < jsonViewErrors.size(); j++) { + jsonAvgError += jsonViewErrors.get(j).asDouble(); + } + jsonAvgError /= jsonViewErrors.size(); + double jsonErrorStdDev = calib.get("standardDeviation").asDouble(); + // assign the read JSON values to this CameraProperties + setCalibration( + jsonWidth, jsonHeight, + Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics), + Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion)); + setCalibError(jsonAvgError, jsonErrorStdDev); + success = true; + } + } catch (Exception e) { + throw new IOException("Invalid calibration JSON"); + } + if (!success) + throw new IOException("Requested resolution not found in calibration"); + } + + public void setRandomSeed(long seed) { + rand.setSeed(seed); + } + + public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) { + var fovWidth = new Rotation2d( + fovDiag.getRadians() * (resWidth / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); + var fovHeight = new Rotation2d( + fovDiag.getRadians() * (resHeight / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); + // assume no distortion + var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0); + // assume centered principal point (pixels) + double cx = resWidth / 2.0; + double cy = resHeight / 2.0; + // use given fov to determine focal point (pixels) + double fx = cx / Math.tan(fovWidth.getRadians() / 2.0); + double fy = cy / Math.tan(fovHeight.getRadians() / 2.0); + // create camera intrinsics matrix + var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill( + fx, 0, cx, + 0, fy, cy, + 0, 0, 1); + setCalibration(resWidth, resHeight, camIntrinsics, distCoeff); + } + + public void setCalibration(int resWidth, int resHeight, + Matrix camIntrinsics, Matrix distCoeffs) { + this.resWidth = resWidth; + this.resHeight = resHeight; + this.camIntrinsics = camIntrinsics; + this.distCoeffs = distCoeffs; + } + + public void setCameraIntrinsics(Matrix camIntrinsics) { + this.camIntrinsics = camIntrinsics; + } + + public void setDistortionCoeffs(Matrix distCoeffs) { + this.distCoeffs = distCoeffs; + } + + public void setCalibError(double avgErrorPx, double errorStdDevPx) { + this.avgErrorPx = avgErrorPx; + this.errorStdDevPx = errorStdDevPx; + } + + /** + * @param fps The average frames per second the camera should process at. + * Exposure time limits FPS if set! + */ + public void setFPS(double fps) { + this.frameSpeedMs = Math.max(1000.0 / fps, exposureTimeMs); + } + + /** + * @param exposureTimeMs The amount of time the "shutter" is open for one frame. + * Affects motion blur. Frame speed(from FPS) is + * limited to this! + */ + public void setExposureTimeMs(double exposureTimeMs) { + this.exposureTimeMs = exposureTimeMs; + frameSpeedMs = Math.max(frameSpeedMs, exposureTimeMs); + } + + /** + * @param avgLatencyMs The average latency (image capture -> data) in + * milliseconds + * a frame should have + */ + public void setAvgLatencyMs(double avgLatencyMs) { + this.avgLatencyMs = avgLatencyMs; + } + + /** + * @param latencyStdDevMs The standard deviation in milliseconds of the latency + */ + public void setLatencyStdDevMs(double latencyStdDevMs) { + this.latencyStdDevMs = latencyStdDevMs; + } + + public int getResWidth() { + return resWidth; + } + + public int getResHeight() { + return resHeight; + } + + public int getResArea() { + return resWidth * resHeight; + } + + public Matrix getIntrinsics() { + return camIntrinsics.copy(); + } + + public Vector getDistCoeffs() { + return new Vector<>(distCoeffs); + } + + public double getFPS() { + return 1000.0 / frameSpeedMs; + } + + public double getFrameSpeedMs() { + return frameSpeedMs; + } + + public double getExposureTimeMs() { + return exposureTimeMs; + } + + public double getAvgLatencyMs() { + return avgLatencyMs; + } + + public double getLatencyStdDevMs() { + return latencyStdDevMs; + } + + public CameraProperties copy() { + var newProp = new CameraProperties(); + newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs); + newProp.setCalibError(avgErrorPx, errorStdDevPx); + newProp.setFPS(getFPS()); + newProp.setExposureTimeMs(exposureTimeMs); + newProp.setAvgLatencyMs(avgLatencyMs); + newProp.setLatencyStdDevMs(latencyStdDevMs); + return new CameraProperties(); + } + + /** + * Undistorts a detected target's corner points, and returns a new + * PhotonTrackedTarget + * with updated corners, yaw, pitch, skew, and area. Best/alt pose and ambiguity + * are unchanged. + */ + public PhotonTrackedTarget undistort2dTarget(PhotonTrackedTarget target) { + var undistortedCorners = undistort(target.getDetectedCorners()); + // find the 2d yaw/pitch + var boundingCenterRot = getPixelRot(undistortedCorners); + // find contour area + double areaPercent = getContourAreaPercent(undistortedCorners); + + return new PhotonTrackedTarget( + Math.toDegrees(boundingCenterRot.getZ()), + -Math.toDegrees(boundingCenterRot.getY()), + areaPercent, + Math.toDegrees(boundingCenterRot.getX()), + target.getFiducialId(), + target.getBestCameraToTarget(), + target.getAlternateCameraToTarget(), + target.getPoseAmbiguity(), + undistortedCorners, + undistortedCorners); + } + + public List undistort(List points) { + return OpenCVHelp.undistortPoints(this, points); + } + + /** + * The percentage(0 - 100) of this camera's resolution the contour takes up in + * pixels + * of the image. + * + * @param corners Corners of the contour + */ + public double getContourAreaPercent(List corners) { + return OpenCVHelp.getContourAreaPx(corners) / getResArea() * 100; + } + + /** + * The yaw from the principal point of this camera to the pixel x value. + * Positive values left. + */ + public Rotation2d getPixelYaw(double pixelX) { + double fx = camIntrinsics.get(0, 0); + // account for principal point not being centered + double cx = camIntrinsics.get(0, 2); + double xOffset = cx - pixelX; + return new Rotation2d( + fx, + xOffset); + } + + /** + * The pitch from the principal point of this camera to the pixel y value. + * Pitch is positive down. + */ + public Rotation2d getPixelPitch(double pixelY) { + double fy = camIntrinsics.get(1, 1); + // account for principal point not being centered + double cy = camIntrinsics.get(1, 2); + double yOffset = cy - pixelY; + return new Rotation2d( + fy, + -yOffset); + } + + /** + * Undistorts these image points, and then finds the yaw and pitch to the center + * of the rectangle bounding them. Yaw is positive left, and pitch is positive + * down. + */ + public Rotation3d getUndistortedPixelRot(List points) { + return getPixelRot(undistort(points)); + } + + /** + * Finds the yaw and pitch to the center of the rectangle bounding the given + * image points. Yaw is positive left, and pitch is positive down. + */ + public Rotation3d getPixelRot(List points) { + if (points == null || points.size() == 0) + return new Rotation3d(); + + var rect = OpenCVHelp.getMinAreaRect(points); + return new Rotation3d( + rect.angle, + getPixelPitch(rect.center.y).getRadians(), + getPixelYaw(rect.center.x).getRadians()); + } + + public Rotation2d getHorizFOV() { + // sum of FOV left and right principal point + var left = getPixelYaw(0); + var right = getPixelYaw(resWidth); + return left.minus(right); + } + + public Rotation2d getVertFOV() { + // sum of FOV above and below principal point + var above = getPixelPitch(0); + var below = getPixelPitch(resHeight); + return below.minus(above); + } + + public Rotation2d getDiagFOV() { + return new Rotation2d(Math.hypot(getHorizFOV().getRadians(), getVertFOV().getRadians())); + } + + /** Width:height */ + public double getAspectRatio() { + return (double) resWidth / resHeight; + } + + /** + * Returns these pixel points as fractions of a 1x1 square image. + * This means the camera's aspect ratio and resolution will be used, and the + * points' x and y may not reach all portions(e.g. a wide aspect ratio means + * some of the top and bottom of the square image is unreachable). + * + * @param points Pixel points on this camera's image + * @return Points mapped to an image of 1x1 resolution + */ + public List getPixelFraction(List points) { + double resLarge = getAspectRatio() > 1 ? resWidth : resHeight; + + return points.stream() + .map(p -> { + // offset to account for aspect ratio + return new TargetCorner( + (p.x + (resLarge - resWidth) / 2.0) / resLarge, + (p.y + (resLarge - resHeight) / 2.0) / resLarge); + }) + .collect(Collectors.toList()); + } + + /** + * @return Estimate of new points based on this camera's noise. + */ + public List estPixelNoise(List points) { + if (avgErrorPx == 0 && errorStdDevPx == 0) + return points; + + return points.stream() + .map(p -> { + // error pixels in random direction + double error = rand.nextGaussian() * errorStdDevPx + avgErrorPx; + double errorAngle = rand.nextDouble() * Math.PI; + return new TargetCorner( + p.x + error * Math.cos(errorAngle), + p.y + error * Math.sin(errorAngle)); + }) + .collect(Collectors.toList()); + } + + /** + * @return Noisy estimation of a frame's processing latency in milliseconds + */ + public double estLatencyMs() { + return Math.max((rand.nextGaussian() * latencyStdDevMs) + avgLatencyMs, 0); + } + + /** + * @return Estimate how long until the next frame should be processed in + * milliseconds + */ + public double estMsUntilNextFrame() { + // exceptional processing latency blocks the next frame + return frameSpeedMs + Math.max(0, estLatencyMs() - frameSpeedMs); + } + + // pre-calibrated example cameras + + /** 960x720 resolution, 90 degree FOV, "perfect" lagless camera */ + public static final CameraProperties PERFECT_90DEG = new CameraProperties(); + + public static final CameraProperties PI4_PICAM2_480p = new CameraProperties(); + + public static final CameraProperties LL2_480p = new CameraProperties(); + public static final CameraProperties LL2_960_720p = new CameraProperties(); + public static final CameraProperties LL2_1280_720p = new CameraProperties(); + + public static final CameraProperties LIFECAM_1280_720p = new CameraProperties(); + + static { + PI4_PICAM2_480p.setCalibration(640, 480, + Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic + 497.8204072694636, 0.0, 314.53659309737424, + 0.0, 481.6955284883231, 231.95042993880858, + 0.0, 0.0, 1.0), + VecBuilder.fill( // distort + 0.16990717177326176, + -0.47305087536583684, + -0.002992219989630736, + -0.0016840919550094836, + 0.36623021008942863)); + PI4_PICAM2_480p.setCalibError(0.25, 0.07); + PI4_PICAM2_480p.setFPS(17); + PI4_PICAM2_480p.setAvgLatencyMs(35); + PI4_PICAM2_480p.setLatencyStdDevMs(8); + + LL2_480p.setCalibration(640, 480, + Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic + 511.22843367007755, 0.0, 323.62049380211096, + 0.0, 514.5452336723849, 261.8827920543568, + 0.0, 0.0, 1.0), + VecBuilder.fill( // distort + 0.1917469998873756, + -0.5142936883324216, + 0.012461562046896614, + 0.0014084973492408186, + 0.35160648971214437)); + LL2_480p.setCalibError(0.25, 0.05); + LL2_480p.setFPS(15); + LL2_480p.setAvgLatencyMs(35); + LL2_480p.setLatencyStdDevMs(8); + + LL2_960_720p.setCalibration(960, 720, + Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic + 769.6873145148892, 0.0, 486.1096609458122, + 0.0, 773.8164483705323, 384.66071662358354, + 0.0, 0.0, 1.0), + VecBuilder.fill( // distort + 0.189462064814501, + -0.49903003669627627, + 0.007468423590519429, + 0.002496885298683693, + 0.3443122090208624)); + LL2_960_720p.setCalibError(0.35, 0.10); + LL2_960_720p.setFPS(10); + LL2_960_720p.setAvgLatencyMs(50); + LL2_960_720p.setLatencyStdDevMs(15); + + LL2_1280_720p.setCalibration(1280, 720, + Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic + 1011.3749416937393, 0.0, 645.4955139388737, + 0.0, 1008.5391755084075, 508.32877656020196, + 0.0, 0.0, 1.0), + VecBuilder.fill( // distort + 0.13730101577061535, + -0.2904345656989261, + 8.32475714507539E-4, + -3.694397782014239E-4, + 0.09487962227027584)); + LL2_1280_720p.setCalibError(0.37, 0.06); + LL2_1280_720p.setFPS(7); + LL2_1280_720p.setAvgLatencyMs(60); + LL2_1280_720p.setLatencyStdDevMs(20); + + LIFECAM_1280_720p.setCalibration(1280, 720, + Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic + 1150.2178512391217, + 0, + 620.9005800934796, + 0, + 1137.1023715270699, + 336.6179549129202, + 0, + 0, + 1), + VecBuilder.fill( // distort + 0.14815813706474312, + -1.166871074914488, + 0.002510801148857967, + 0.0014575054249691716, + 2.1737769139751677)); + LIFECAM_1280_720p.setCalibError(0.37, 0.25); + LIFECAM_1280_720p.setFPS(30); + LIFECAM_1280_720p.setAvgLatencyMs(60); + LIFECAM_1280_720p.setLatencyStdDevMs(20); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java b/photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java new file mode 100644 index 0000000000..53ea45c301 --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java @@ -0,0 +1,44 @@ +package org.photonvision.vision.estimation; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform3d; + +/** Holds various helper geometries describing the relation between camera and target. */ +public class CameraTargetRelation { + public final Pose3d camPose; + public final Transform3d camToTarg; + public final double camToTargDist; + public final double camToTargDistXY; + public final Rotation2d camToTargYaw; + public final Rotation2d camToTargPitch; + /** Angle from the camera's relative x-axis */ + public final Rotation2d camToTargAngle; + public final Transform3d targToCam; + public final Rotation2d targToCamYaw; + public final Rotation2d targToCamPitch; + /** Angle from the target's relative x-axis */ + public final Rotation2d targToCamAngle; + public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) { + this.camPose = cameraPose; + camToTarg = new Transform3d(cameraPose, targetPose); + camToTargDist = camToTarg.getTranslation().getNorm(); + camToTargDistXY = Math.hypot( + camToTarg.getTranslation().getX(), + camToTarg.getTranslation().getY() + ); + camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY()); + camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ()); + camToTargAngle = new Rotation2d(Math.hypot( + camToTargYaw.getRadians(), + camToTargPitch.getRadians() + )); + targToCam = new Transform3d(targetPose, cameraPose); + targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY()); + targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ()); + targToCamAngle = new Rotation2d(Math.hypot( + targToCamYaw.getRadians(), + targToCamPitch.getRadians() + )); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java new file mode 100644 index 0000000000..9b5df695de --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java @@ -0,0 +1,517 @@ +package org.photonvision.vision.estimation; + +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; + +import org.ejml.simple.SimpleMatrix; +import org.opencv.calib3d.Calib3d; +import org.opencv.core.CvType; +import org.opencv.core.Mat; +import org.opencv.core.MatOfDouble; +import org.opencv.core.MatOfInt; +import org.opencv.core.MatOfPoint; +import org.opencv.core.MatOfPoint2f; +import org.opencv.core.MatOfPoint3f; +import org.opencv.core.Point; +import org.opencv.core.Point3; +import org.opencv.core.RotatedRect; +import org.opencv.imgproc.Imgproc; +import org.photonvision.targeting.TargetCorner; +import org.photonvision.vision.estimation.VisionEstimation.PNPResults; + +import edu.wpi.first.cscore.CameraServerCvJNI; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.CoordinateSystem; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.*; + +public final class OpenCVHelp { + + // static { + // try { + // CameraServerCvJNI.forceLoad(); + // } catch (Exception e) { + // throw new RuntimeException("Failed to load native libraries!", e); + // } + // } + + public static MatOfDouble matrixToMat(SimpleMatrix matrix) { + var mat = new Mat(matrix.numRows(), matrix.numCols(), CvType.CV_64F); + mat.put(0, 0, matrix.getDDRM().getData()); + var wrappedMat = new MatOfDouble(); + mat.convertTo(wrappedMat, CvType.CV_64F); + mat.release(); + return wrappedMat; + } + public static Matrix matToMatrix(Mat mat) { + double[] data = new double[(int)mat.total()*mat.channels()]; + var doubleMat = new Mat(mat.rows(), mat.cols(), CvType.CV_64F); + mat.convertTo(doubleMat, CvType.CV_64F); + doubleMat.get(0, 0, data); + return new Matrix<>(new SimpleMatrix(mat.rows(), mat.cols(), true, data)); + } + + /** + * Creates a new {@link MatOfPoint3f} with these 3d translations. + * The opencv tvec is a vector with three elements representing {x, y, z} in the + * EDN coordinate system. + * @param tvecOutput The tvec to be filled with data + */ + public static MatOfPoint3f translationToTvec(Translation3d... translations) { + Point3[] points = new Point3[translations.length]; + for(int i = 0; i < translations.length; i++) { + var trl = CoordinateSystem.convert( + translations[i], + CoordinateSystem.NWU(), + CoordinateSystem.EDN() + ); + points[i] = new Point3(trl.getX(), trl.getY(), trl.getZ()); + } + return new MatOfPoint3f(points); + } + /** + * Returns a new 3d translation from this {@link Mat}. + * The opencv tvec is a vector with three elements representing {x, y, z} in the + * EDN coordinate system. + */ + public static Translation3d tvecToTranslation(Mat tvecInput) { + float[] data = new float[3]; + var wrapped = new Mat(tvecInput.rows(), tvecInput.cols(), CvType.CV_32F); + tvecInput.convertTo(wrapped, CvType.CV_32F); + wrapped.get(0, 0, data); + wrapped.release(); + return CoordinateSystem.convert( + new Translation3d(data[0], data[1], data[2]), + CoordinateSystem.EDN(), + CoordinateSystem.NWU() + ); + } + + /** + * Creates a new {@link MatOfPoint3f} with this 3d rotation. + * The opencv rvec Mat is a vector with three elements representing the axis + * scaled by the angle in the EDN coordinate system. + * (angle = norm, and axis = rvec / norm) + * @param rvecOutput The rvec Mat to be filled with data + */ + public static MatOfPoint3f rotationToRvec(Rotation3d rotation) { + rotation = rotationNWUtoEDN(rotation); + return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData())); + } + /** + * Returns a 3d rotation from this {@link Mat}. + * The opencv rvec Mat is a vector with three elements representing the axis + * scaled by the angle in the EDN coordinate system. + * (angle = norm, and axis = rvec / norm) + */ + public static Rotation3d rvecToRotation(Mat rvecInput) { + float[] data = new float[3]; + var wrapped = new Mat(rvecInput.rows(), rvecInput.cols(), CvType.CV_32F); + rvecInput.convertTo(wrapped, CvType.CV_32F); + wrapped.get(0, 0, data); + wrapped.release(); + Vector axis = new Vector<>(Nat.N3()); + axis.set(0, 0, data[0]); + axis.set(1, 0, data[1]); + axis.set(2, 0, data[2]); + return rotationEDNtoNWU(new Rotation3d(axis.div(axis.norm()), axis.norm())); + } + + public static MatOfPoint2f targetCornersToMat(List corners) { + return targetCornersToMat(corners.toArray(TargetCorner[]::new)); + } + public static MatOfPoint2f targetCornersToMat(TargetCorner... corners) { + var points = new Point[corners.length]; + for(int i=0; ie.g. + *

({1,2,3}, false, 1) -> {2,3,1} + *

({1,2,3}, true, 0) -> {1,3,2} + *

({1,2,3}, true, 1) -> {3,2,1} + * @param + * @param elements + * @param backwards + * @param shift + * @return + */ + public static List reorderCircular(List elements, boolean backwards, int shift) { + int size = elements.size(); + int dir = backwards ? -1 : 1; + var reordered = new ArrayList<>(elements); + for(int i = 0; i < size; i++) { + int index = (i*dir + shift*dir) % size; + if(index < 0) index = size + index; + reordered.set(i, elements.get(index)); + } + return reordered; + } + + /** + * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} + * in EDN, this would be XYZ {0, -1, 0} in NWU. + */ + private static Rotation3d rotationEDNtoNWU(Rotation3d rot) { + return CoordinateSystem.convert( + new Rotation3d(), + CoordinateSystem.NWU(), + CoordinateSystem.EDN() + ).plus( + CoordinateSystem.convert( + rot, + CoordinateSystem.EDN(), + CoordinateSystem.NWU() + ) + ); + } + /** + * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} + * in EDN, this would be XYZ {0, -1, 0} in NWU. + */ + private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { + return CoordinateSystem.convert( + new Rotation3d(), + CoordinateSystem.EDN(), + CoordinateSystem.NWU() + ).plus( + CoordinateSystem.convert( + rot, + CoordinateSystem.NWU(), + CoordinateSystem.EDN() + ) + ); + } + + /** + * Project object points from the 3d world into the 2d camera image. + * The camera properties(intrinsics, distortion) determine the results of + * this projection. + * + * @param camPose The current camera pose in the 3d world + * @param camProp The properties of this camera + * @param objectTranslations The 3d points to be projected + * @return The 2d points in pixels which correspond to the image of the 3d points on the camera + */ + public static List projectPoints( + Pose3d camPose, CameraProperties camProp, + List objectTranslations) { + // translate to opencv classes + var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); + // opencv rvec/tvec describe a change in basis from world to camera + var basisChange = RotTrlTransform3d.makeRelativeTo(camPose); + var rvec = rotationToRvec(basisChange.getRotation()); + var tvec = translationToTvec(basisChange.getTranslation()); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var imagePoints = new MatOfPoint2f(); + // project to 2d + Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); + + // turn 2d point Mat into TargetCorners + var corners = matToTargetCorners(imagePoints); + + // release our Mats from native memory + objectPoints.release(); + rvec.release(); + tvec.release(); + cameraMatrix.release(); + distCoeffs.release(); + imagePoints.release(); + + return Arrays.asList(corners); + } + + /** + * Undistort 2d image points using a given camera's intrinsics and distortion. + * + *

2d image points from {@link #projectPoints(Pose3d, CameraProperties, Translation3d...)} + * will naturally be distorted, so this operation is important if the image points + * need to be directly used (e.g. 2d yaw/pitch). + * @param camProp The properties of this camera + * @param corners The distorted image points + * @return The undistorted image points + */ + public static List undistortPoints(CameraProperties camProp, List corners) { + var points_in = targetCornersToMat(corners); + var points_out = new MatOfPoint2f(); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + + Calib3d.undistortImagePoints(points_in, points_out, cameraMatrix, distCoeffs); + var corners_out = matToTargetCorners(points_out); + + points_in.release(); + points_out.release(); + cameraMatrix.release(); + distCoeffs.release(); + + return Arrays.asList(corners_out); + } + + /** + * Get the rectangle with minimum area which bounds this contour. This is useful for finding the center of a bounded + * contour or the size of the bounding box. + * + * @param corners The corners defining this contour + * @return Rectangle bounding the contour created by the given corners + */ + public static RotatedRect getMinAreaRect(List corners) { + var corn = targetCornersToMat(corners); + var rect = Imgproc.minAreaRect(corn); + corn.release(); + return rect; + } + /** + * Get the area in pixels of this target's contour. It's important to note that this may + * be different from the area of the bounding rectangle around the contour. + * + * @param corners The corners defining this contour + * @return Area in pixels (units of corner x/y) + */ + public static double getContourAreaPx(List corners) { + var temp = targetCornersToMat(corners); + var corn = new MatOfPoint(temp.toArray()); + temp.release(); + + // outputHull gives us indices (of corn) that make a convex hull contour + var outputHull = new MatOfInt(); + Imgproc.convexHull(corn, outputHull); + int[] indices = outputHull.toArray(); + outputHull.release(); + var tempPoints = corn.toArray(); + var points = tempPoints.clone(); + for(int i=0; iFor planar targets, there may be an alternate solution which is plausible given + * the 2d image points. This has an associated "ambiguity" which describes the + * ratio of reprojection error between the "best" and "alternate" solution. + * + * @param camProp The properties of this camera + * @param modelTrls The translations of the object corners. These should have the object + * pose as their origin. These must come in a specific, pose-relative order (in NWU): + *

+ * @param imageCorners The projection of these 3d object points into the 2d camera image. + * The order should match the given object point translations. + * @return The resulting transformation(s) that map the camera pose to the target pose + * and the ambiguity if alternate solutions are also available. + */ + public static PNPResults solveTagPNP( + CameraProperties camProp, List modelTrls, List imageCorners) { + // IPPE_SQUARE expects our corners in a specific order + modelTrls = reorderCircular(modelTrls, false, 2); + imageCorners = reorderCircular(imageCorners, false, 2); + // translate to opencv classes + var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); + var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var rvecs = new ArrayList(); + var tvecs = new ArrayList(); + var rvec = Mat.zeros(3, 1, CvType.CV_32F); + var tvec = Mat.zeros(3, 1, CvType.CV_32F); + var reprojectionError = new Mat(); + // calc rvecs/tvecs and associated reprojection error from image points + Calib3d.solvePnPGeneric( + objectPoints, imagePoints, + cameraMatrix, distCoeffs, + rvecs, tvecs, + false, Calib3d.SOLVEPNP_IPPE_SQUARE, + rvec, tvec, + reprojectionError + ); + + float[] errors = new float[2]; + reprojectionError.get(0, 0, errors); + // convert to wpilib coordinates + var best = new Transform3d( + tvecToTranslation(tvecs.get(0)), + rvecToRotation(rvecs.get(0)) + ); + + var alt = new Transform3d(); + if(tvecs.size() > 1) { + alt = new Transform3d( + tvecToTranslation(tvecs.get(1)), + rvecToRotation(rvecs.get(1)) + ); + } + + // release our Mats from native memory + objectPoints.release(); + imagePoints.release(); + cameraMatrix.release(); + distCoeffs.release(); + for(var v : rvecs) v.release(); + for(var v : tvecs) v.release(); + rvec.release(); + tvec.release(); + reprojectionError.release(); + return new VisionEstimation.PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]); + } + /** + * Finds the transformation that maps the camera's pose to the field origin. + * The camera's pose relative to the targets is determined by the supplied 3d points of + * the target's corners on the field and their associated 2d points imaged by the camera. + * + *

For planar targets, there may be an alternate solution which is plausible given + * the 2d image points. This has an associated "ambiguity" which describes the + * ratio of reprojection error between the "best" and "alternate" solution. + * + * @param camProp The properties of this camera + * @param objectTrls The translations of the object corners, relative to the field. + * @param imageCorners The projection of these 3d object points into the 2d camera image. + * The order should match the given object point translations. + * @return The resulting transformation(s) that map the camera pose to the target pose + * and the ambiguity if alternate solutions are also available. + */ + public static PNPResults solveTagsPNP( + CameraProperties camProp, List objectTrls, List imageCorners) { + // translate to opencv classes + var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); + var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var rvecs = new ArrayList(); + var tvecs = new ArrayList(); + var rvec = Mat.zeros(3, 1, CvType.CV_32F); + var tvec = Mat.zeros(3, 1, CvType.CV_32F); + var reprojectionError = new Mat(); + // calc rvec/tvec from image points + Calib3d.solvePnPGeneric( + objectPoints, imagePoints, + cameraMatrix, distCoeffs, + rvecs, tvecs, + false, Calib3d.SOLVEPNP_SQPNP, + rvec, tvec, reprojectionError + ); + + float[] errors = new float[2]; + reprojectionError.get(0, 0, errors); + // convert to wpilib coordinates + var best = new Transform3d( + tvecToTranslation(tvecs.get(0)), + rvecToRotation(rvecs.get(0)) + ); + var alt = new Transform3d(); + + // release our Mats from native memory + objectPoints.release(); + imagePoints.release(); + cameraMatrix.release(); + distCoeffs.release(); + for(var v : rvecs) v.release(); + for(var v : tvecs) v.release(); + rvec.release(); + tvec.release(); + reprojectionError.release(); + return new PNPResults(best, alt, 0, errors[0], 0); + } + public static PNPResults solveTagsPNPRansac( + CameraProperties camProp, List objectTrls, List imageCorners) { + // translate to opencv classes + var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); + var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var rvec = Mat.zeros(3, 1, CvType.CV_32F); + var tvec = Mat.zeros(3, 1, CvType.CV_32F); + var inliers = new Mat(); + // calc rvec/tvec from image points + Calib3d.solvePnPRansac( + objectPoints, imagePoints, + cameraMatrix, distCoeffs, + rvec, tvec, + false, 10000, + 1f, 0.99, inliers, + Calib3d.USAC_MAGSAC + ); + // System.out.println("--Inliers:"); + // System.out.println(inliers.dump()); + + var best = new Transform3d( + tvecToTranslation(tvec), + rvecToRotation(rvec) + ); + var alt = new Transform3d(); + + // release our Mats from native memory + objectPoints.release(); + imagePoints.release(); + cameraMatrix.release(); + distCoeffs.release(); + rvec.release(); + tvec.release(); + inliers.release(); + return new PNPResults(best, alt, 0, 0, 0); + } + + public static RotTrlTransform3d estimateRigidTransform( + List measuredTrls, List knownTrls) { + var measuredPts = translationToTvec(measuredTrls.toArray(new Translation3d[0])); + var knownPts = translationToTvec(knownTrls.toArray(new Translation3d[0])); + + var outputMat = Calib3d.estimateAffine3D(measuredPts, knownPts, null, true); + var outputMatrix = matToMatrix(outputMat); + + // rotation matrix + var rot = new Rotation3d(outputMatrix.block(3, 3, 0, 0)); + rot = rotationEDNtoNWU(rot); + // translation vector + double[] trlData = outputMatrix.block(3, 1, 0, 3).getData(); + var trl = new Translation3d(trlData[0], trlData[1], trlData[2]); + trl = CoordinateSystem.convert(trl, CoordinateSystem.EDN(), CoordinateSystem.NWU()); + + var trf = new RotTrlTransform3d( + rot, + trl + ); + + // release our Mats from native memory + measuredPts.release(); + knownPts.release(); + outputMat.release(); + + return trf; + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java b/photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java new file mode 100644 index 0000000000..55662f6fb5 --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java @@ -0,0 +1,87 @@ +package org.photonvision.vision.estimation; + +import java.util.List; +import java.util.stream.Collectors; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; + +/** + * Represents a transformation that first rotates a pose around the origin, + * and then translates it. + */ +public class RotTrlTransform3d { + private final Translation3d trl; + private final Rotation3d rot; + + public RotTrlTransform3d() { + this(new Rotation3d(), new Translation3d()); + } + /** + * Creates a rotation-translation transformation from a Transform3d. + * + *

Applying this transformation to poses will preserve their current origin-to-pose + * transform as if the origin was transformed by these components. + * + * @param trf The origin transformation + */ + public RotTrlTransform3d(Transform3d trf) { + this(trf.getRotation(), trf.getTranslation()); + } + /** + * A rotation-translation transformation. + * + *

Applying this transformation to poses will preserve their current origin-to-pose + * transform as if the origin was transformed by these components. + * + * @param rot The rotation component + * @param trl The translation component + */ + public RotTrlTransform3d(Rotation3d rot, Translation3d trl) { + this.rot = rot; + this.trl = trl; + } + /** + * The rotation-translation transformation that makes poses in the world + * consider this pose as the new origin, or change the basis to this pose. + * + * @param pose The new origin + */ + public static RotTrlTransform3d makeRelativeTo(Pose3d pose) { + return new RotTrlTransform3d(pose.getRotation(), pose.getTranslation()).inverse(); + } + + /** + * The inverse of this transformation. Applying the inverse will "undo" this transformation. + */ + public RotTrlTransform3d inverse() { + var inverseRot = rot.unaryMinus(); + var inverseTrl = trl.rotateBy(inverseRot).unaryMinus(); + return new RotTrlTransform3d(inverseRot, inverseTrl); + } + + /** This transformation as a Transform3d (as if of the origin) */ + public Transform3d getTransform() {return new Transform3d(trl, rot);} + /** The translation component of this transformation */ + public Translation3d getTranslation() {return trl;} + /** The rotation component of this transformation */ + public Rotation3d getRotation() {return rot;} + + public Translation3d apply(Translation3d trl) { + return apply(new Pose3d(trl, new Rotation3d())).getTranslation(); + }; + public List applyTrls(List trls) { + return trls.stream().map(t -> apply(t)).collect(Collectors.toList()); + } + public Pose3d apply(Pose3d pose) { + return new Pose3d( + pose.getTranslation().rotateBy(rot).plus(trl), + pose.getRotation().plus(rot) + ); + } + public List applyPoses(List poses) { + return poses.stream().map(p -> apply(p)).collect(Collectors.toList()); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java new file mode 100644 index 0000000000..3ef9bc12cd --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java @@ -0,0 +1,111 @@ +package org.photonvision.vision.estimation; + +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collectors; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; + +/** + * Describes the shape of the target + */ +public class TargetModel { + /** + * Translations of this target's corners relative to its pose + */ + public final List cornerOffsets; + public final boolean isPlanar; + public final double widthMeters; + public final double heightMeters; + public final double areaSqMeters; + + public TargetModel(List cornerOffsets, double widthMeters, double heightMeters) { + if(cornerOffsets == null || cornerOffsets.size() <= 2) { + cornerOffsets = new ArrayList<>(); + this.isPlanar = false; + } + else { + boolean cornersPlanar = true; + for(Translation3d corner : cornerOffsets) { + if(corner.getX() != 0) cornersPlanar = false; + } + if(cornerOffsets.size() != 4 || !cornersPlanar) { + throw new IllegalArgumentException( + String.format( + "Supplied target corners (%s) must total 4 and be planar (all X == 0).", + cornerOffsets.size() + ) + ); + }; + this.isPlanar = true; + } + this.cornerOffsets = cornerOffsets; + this.widthMeters = widthMeters; + this.heightMeters = heightMeters; + this.areaSqMeters = widthMeters * heightMeters; + } + /** + * Creates a rectangular, planar target model given the width and height. + */ + public static TargetModel ofPlanarRect(double widthMeters, double heightMeters) { + // 4 corners of rect with its pose as origin + return new TargetModel( + List.of( + // this order is relevant for solvePNP + new Translation3d(0, -widthMeters/2.0, heightMeters/2.0), + new Translation3d(0, widthMeters/2.0, heightMeters/2.0), + new Translation3d(0, widthMeters/2.0, -heightMeters/2.0), + new Translation3d(0, -widthMeters/2.0, -heightMeters/2.0) + ), + widthMeters, heightMeters + ); + } + /** + * Creates a spherical target which has similar dimensions when viewed from any angle. + */ + public static TargetModel ofSphere(double diameterMeters) { + // to get area = PI*r^2 + double assocSideLengths = Math.sqrt(Math.PI)*(diameterMeters/2.0); + return new TargetModel(null, assocSideLengths, assocSideLengths); + } + + /** + * This target's corners offset from its field pose. + */ + public List getFieldCorners(Pose3d targetPose) { + return cornerOffsets.stream() + .map(t -> targetPose.plus(new Transform3d(t, new Rotation3d())).getTranslation()) + .collect(Collectors.toList()); + } + + /** + * This target's corners offset from its field pose, which is facing the camera. + */ + public List getAgnosticFieldCorners(Pose3d cameraPose, Pose3d targetPose) { + var rel = new CameraTargetRelation(cameraPose, targetPose); + // this target's pose but facing the camera pose + var facingPose = new Pose3d( + targetPose.getTranslation(), + new Rotation3d(0, rel.camToTargPitch.getRadians(), rel.camToTargYaw.getRadians()) + ); + // find field corners based on this model's width/height if it was facing the camera + return TargetModel.ofPlanarRect(widthMeters, heightMeters) + .getFieldCorners(facingPose); + } + + @Override + public boolean equals(Object obj) { + if(this == obj) return true; + if(obj instanceof TargetModel) { + var o = (TargetModel)obj; + return cornerOffsets.equals(o.cornerOffsets) && + widthMeters == o.widthMeters && + heightMeters == o.heightMeters && + areaSqMeters == o.areaSqMeters; + } + return false; + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java new file mode 100644 index 0000000000..0fca90950c --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java @@ -0,0 +1,145 @@ +package org.photonvision.vision.estimation; + +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collectors; + +import org.photonvision.targeting.PhotonTrackedTarget; +import org.photonvision.targeting.TargetCorner; + +import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class VisionEstimation { + + public static final TargetModel kTagModel = TargetModel.ofPlanarRect( + Units.inchesToMeters(6), + Units.inchesToMeters(6)); + + /** + * Performs solvePNP using 3d-2d point correspondences to estimate the + * field-to-camera transformation. + * If only one tag is visible, the result may have an alternate solution. + * + *

+ * Note: The returned transformation is from the field origin to the + * camera pose! + * + * @param prop The camera properties + * @param corners The visible tag corners in the 2d image + * @param knownTags The known tag field poses corresponding to the visible tag + * IDs + * @return The transformation that maps the field origin to the camera pose + */ + public static PNPResults estimateCamPosePNP( + CameraProperties prop, List corners, List knownTags) { + if (knownTags == null || corners == null || + corners.size() != knownTags.size() * 4 || knownTags.size() == 0) { + return new PNPResults(); + } + // single-tag pnp + if (corners.size() == 4) { + var camToTag = OpenCVHelp.solveTagPNP(prop, kTagModel.cornerOffsets, corners); + var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse()); + var altPose = new Pose3d(); + if (camToTag.ambiguity != 0) + altPose = knownTags.get(0).pose.transformBy(camToTag.alt.inverse()); + + var bestTagToCam = camToTag.best.inverse(); + SmartDashboard.putNumberArray("multiTagBest_internal", new double[] { + bestTagToCam.getX(), + bestTagToCam.getY(), + bestTagToCam.getZ(), + bestTagToCam.getRotation().getQuaternion().getW(), + bestTagToCam.getRotation().getQuaternion().getX(), + bestTagToCam.getRotation().getQuaternion().getY(), + bestTagToCam.getRotation().getQuaternion().getZ() + }); + + var o = new Pose3d(); + return new PNPResults( + new Transform3d(o, bestPose), + new Transform3d(o, altPose), + camToTag.ambiguity, camToTag.bestReprojErr, camToTag.altReprojErr); + } + // multi-tag pnp + else { + var objectTrls = new ArrayList(); + for (var tag : knownTags) + objectTrls.addAll(kTagModel.getFieldCorners(tag.pose)); + var camToOrigin = OpenCVHelp.solveTagsPNP(prop, objectTrls, corners); + // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners); + return new PNPResults( + camToOrigin.best.inverse(), + camToOrigin.alt.inverse(), + camToOrigin.ambiguity, camToOrigin.bestReprojErr, camToOrigin.altReprojErr); + } + } + + /** + * The best estimated transformation to the target, and possibly an alternate + * transformation + * depending on the solvePNP method. If an alternate solution is present, the + * ambiguity value + * represents the ratio of reprojection error in the best solution to the + * alternate (best / alternate). + */ + public static class PNPResults { + public final Transform3d best; + public final double bestReprojErr; + + /** + * Alternate, ambiguous solution from solvepnp. This may be empty + * if no alternate solution is found. + */ + public final Transform3d alt; + /** If no alternate solution is found, this is 0 */ + public final double altReprojErr; + + /** If no alternate solution is found, this is 0 */ + public final double ambiguity; + + public PNPResults() { + this(new Transform3d(), new Transform3d(), 0, 0, 0); + } + + public PNPResults( + Transform3d best, Transform3d alt, + double ambiguity, double bestReprojErr, double altReprojErr) { + this.best = best; + this.alt = alt; + this.ambiguity = ambiguity; + this.bestReprojErr = bestReprojErr; + this.altReprojErr = altReprojErr; + } + } + + /** + * The best estimated transformation (Rotation-translation composition) that + * maps a set of + * translations onto another with point correspondences, and its RMSE. + */ + public static class SVDResults { + public final RotTrlTransform3d trf; + /** If the result is invalid, this value is -1 */ + public final double rmse; + + public SVDResults() { + this(new RotTrlTransform3d(), -1); + } + + public SVDResults(RotTrlTransform3d trf, double rmse) { + this.trf = trf; + this.rmse = rmse; + } + } +} diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java new file mode 100644 index 0000000000..208d8bbb8a --- /dev/null +++ b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java @@ -0,0 +1,117 @@ +package org.photonvision.vision.megatag; + +import java.io.IOException; +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collector; +import java.util.stream.Collectors; + +import org.junit.jupiter.api.Test; +import org.photonvision.common.util.TestUtils; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.TargetCorner; +import org.photonvision.vision.estimation.CameraProperties; +import org.photonvision.vision.estimation.VisionEstimation; + +import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class ApriltagWorkbenchTest { + @Test + public void testMeme() throws IOException, InterruptedException { + TestUtils.loadLibraries(); + + NetworkTableInstance instance = NetworkTableInstance.getDefault(); + instance.stopServer(); + // set the NT server if simulating this code. + // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" + // for coprocessor + instance.setServer("localhost"); + instance.startClient4("myRobot"); + + var robotToCamera = new Transform3d(); + var props = CameraProperties.LIFECAM_1280_720p; + var cam = new PhotonCamera("WPI2023"); + var tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile); + + while (!Thread.interrupted()) { + Thread.sleep(500); + var visCorners = new ArrayList(); + var knownVisTags = new ArrayList(); + var fieldToCams = new ArrayList(); + var result = cam.getLatestResult(); + System.out.println(result.getTargets().size()); + + for (var target : result.getTargets()) { + visCorners.addAll(target.getDetectedCorners()); + Pose3d tagPose = tagLayout.getTagPose(target.getFiducialId()).get(); + // actual layout poses of visible tags + knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); + + fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); + } + + final var data = new ArrayList(); + fieldToCams.stream().forEach(it -> data.addAll(List.of( + it.getX(), + it.getY(), + it.getZ(), + it.getRotation().getQuaternion().getW(), + it.getRotation().getQuaternion().getX(), + it.getRotation().getQuaternion().getY(), + it.getRotation().getQuaternion().getZ()))); + SmartDashboard.putNumberArray("fieldToCams", data.toArray(new Double[] {})); + + // data = new ArrayList();o + data.clear(); + knownVisTags.stream().forEach(it -> data.addAll(List.of( + it.pose.getX(), + it.pose.getY(), + it.pose.getZ(), + it.pose.getRotation().getQuaternion().getW(), + it.pose.getRotation().getQuaternion().getX(), + it.pose.getRotation().getQuaternion().getY(), + it.pose.getRotation().getQuaternion().getZ()))); + SmartDashboard.putNumberArray("seenTags", data.toArray(new Double[] {})); + + // multi-target solvePNP + if (result.getTargets().size() > 0) { + data.clear(); + visCorners.stream().forEach(it -> data.addAll(List.of( + it.x))); + SmartDashboard.putNumberArray("cornersX", data.toArray(new Double[] {})); + data.clear(); + visCorners.stream().forEach(it -> data.addAll(List.of( + it.y))); + SmartDashboard.putNumberArray("cornersY", data.toArray(new Double[] {})); + + var pnpResults = VisionEstimation.estimateCamPosePNP( + props, + visCorners, + knownVisTags); + var best = new Pose3d() + .plus(pnpResults.best) // field-to-camera + .plus(robotToCamera.inverse()); // field-to-robot + // var alt = new Pose3d() + // .plus(pnpResults.alt) // field-to-camera + // .plus(robotToCamera.inverse()); // field-to-robot + + SmartDashboard.putNumberArray("multiTagPNP", new double[] { + best.getX(), + best.getY(), + best.getZ(), + best.getRotation().getQuaternion().getW(), + best.getRotation().getQuaternion().getX(), + best.getRotation().getQuaternion().getY(), + best.getRotation().getQuaternion().getZ() + }); + } + } + } +} diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java b/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java new file mode 100644 index 0000000000..c8354a4d3a --- /dev/null +++ b/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java @@ -0,0 +1,351 @@ +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.photonvision.vision.megatag; + +import edu.wpi.first.networktables.BooleanEntry; +import edu.wpi.first.networktables.BooleanPublisher; +import edu.wpi.first.networktables.BooleanSubscriber; +import edu.wpi.first.networktables.DoubleArrayPublisher; +import edu.wpi.first.networktables.DoublePublisher; +import edu.wpi.first.networktables.IntegerEntry; +import edu.wpi.first.networktables.IntegerSubscriber; +import edu.wpi.first.networktables.MultiSubscriber; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.PubSubOption; +import edu.wpi.first.networktables.RawSubscriber; +import edu.wpi.first.networktables.StringSubscriber; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import java.util.Set; + +import org.photonvision.PhotonVersion; +import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.common.hardware.VisionLEDMode; +import org.photonvision.targeting.PhotonPipelineResult; + +/** Represents a camera that is connected to PhotonVision. */ +public class PhotonCamera { + static final String kTableName = "photonvision"; + + protected final NetworkTable rootTable; + RawSubscriber rawBytesEntry; + BooleanEntry driverModeEntry; + BooleanPublisher driverModePublisher; + BooleanSubscriber driverModeSubscriber; + DoublePublisher latencyMillisEntry; + BooleanPublisher hasTargetEntry; + DoublePublisher targetPitchEntry; + DoublePublisher targetYawEntry; + DoublePublisher targetAreaEntry; + DoubleArrayPublisher targetPoseEntry; + DoublePublisher targetSkewEntry; + StringSubscriber versionEntry; + IntegerEntry inputSaveImgEntry, outputSaveImgEntry; + IntegerEntry pipelineIndexEntry, ledModeEntry; + IntegerSubscriber heartbeatEntry; + + public void close() { + rawBytesEntry.close(); + driverModeEntry.close(); + driverModePublisher.close(); + driverModeSubscriber.close(); + latencyMillisEntry.close(); + hasTargetEntry.close(); + targetPitchEntry.close(); + targetYawEntry.close(); + targetAreaEntry.close(); + targetPoseEntry.close(); + targetSkewEntry.close(); + versionEntry.close(); + inputSaveImgEntry.close(); + outputSaveImgEntry.close(); + pipelineIndexEntry.close(); + ledModeEntry.close(); + } + + private final String path; + private final String name; + + private static boolean VERSION_CHECK_ENABLED = true; + private static long VERSION_CHECK_INTERVAL = 5; + private double lastVersionCheckTime = 0; + + private long prevHeartbeatValue = -1; + private double prevHeartbeatChangeTime = 0; + private static final double HEARBEAT_DEBOUNCE_SEC = 0.5; + + public static void setVersionCheckEnabled(boolean enabled) { + VERSION_CHECK_ENABLED = enabled; + } + + Packet packet = new Packet(1); + + private final MultiSubscriber m_topicNameSubscriber; + + /** + * Constructs a PhotonCamera from a root table. + * + * @param instance The NetworkTableInstance to pull data from. This can be a custom instance in + * simulation, but should *usually* be the default NTInstance from + * NetworkTableInstance::getDefault + * @param cameraName The name of the camera, as seen in the UI. + */ + public PhotonCamera(NetworkTableInstance instance, String cameraName) { + name = cameraName; + var mainTable = instance.getTable(kTableName); + this.rootTable = mainTable.getSubTable(cameraName); + path = rootTable.getPath(); + rawBytesEntry = + rootTable + .getRawTopic("rawBytes") + .subscribe( + "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true)); + driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false); + inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0); + outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0); + pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0); + heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1); + ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1); + versionEntry = mainTable.getStringTopic("version").subscribe(""); + + m_topicNameSubscriber = + new MultiSubscriber( + instance, + new String[] {"/photonvision/"}, + new PubSubOption[] {PubSubOption.topicsOnly(true)}); + } + + /** + * Constructs a PhotonCamera from the name of the camera. + * + * @param cameraName The nickname of the camera (found in the PhotonVision UI). + */ + public PhotonCamera(String cameraName) { + this(NetworkTableInstance.getDefault(), cameraName); + } + + /** + * Returns the latest pipeline result. + * + * @return The latest pipeline result. + */ + public PhotonPipelineResult getLatestResult() { + verifyVersion(); + + // Clear the packet. + packet.clear(); + + // Create latest result. + var ret = new PhotonPipelineResult(); + + // Populate packet and create result. + packet.setData(rawBytesEntry.get(new byte[] {})); + + if (packet.getSize() < 1) return ret; + ret.createFromPacket(packet); + + // Set the timestamp of the result. + // getLatestChange returns in microseconds so we divide by 1e6 to convert to seconds. + ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3); + + // Return result. + return ret; + } + + /** + * Returns whether the camera is in driver mode. + * + * @return Whether the camera is in driver mode. + */ + public boolean getDriverMode() { + return driverModeEntry.get(false); + } + + /** + * Toggles driver mode. + * + * @param driverMode Whether to set driver mode. + */ + public void setDriverMode(boolean driverMode) { + driverModeEntry.set(driverMode); + } + + /** + * Request the camera to save a new image file from the input camera stream with overlays. Images + * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk + * space and eventually cause the system to stop working. Clear out images in + * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. + */ + public void takeInputSnapshot() { + inputSaveImgEntry.set(inputSaveImgEntry.get() + 1); + } + + /** + * Request the camera to save a new image file from the output stream with overlays. Images take + * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space + * and eventually cause the system to stop working. Clear out images in + * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. + */ + public void takeOutputSnapshot() { + outputSaveImgEntry.set(outputSaveImgEntry.get() + 1); + } + + /** + * Returns the active pipeline index. + * + * @return The active pipeline index. + */ + public int getPipelineIndex() { + return (int) pipelineIndexEntry.get(0); + } + + /** + * Allows the user to select the active pipeline index. + * + * @param index The active pipeline index. + */ + public void setPipelineIndex(int index) { + pipelineIndexEntry.set(index); + } + + /** + * Returns the current LED mode. + * + * @return The current LED mode. + */ + public VisionLEDMode getLEDMode() { + int value = (int) ledModeEntry.get(-1); + switch (value) { + case 0: + return VisionLEDMode.kOff; + case 1: + return VisionLEDMode.kOn; + case 2: + return VisionLEDMode.kBlink; + case -1: + default: + return VisionLEDMode.kDefault; + } + } + + /** + * Sets the LED mode. + * + * @param led The mode to set to. + */ + public void setLED(VisionLEDMode led) { + ledModeEntry.set(led.value); + } + + /** + * Returns whether the latest target result has targets. + * + *

This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead. + * + * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()} + * @return Whether the latest target result has targets. + */ + @Deprecated + public boolean hasTargets() { + return getLatestResult().hasTargets(); + } + + /** + * Returns the name of the camera. This will return the same value that was given to the + * constructor as cameraName. + * + * @return The name of the camera. + */ + public String getName() { + return name; + } + + /** + * Returns whether the camera is connected and actively returning new data. Connection status is + * debounced. + * + * @return True if the camera is actively sending frame data, false otherwise. + */ + public boolean isConnected() { + var curHeartbeat = heartbeatEntry.get(); + var now = Timer.getFPGATimestamp(); + + if (curHeartbeat != prevHeartbeatValue) { + // New heartbeat value from the coprocessor + prevHeartbeatChangeTime = now; + prevHeartbeatValue = curHeartbeat; + } + + return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC; + } + + private void verifyVersion() { + if (!VERSION_CHECK_ENABLED) return; + + if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return; + lastVersionCheckTime = Timer.getFPGATimestamp(); + + // Heartbeat entry is assumed to always be present. If it's not present, we + // assume that a camera with that name was never connected in the first place. + if (!heartbeatEntry.exists()) { + Set cameraNames = rootTable.getInstance().getTable(kTableName).getSubTables(); + if (cameraNames.isEmpty()) { + DriverStation.reportError( + "Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!", + false); + } else { + DriverStation.reportError( + "PhotonVision coprocessor at path " + + path + + " not found on NetworkTables. Double check that your camera names match!", + true); + DriverStation.reportError( + "Found the following PhotonVision cameras on NetworkTables:\n" + + String.join("\n", cameraNames), + false); + } + } + // Check for connection status. Warn if disconnected. + else if (!isConnected()) { + DriverStation.reportWarning( + "PhotonVision coprocessor at path " + path + " is not sending new data.", true); + } + + // Check for version. Warn if the versions aren't aligned. + String versionString = versionEntry.get(""); + if (!versionString.equals("") && !PhotonVersion.versionMatches(versionString)) { + // Error on a verified version mismatch + // But stay silent otherwise + DriverStation.reportWarning( + "Photon version " + + PhotonVersion.versionString + + " does not match coprocessor version " + + versionString + + "!", + true); + } + } +} From a5816af0e6037d21d8a85385a28c44c715fa8e8f Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 25 Jan 2023 08:25:58 -0500 Subject: [PATCH 002/115] Update classes from Nolan's sim PR --- .../vision/estimation/OpenCVHelp.java | 1022 ++++++++--------- .../vision/estimation/PNPResults.java | 72 ++ .../vision/estimation/TargetModel.java | 233 ++-- .../vision/estimation/VisionEstimation.java | 82 +- .../vision/megatag/ApriltagWorkbenchTest.java | 2 +- 5 files changed, 741 insertions(+), 670 deletions(-) create mode 100644 photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java index 9b5df695de..45535ec5c6 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java @@ -1,517 +1,505 @@ -package org.photonvision.vision.estimation; - -import java.util.ArrayList; -import java.util.Arrays; -import java.util.List; - -import org.ejml.simple.SimpleMatrix; -import org.opencv.calib3d.Calib3d; -import org.opencv.core.CvType; -import org.opencv.core.Mat; -import org.opencv.core.MatOfDouble; -import org.opencv.core.MatOfInt; -import org.opencv.core.MatOfPoint; -import org.opencv.core.MatOfPoint2f; -import org.opencv.core.MatOfPoint3f; -import org.opencv.core.Point; -import org.opencv.core.Point3; -import org.opencv.core.RotatedRect; -import org.opencv.imgproc.Imgproc; -import org.photonvision.targeting.TargetCorner; -import org.photonvision.vision.estimation.VisionEstimation.PNPResults; - -import edu.wpi.first.cscore.CameraServerCvJNI; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.Num; -import edu.wpi.first.math.Vector; -import edu.wpi.first.math.geometry.CoordinateSystem; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.numbers.*; - -public final class OpenCVHelp { - - // static { - // try { - // CameraServerCvJNI.forceLoad(); - // } catch (Exception e) { - // throw new RuntimeException("Failed to load native libraries!", e); - // } - // } - - public static MatOfDouble matrixToMat(SimpleMatrix matrix) { - var mat = new Mat(matrix.numRows(), matrix.numCols(), CvType.CV_64F); - mat.put(0, 0, matrix.getDDRM().getData()); - var wrappedMat = new MatOfDouble(); - mat.convertTo(wrappedMat, CvType.CV_64F); - mat.release(); - return wrappedMat; - } - public static Matrix matToMatrix(Mat mat) { - double[] data = new double[(int)mat.total()*mat.channels()]; - var doubleMat = new Mat(mat.rows(), mat.cols(), CvType.CV_64F); - mat.convertTo(doubleMat, CvType.CV_64F); - doubleMat.get(0, 0, data); - return new Matrix<>(new SimpleMatrix(mat.rows(), mat.cols(), true, data)); - } - - /** - * Creates a new {@link MatOfPoint3f} with these 3d translations. - * The opencv tvec is a vector with three elements representing {x, y, z} in the - * EDN coordinate system. - * @param tvecOutput The tvec to be filled with data - */ - public static MatOfPoint3f translationToTvec(Translation3d... translations) { - Point3[] points = new Point3[translations.length]; - for(int i = 0; i < translations.length; i++) { - var trl = CoordinateSystem.convert( - translations[i], - CoordinateSystem.NWU(), - CoordinateSystem.EDN() - ); - points[i] = new Point3(trl.getX(), trl.getY(), trl.getZ()); - } - return new MatOfPoint3f(points); - } - /** - * Returns a new 3d translation from this {@link Mat}. - * The opencv tvec is a vector with three elements representing {x, y, z} in the - * EDN coordinate system. - */ - public static Translation3d tvecToTranslation(Mat tvecInput) { - float[] data = new float[3]; - var wrapped = new Mat(tvecInput.rows(), tvecInput.cols(), CvType.CV_32F); - tvecInput.convertTo(wrapped, CvType.CV_32F); - wrapped.get(0, 0, data); - wrapped.release(); - return CoordinateSystem.convert( - new Translation3d(data[0], data[1], data[2]), - CoordinateSystem.EDN(), - CoordinateSystem.NWU() - ); - } - - /** - * Creates a new {@link MatOfPoint3f} with this 3d rotation. - * The opencv rvec Mat is a vector with three elements representing the axis - * scaled by the angle in the EDN coordinate system. - * (angle = norm, and axis = rvec / norm) - * @param rvecOutput The rvec Mat to be filled with data - */ - public static MatOfPoint3f rotationToRvec(Rotation3d rotation) { - rotation = rotationNWUtoEDN(rotation); - return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData())); - } - /** - * Returns a 3d rotation from this {@link Mat}. - * The opencv rvec Mat is a vector with three elements representing the axis - * scaled by the angle in the EDN coordinate system. - * (angle = norm, and axis = rvec / norm) - */ - public static Rotation3d rvecToRotation(Mat rvecInput) { - float[] data = new float[3]; - var wrapped = new Mat(rvecInput.rows(), rvecInput.cols(), CvType.CV_32F); - rvecInput.convertTo(wrapped, CvType.CV_32F); - wrapped.get(0, 0, data); - wrapped.release(); - Vector axis = new Vector<>(Nat.N3()); - axis.set(0, 0, data[0]); - axis.set(1, 0, data[1]); - axis.set(2, 0, data[2]); - return rotationEDNtoNWU(new Rotation3d(axis.div(axis.norm()), axis.norm())); - } - - public static MatOfPoint2f targetCornersToMat(List corners) { - return targetCornersToMat(corners.toArray(TargetCorner[]::new)); - } - public static MatOfPoint2f targetCornersToMat(TargetCorner... corners) { - var points = new Point[corners.length]; - for(int i=0; ie.g. - *

({1,2,3}, false, 1) -> {2,3,1} - *

({1,2,3}, true, 0) -> {1,3,2} - *

({1,2,3}, true, 1) -> {3,2,1} - * @param - * @param elements - * @param backwards - * @param shift - * @return - */ - public static List reorderCircular(List elements, boolean backwards, int shift) { - int size = elements.size(); - int dir = backwards ? -1 : 1; - var reordered = new ArrayList<>(elements); - for(int i = 0; i < size; i++) { - int index = (i*dir + shift*dir) % size; - if(index < 0) index = size + index; - reordered.set(i, elements.get(index)); - } - return reordered; - } - - /** - * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} - * in EDN, this would be XYZ {0, -1, 0} in NWU. - */ - private static Rotation3d rotationEDNtoNWU(Rotation3d rot) { - return CoordinateSystem.convert( - new Rotation3d(), - CoordinateSystem.NWU(), - CoordinateSystem.EDN() - ).plus( - CoordinateSystem.convert( - rot, - CoordinateSystem.EDN(), - CoordinateSystem.NWU() - ) - ); - } - /** - * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} - * in EDN, this would be XYZ {0, -1, 0} in NWU. - */ - private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { - return CoordinateSystem.convert( - new Rotation3d(), - CoordinateSystem.EDN(), - CoordinateSystem.NWU() - ).plus( - CoordinateSystem.convert( - rot, - CoordinateSystem.NWU(), - CoordinateSystem.EDN() - ) - ); - } - - /** - * Project object points from the 3d world into the 2d camera image. - * The camera properties(intrinsics, distortion) determine the results of - * this projection. - * - * @param camPose The current camera pose in the 3d world - * @param camProp The properties of this camera - * @param objectTranslations The 3d points to be projected - * @return The 2d points in pixels which correspond to the image of the 3d points on the camera - */ - public static List projectPoints( - Pose3d camPose, CameraProperties camProp, - List objectTranslations) { - // translate to opencv classes - var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); - // opencv rvec/tvec describe a change in basis from world to camera - var basisChange = RotTrlTransform3d.makeRelativeTo(camPose); - var rvec = rotationToRvec(basisChange.getRotation()); - var tvec = translationToTvec(basisChange.getTranslation()); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); - var imagePoints = new MatOfPoint2f(); - // project to 2d - Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); - - // turn 2d point Mat into TargetCorners - var corners = matToTargetCorners(imagePoints); - - // release our Mats from native memory - objectPoints.release(); - rvec.release(); - tvec.release(); - cameraMatrix.release(); - distCoeffs.release(); - imagePoints.release(); - - return Arrays.asList(corners); - } - - /** - * Undistort 2d image points using a given camera's intrinsics and distortion. - * - *

2d image points from {@link #projectPoints(Pose3d, CameraProperties, Translation3d...)} - * will naturally be distorted, so this operation is important if the image points - * need to be directly used (e.g. 2d yaw/pitch). - * @param camProp The properties of this camera - * @param corners The distorted image points - * @return The undistorted image points - */ - public static List undistortPoints(CameraProperties camProp, List corners) { - var points_in = targetCornersToMat(corners); - var points_out = new MatOfPoint2f(); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); - - Calib3d.undistortImagePoints(points_in, points_out, cameraMatrix, distCoeffs); - var corners_out = matToTargetCorners(points_out); - - points_in.release(); - points_out.release(); - cameraMatrix.release(); - distCoeffs.release(); - - return Arrays.asList(corners_out); - } - - /** - * Get the rectangle with minimum area which bounds this contour. This is useful for finding the center of a bounded - * contour or the size of the bounding box. - * - * @param corners The corners defining this contour - * @return Rectangle bounding the contour created by the given corners - */ - public static RotatedRect getMinAreaRect(List corners) { - var corn = targetCornersToMat(corners); - var rect = Imgproc.minAreaRect(corn); - corn.release(); - return rect; - } - /** - * Get the area in pixels of this target's contour. It's important to note that this may - * be different from the area of the bounding rectangle around the contour. - * - * @param corners The corners defining this contour - * @return Area in pixels (units of corner x/y) - */ - public static double getContourAreaPx(List corners) { - var temp = targetCornersToMat(corners); - var corn = new MatOfPoint(temp.toArray()); - temp.release(); - - // outputHull gives us indices (of corn) that make a convex hull contour - var outputHull = new MatOfInt(); - Imgproc.convexHull(corn, outputHull); - int[] indices = outputHull.toArray(); - outputHull.release(); - var tempPoints = corn.toArray(); - var points = tempPoints.clone(); - for(int i=0; iFor planar targets, there may be an alternate solution which is plausible given - * the 2d image points. This has an associated "ambiguity" which describes the - * ratio of reprojection error between the "best" and "alternate" solution. - * - * @param camProp The properties of this camera - * @param modelTrls The translations of the object corners. These should have the object - * pose as their origin. These must come in a specific, pose-relative order (in NWU): - *

    - *
  • Point 0: [0, -squareLength / 2, squareLength / 2] - *
  • Point 1: [0, squareLength / 2, squareLength / 2] - *
  • Point 2: [0, squareLength / 2, -squareLength / 2] - *
  • Point 3: [0, -squareLength / 2, -squareLength / 2] - *
- * @param imageCorners The projection of these 3d object points into the 2d camera image. - * The order should match the given object point translations. - * @return The resulting transformation(s) that map the camera pose to the target pose - * and the ambiguity if alternate solutions are also available. - */ - public static PNPResults solveTagPNP( - CameraProperties camProp, List modelTrls, List imageCorners) { - // IPPE_SQUARE expects our corners in a specific order - modelTrls = reorderCircular(modelTrls, false, 2); - imageCorners = reorderCircular(imageCorners, false, 2); - // translate to opencv classes - var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); - var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); - var rvecs = new ArrayList(); - var tvecs = new ArrayList(); - var rvec = Mat.zeros(3, 1, CvType.CV_32F); - var tvec = Mat.zeros(3, 1, CvType.CV_32F); - var reprojectionError = new Mat(); - // calc rvecs/tvecs and associated reprojection error from image points - Calib3d.solvePnPGeneric( - objectPoints, imagePoints, - cameraMatrix, distCoeffs, - rvecs, tvecs, - false, Calib3d.SOLVEPNP_IPPE_SQUARE, - rvec, tvec, - reprojectionError - ); - - float[] errors = new float[2]; - reprojectionError.get(0, 0, errors); - // convert to wpilib coordinates - var best = new Transform3d( - tvecToTranslation(tvecs.get(0)), - rvecToRotation(rvecs.get(0)) - ); - - var alt = new Transform3d(); - if(tvecs.size() > 1) { - alt = new Transform3d( - tvecToTranslation(tvecs.get(1)), - rvecToRotation(rvecs.get(1)) - ); - } - - // release our Mats from native memory - objectPoints.release(); - imagePoints.release(); - cameraMatrix.release(); - distCoeffs.release(); - for(var v : rvecs) v.release(); - for(var v : tvecs) v.release(); - rvec.release(); - tvec.release(); - reprojectionError.release(); - return new VisionEstimation.PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]); - } - /** - * Finds the transformation that maps the camera's pose to the field origin. - * The camera's pose relative to the targets is determined by the supplied 3d points of - * the target's corners on the field and their associated 2d points imaged by the camera. - * - *

For planar targets, there may be an alternate solution which is plausible given - * the 2d image points. This has an associated "ambiguity" which describes the - * ratio of reprojection error between the "best" and "alternate" solution. - * - * @param camProp The properties of this camera - * @param objectTrls The translations of the object corners, relative to the field. - * @param imageCorners The projection of these 3d object points into the 2d camera image. - * The order should match the given object point translations. - * @return The resulting transformation(s) that map the camera pose to the target pose - * and the ambiguity if alternate solutions are also available. - */ - public static PNPResults solveTagsPNP( - CameraProperties camProp, List objectTrls, List imageCorners) { - // translate to opencv classes - var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); - var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); - var rvecs = new ArrayList(); - var tvecs = new ArrayList(); - var rvec = Mat.zeros(3, 1, CvType.CV_32F); - var tvec = Mat.zeros(3, 1, CvType.CV_32F); - var reprojectionError = new Mat(); - // calc rvec/tvec from image points - Calib3d.solvePnPGeneric( - objectPoints, imagePoints, - cameraMatrix, distCoeffs, - rvecs, tvecs, - false, Calib3d.SOLVEPNP_SQPNP, - rvec, tvec, reprojectionError - ); - - float[] errors = new float[2]; - reprojectionError.get(0, 0, errors); - // convert to wpilib coordinates - var best = new Transform3d( - tvecToTranslation(tvecs.get(0)), - rvecToRotation(rvecs.get(0)) - ); - var alt = new Transform3d(); - - // release our Mats from native memory - objectPoints.release(); - imagePoints.release(); - cameraMatrix.release(); - distCoeffs.release(); - for(var v : rvecs) v.release(); - for(var v : tvecs) v.release(); - rvec.release(); - tvec.release(); - reprojectionError.release(); - return new PNPResults(best, alt, 0, errors[0], 0); - } - public static PNPResults solveTagsPNPRansac( - CameraProperties camProp, List objectTrls, List imageCorners) { - // translate to opencv classes - var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); - var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); - var rvec = Mat.zeros(3, 1, CvType.CV_32F); - var tvec = Mat.zeros(3, 1, CvType.CV_32F); - var inliers = new Mat(); - // calc rvec/tvec from image points - Calib3d.solvePnPRansac( - objectPoints, imagePoints, - cameraMatrix, distCoeffs, - rvec, tvec, - false, 10000, - 1f, 0.99, inliers, - Calib3d.USAC_MAGSAC - ); - // System.out.println("--Inliers:"); - // System.out.println(inliers.dump()); - - var best = new Transform3d( - tvecToTranslation(tvec), - rvecToRotation(rvec) - ); - var alt = new Transform3d(); - - // release our Mats from native memory - objectPoints.release(); - imagePoints.release(); - cameraMatrix.release(); - distCoeffs.release(); - rvec.release(); - tvec.release(); - inliers.release(); - return new PNPResults(best, alt, 0, 0, 0); - } - - public static RotTrlTransform3d estimateRigidTransform( - List measuredTrls, List knownTrls) { - var measuredPts = translationToTvec(measuredTrls.toArray(new Translation3d[0])); - var knownPts = translationToTvec(knownTrls.toArray(new Translation3d[0])); - - var outputMat = Calib3d.estimateAffine3D(measuredPts, knownPts, null, true); - var outputMatrix = matToMatrix(outputMat); - - // rotation matrix - var rot = new Rotation3d(outputMatrix.block(3, 3, 0, 0)); - rot = rotationEDNtoNWU(rot); - // translation vector - double[] trlData = outputMatrix.block(3, 1, 0, 3).getData(); - var trl = new Translation3d(trlData[0], trlData[1], trlData[2]); - trl = CoordinateSystem.convert(trl, CoordinateSystem.EDN(), CoordinateSystem.NWU()); - - var trf = new RotTrlTransform3d( - rot, - trl - ); - - // release our Mats from native memory - measuredPts.release(); - knownPts.release(); - outputMat.release(); - - return trf; - } -} +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.photonvision.vision.estimation; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.Num; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.CoordinateSystem; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.*; +import edu.wpi.first.util.RuntimeLoader; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; +import org.ejml.simple.SimpleMatrix; +import org.opencv.calib3d.Calib3d; +import org.opencv.core.Core; +import org.opencv.core.CvType; +import org.opencv.core.Mat; +import org.opencv.core.MatOfDouble; +import org.opencv.core.MatOfInt; +import org.opencv.core.MatOfPoint; +import org.opencv.core.MatOfPoint2f; +import org.opencv.core.MatOfPoint3f; +import org.opencv.core.Point; +import org.opencv.core.Point3; +import org.opencv.core.Rect; +import org.opencv.core.RotatedRect; +import org.opencv.imgproc.Imgproc; +import org.photonvision.targeting.TargetCorner; + +public final class OpenCVHelp { + static { + try { + var loader = + new RuntimeLoader<>( + Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class); + loader.loadLibrary(); + } catch (Exception e) { + throw new RuntimeException("Failed to load native libraries!", e); + } + } + + public static MatOfDouble matrixToMat(SimpleMatrix matrix) { + var mat = new Mat(matrix.numRows(), matrix.numCols(), CvType.CV_64F); + mat.put(0, 0, matrix.getDDRM().getData()); + var wrappedMat = new MatOfDouble(); + mat.convertTo(wrappedMat, CvType.CV_64F); + mat.release(); + return wrappedMat; + } + + public static Matrix matToMatrix(Mat mat) { + double[] data = new double[(int) mat.total() * mat.channels()]; + var doubleMat = new Mat(mat.rows(), mat.cols(), CvType.CV_64F); + mat.convertTo(doubleMat, CvType.CV_64F); + doubleMat.get(0, 0, data); + return new Matrix<>(new SimpleMatrix(mat.rows(), mat.cols(), true, data)); + } + + /** + * Creates a new {@link MatOfPoint3f} with these 3d translations. The opencv tvec is a vector with + * three elements representing {x, y, z} in the EDN coordinate system. + * + * @param translations The translations to convert into a MatOfPoint3f + */ + public static MatOfPoint3f translationToTvec(Translation3d... translations) { + Point3[] points = new Point3[translations.length]; + for (int i = 0; i < translations.length; i++) { + var trl = + CoordinateSystem.convert(translations[i], CoordinateSystem.NWU(), CoordinateSystem.EDN()); + points[i] = new Point3(trl.getX(), trl.getY(), trl.getZ()); + } + return new MatOfPoint3f(points); + } + /** + * Returns a new 3d translation from this {@link Mat}. The opencv tvec is a vector with three + * elements representing {x, y, z} in the EDN coordinate system. + * + * @param tvecInput The tvec to create a Translation3d from + */ + public static Translation3d tvecToTranslation(Mat tvecInput) { + float[] data = new float[3]; + var wrapped = new Mat(tvecInput.rows(), tvecInput.cols(), CvType.CV_32F); + tvecInput.convertTo(wrapped, CvType.CV_32F); + wrapped.get(0, 0, data); + wrapped.release(); + return CoordinateSystem.convert( + new Translation3d(data[0], data[1], data[2]), + CoordinateSystem.EDN(), + CoordinateSystem.NWU()); + } + + /** + * Creates a new {@link MatOfPoint3f} with this 3d rotation. The opencv rvec Mat is a vector with + * three elements representing the axis scaled by the angle in the EDN coordinate system. (angle = + * norm, and axis = rvec / norm) + * + * @param rotation The rotation to convert into a MatOfPoint3f + */ + public static MatOfPoint3f rotationToRvec(Rotation3d rotation) { + rotation = rotationNWUtoEDN(rotation); + return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData())); + } + /** + * Returns a 3d rotation from this {@link Mat}. The opencv rvec Mat is a vector with three + * elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm, + * and axis = rvec / norm) + * + * @param rvecInput The rvec to create a Rotation3d from + */ + public static Rotation3d rvecToRotation(Mat rvecInput) { + float[] data = new float[3]; + var wrapped = new Mat(rvecInput.rows(), rvecInput.cols(), CvType.CV_32F); + rvecInput.convertTo(wrapped, CvType.CV_32F); + wrapped.get(0, 0, data); + wrapped.release(); + Vector axis = new Vector<>(Nat.N3()); + axis.set(0, 0, data[0]); + axis.set(1, 0, data[1]); + axis.set(2, 0, data[2]); + return rotationEDNtoNWU(new Rotation3d(axis.div(axis.norm()), axis.norm())); + } + + public static TargetCorner averageCorner(List corners) { + if (corners == null || corners.size() == 0) return null; + + var pointMat = targetCornersToMat(corners); + Core.reduce(pointMat, pointMat, 0, Core.REDUCE_AVG); + var avgPt = matToTargetCorners(pointMat)[0]; + pointMat.release(); + return avgPt; + } + + public static MatOfPoint2f targetCornersToMat(List corners) { + return targetCornersToMat(corners.toArray(TargetCorner[]::new)); + } + + public static MatOfPoint2f targetCornersToMat(TargetCorner... corners) { + var points = new Point[corners.length]; + for (int i = 0; i < corners.length; i++) { + points[i] = new Point(corners[i].x, corners[i].y); + } + return new MatOfPoint2f(points); + } + + public static TargetCorner[] pointsToTargetCorners(Point... points) { + var corners = new TargetCorner[points.length]; + for (int i = 0; i < points.length; i++) { + corners[i] = new TargetCorner(points[i].x, points[i].y); + } + return corners; + } + + public static TargetCorner[] matToTargetCorners(MatOfPoint2f matInput) { + var corners = new TargetCorner[(int) matInput.total()]; + float[] data = new float[(int) matInput.total() * matInput.channels()]; + matInput.get(0, 0, data); + for (int i = 0; i < corners.length; i++) { + corners[i] = new TargetCorner(data[0 + 2 * i], data[1 + 2 * i]); + } + return corners; + } + + /** + * Reorders the list, optionally indexing backwards and wrapping around to the last element after + * the first, and shifting all indices in the direction of indexing. + * + *

e.g. + * + *

({1,2,3}, false, 1) == {2,3,1} + * + *

({1,2,3}, true, 0) == {1,3,2} + * + *

({1,2,3}, true, 1) == {3,2,1} + * + * @param Element type + * @param elements + * @param backwards If indexing should happen in reverse (0, size-1, size-2, ...) + * @param shiftStart How much the inital index should be shifted (instead of starting at index 0, + * start at shiftStart, negated if backwards) + * @return Reordered list + */ + public static List reorderCircular(List elements, boolean backwards, int shiftStart) { + int size = elements.size(); + int dir = backwards ? -1 : 1; + var reordered = new ArrayList<>(elements); + for (int i = 0; i < size; i++) { + int index = (i * dir + shiftStart * dir) % size; + if (index < 0) index = size + index; + reordered.set(i, elements.get(index)); + } + return reordered; + } + + /** + * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} in EDN, + * this would be XYZ {0, -1, 0} in NWU. + */ + private static Rotation3d rotationEDNtoNWU(Rotation3d rot) { + return CoordinateSystem.convert( + new Rotation3d(), CoordinateSystem.NWU(), CoordinateSystem.EDN()) + .plus(CoordinateSystem.convert(rot, CoordinateSystem.EDN(), CoordinateSystem.NWU())); + } + /** + * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} in EDN, + * this would be XYZ {0, -1, 0} in NWU. + */ + private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { + return CoordinateSystem.convert( + new Rotation3d(), CoordinateSystem.EDN(), CoordinateSystem.NWU()) + .plus(CoordinateSystem.convert(rot, CoordinateSystem.NWU(), CoordinateSystem.EDN())); + } + + /** + * Project object points from the 3d world into the 2d camera image. The camera + * properties(intrinsics, distortion) determine the results of this projection. + * + * @param camProp The properties of this camera + * @param camPose The current camera pose in the 3d world + * @param objectTranslations The 3d points to be projected + * @return The 2d points in pixels which correspond to the image of the 3d points on the camera + */ + public static List projectPoints( + CameraProperties camProp, Pose3d camPose, List objectTranslations) { + // translate to opencv classes + var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); + // opencv rvec/tvec describe a change in basis from world to camera + var basisChange = RotTrlTransform3d.makeRelativeTo(camPose); + var rvec = rotationToRvec(basisChange.getRotation()); + var tvec = translationToTvec(basisChange.getTranslation()); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var imagePoints = new MatOfPoint2f(); + // project to 2d + Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); + + // turn 2d point Mat into TargetCorners + var corners = matToTargetCorners(imagePoints); + + // release our Mats from native memory + objectPoints.release(); + rvec.release(); + tvec.release(); + cameraMatrix.release(); + distCoeffs.release(); + imagePoints.release(); + + return Arrays.asList(corners); + } + + /** + * Undistort 2d image points using a given camera's intrinsics and distortion. + * + *

2d image points from {@link #projectPoints(CameraProperties, Pose3d, List) projectPoints} + * will naturally be distorted, so this operation is important if the image points need to be + * directly used (e.g. 2d yaw/pitch). + * + * @param camProp The properties of this camera + * @param corners The distorted image points + * @return The undistorted image points + */ + public static List undistortPoints( + CameraProperties camProp, List corners) { + var points_in = targetCornersToMat(corners); + var points_out = new MatOfPoint2f(); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + + Calib3d.undistortImagePoints(points_in, points_out, cameraMatrix, distCoeffs); + var corners_out = matToTargetCorners(points_out); + + points_in.release(); + points_out.release(); + cameraMatrix.release(); + distCoeffs.release(); + + return Arrays.asList(corners_out); + } + + /** + * Gets the (upright) rectangle which bounds this contour. + * + *

Note that rectangle size and position are stored with ints and do not have sub-pixel + * accuracy. + * + * @param corners The corners/points to be bounded + * @return Rectangle bounding the given corners + */ + public static Rect getBoundingRect(List corners) { + var corn = targetCornersToMat(corners); + var rect = Imgproc.boundingRect(corn); + corn.release(); + return rect; + } + /** + * Gets the rotated rectangle with minimum area which bounds this contour. + * + *

Note that rectangle size and position are stored with doubles and have sub-pixel accuracy. + * + * @param corners The corners/points to be bounded + * @return Rotated rectangle bounding the given corners + */ + public static RotatedRect getMinAreaRect(List corners) { + var corn = targetCornersToMat(corners); + var rect = Imgproc.minAreaRect(corn); + corn.release(); + return rect; + } + /** + * Get the area in pixels of this target's contour. It's important to note that this may be + * different from the area of the bounding rectangle around the contour. + * + * @param corners The corners defining this contour + * @return Area in pixels (units of corner x/y) + */ + public static double getContourAreaPx(List corners) { + var temp = targetCornersToMat(corners); + var corn = new MatOfPoint(temp.toArray()); + temp.release(); + + // outputHull gives us indices (of corn) that make a convex hull contour + var outputHull = new MatOfInt(); + Imgproc.convexHull(corn, outputHull); + int[] indices = outputHull.toArray(); + outputHull.release(); + var tempPoints = corn.toArray(); + var points = tempPoints.clone(); + for (int i = 0; i < indices.length; i++) { + points[i] = tempPoints[indices[i]]; + } + corn.fromArray(points); + // calculate area of the (convex hull) contour + double area = Imgproc.contourArea(corn); + corn.release(); + return area; + } + + /** + * Finds the transformation(s) that map the camera's pose to the target pose. The camera's pose + * relative to the target is determined by the supplied 3d points of the target's model and their + * associated 2d points imaged by the camera. + * + *

For planar targets, there may be an alternate solution which is plausible given the 2d image + * points. This has an associated "ambiguity" which describes the ratio of reprojection error + * between the "best" and "alternate" solution. + * + *

This method is intended for use with individual AprilTags, and will not work unless 4 points + * are provided. + * + * @param camProp The properties of this camera + * @param modelTrls The translations of the object corners. These should have the object pose as + * their origin. These must come in a specific, pose-relative order (in NWU): + *

    + *
  • Point 0: [0, -squareLength / 2, squareLength / 2] + *
  • Point 1: [0, squareLength / 2, squareLength / 2] + *
  • Point 2: [0, squareLength / 2, -squareLength / 2] + *
  • Point 3: [0, -squareLength / 2, -squareLength / 2] + *
+ * + * @param imageCorners The projection of these 3d object points into the 2d camera image. The + * order should match the given object point translations. + * @return The resulting transformation that maps the camera pose to the target pose and the + * ambiguity if an alternate solution is available. + */ + public static PNPResults solvePNP_SQUARE( + CameraProperties camProp, List modelTrls, List imageCorners) { + // IPPE_SQUARE expects our corners in a specific order + modelTrls = reorderCircular(modelTrls, true, -1); + imageCorners = reorderCircular(imageCorners, true, -1); + // translate to opencv classes + var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); + var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var rvecs = new ArrayList(); + var tvecs = new ArrayList(); + var rvec = Mat.zeros(3, 1, CvType.CV_32F); + var tvec = Mat.zeros(3, 1, CvType.CV_32F); + var reprojectionError = new Mat(); + // calc rvecs/tvecs and associated reprojection error from image points + Calib3d.solvePnPGeneric( + objectPoints, + imagePoints, + cameraMatrix, + distCoeffs, + rvecs, + tvecs, + false, + Calib3d.SOLVEPNP_IPPE_SQUARE, + rvec, + tvec, + reprojectionError); + + float[] errors = new float[2]; + reprojectionError.get(0, 0, errors); + // convert to wpilib coordinates + var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0))); + + Transform3d alt = null; + if (tvecs.size() > 1) { + alt = new Transform3d(tvecToTranslation(tvecs.get(1)), rvecToRotation(rvecs.get(1))); + } + + // release our Mats from native memory + objectPoints.release(); + imagePoints.release(); + cameraMatrix.release(); + distCoeffs.release(); + for (var v : rvecs) v.release(); + for (var v : tvecs) v.release(); + rvec.release(); + tvec.release(); + reprojectionError.release(); + + if (alt != null) return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]); + else return new PNPResults(best, errors[0]); + } + /** + * Finds the transformation that maps the camera's pose to the target pose. The camera's pose + * relative to the target is determined by the supplied 3d points of the target's model and their + * associated 2d points imaged by the camera. + * + *

This method is intended for use with multiple targets and has no alternate solutions. There + * must be at least 3 points. + * + * @param camProp The properties of this camera + * @param objectTrls The translations of the object corners, relative to the field. + * @param imageCorners The projection of these 3d object points into the 2d camera image. The + * order should match the given object point translations. + * @return The resulting transformation that maps the camera pose to the target pose. If the 3d + * model points are supplied relative to the origin, this transformation brings the camera to + * the origin. + */ + public static PNPResults solvePNP_SQPNP( + CameraProperties camProp, List objectTrls, List imageCorners) { + // translate to opencv classes + var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); + var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); + var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var rvecs = new ArrayList(); + var tvecs = new ArrayList(); + var rvec = Mat.zeros(3, 1, CvType.CV_32F); + var tvec = Mat.zeros(3, 1, CvType.CV_32F); + var reprojectionError = new Mat(); + // calc rvec/tvec from image points + Calib3d.solvePnPGeneric( + objectPoints, + imagePoints, + cameraMatrix, + distCoeffs, + rvecs, + tvecs, + false, + Calib3d.SOLVEPNP_SQPNP, + rvec, + tvec, + reprojectionError); + + float[] error = new float[1]; + reprojectionError.get(0, 0, error); + // convert to wpilib coordinates + var best = new Transform3d(tvecToTranslation(tvecs.get(0)), rvecToRotation(rvecs.get(0))); + + // release our Mats from native memory + objectPoints.release(); + imagePoints.release(); + cameraMatrix.release(); + distCoeffs.release(); + for (var v : rvecs) v.release(); + for (var v : tvecs) v.release(); + rvec.release(); + tvec.release(); + reprojectionError.release(); + + return new PNPResults(best, error[0]); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java b/photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java new file mode 100644 index 0000000000..12e0a55cee --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java @@ -0,0 +1,72 @@ +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.photonvision.vision.estimation; + +import edu.wpi.first.math.geometry.Transform3d; + +/** + * The best estimated transformation from solvePnP, and possibly an alternate transformation + * depending on the solvePNP method. If an alternate solution is present, the ambiguity value + * represents the ratio of reprojection error in the best solution to the alternate (best / + * alternate). + * + *

Note that the coordinate frame of these transforms depends on the implementing solvePnP + * method. + */ +public class PNPResults { + public final Transform3d best; + public final double bestReprojErr; + + /** + * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal + * to the best solution. + */ + public final Transform3d alt; + /** If no alternate solution is found, this is bestReprojErr */ + public final double altReprojErr; + /** If no alternate solution is found, this is 0 */ + public final double ambiguity; + + public PNPResults() { + this(new Transform3d(), new Transform3d(), 0, 0, 0); + } + + public PNPResults(Transform3d best, double bestReprojErr) { + this(best, best, 0, bestReprojErr, bestReprojErr); + } + + public PNPResults( + Transform3d best, + Transform3d alt, + double ambiguity, + double bestReprojErr, + double altReprojErr) { + this.best = best; + this.alt = alt; + this.ambiguity = ambiguity; + this.bestReprojErr = bestReprojErr; + this.altReprojErr = altReprojErr; + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java b/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java index 3ef9bc12cd..40a1403b4d 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java @@ -1,111 +1,122 @@ -package org.photonvision.vision.estimation; - -import java.util.ArrayList; -import java.util.List; -import java.util.stream.Collectors; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; - -/** - * Describes the shape of the target - */ -public class TargetModel { - /** - * Translations of this target's corners relative to its pose - */ - public final List cornerOffsets; - public final boolean isPlanar; - public final double widthMeters; - public final double heightMeters; - public final double areaSqMeters; - - public TargetModel(List cornerOffsets, double widthMeters, double heightMeters) { - if(cornerOffsets == null || cornerOffsets.size() <= 2) { - cornerOffsets = new ArrayList<>(); - this.isPlanar = false; - } - else { - boolean cornersPlanar = true; - for(Translation3d corner : cornerOffsets) { - if(corner.getX() != 0) cornersPlanar = false; - } - if(cornerOffsets.size() != 4 || !cornersPlanar) { - throw new IllegalArgumentException( - String.format( - "Supplied target corners (%s) must total 4 and be planar (all X == 0).", - cornerOffsets.size() - ) - ); - }; - this.isPlanar = true; - } - this.cornerOffsets = cornerOffsets; - this.widthMeters = widthMeters; - this.heightMeters = heightMeters; - this.areaSqMeters = widthMeters * heightMeters; - } - /** - * Creates a rectangular, planar target model given the width and height. - */ - public static TargetModel ofPlanarRect(double widthMeters, double heightMeters) { - // 4 corners of rect with its pose as origin - return new TargetModel( - List.of( - // this order is relevant for solvePNP - new Translation3d(0, -widthMeters/2.0, heightMeters/2.0), - new Translation3d(0, widthMeters/2.0, heightMeters/2.0), - new Translation3d(0, widthMeters/2.0, -heightMeters/2.0), - new Translation3d(0, -widthMeters/2.0, -heightMeters/2.0) - ), - widthMeters, heightMeters - ); - } - /** - * Creates a spherical target which has similar dimensions when viewed from any angle. - */ - public static TargetModel ofSphere(double diameterMeters) { - // to get area = PI*r^2 - double assocSideLengths = Math.sqrt(Math.PI)*(diameterMeters/2.0); - return new TargetModel(null, assocSideLengths, assocSideLengths); - } - - /** - * This target's corners offset from its field pose. - */ - public List getFieldCorners(Pose3d targetPose) { - return cornerOffsets.stream() - .map(t -> targetPose.plus(new Transform3d(t, new Rotation3d())).getTranslation()) - .collect(Collectors.toList()); - } - - /** - * This target's corners offset from its field pose, which is facing the camera. - */ - public List getAgnosticFieldCorners(Pose3d cameraPose, Pose3d targetPose) { - var rel = new CameraTargetRelation(cameraPose, targetPose); - // this target's pose but facing the camera pose - var facingPose = new Pose3d( - targetPose.getTranslation(), - new Rotation3d(0, rel.camToTargPitch.getRadians(), rel.camToTargYaw.getRadians()) - ); - // find field corners based on this model's width/height if it was facing the camera - return TargetModel.ofPlanarRect(widthMeters, heightMeters) - .getFieldCorners(facingPose); - } - - @Override - public boolean equals(Object obj) { - if(this == obj) return true; - if(obj instanceof TargetModel) { - var o = (TargetModel)obj; - return cornerOffsets.equals(o.cornerOffsets) && - widthMeters == o.widthMeters && - heightMeters == o.heightMeters && - areaSqMeters == o.areaSqMeters; - } - return false; - } -} +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +package org.photonvision.vision.estimation; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collectors; + +/** Describes the 3d model of a target. */ +public class TargetModel { + /** + * Translations of this target's vertices relative to its pose. If this target + * is spherical, this + * list has one translation with x == radius. + */ + public final List vertices; + + public final boolean isPlanar; + public final boolean isSpherical; + + public static final TargetModel kTag16h5 = new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6)); + + /** Creates a rectangular, planar target model given the width and height. */ + public TargetModel(double widthMeters, double heightMeters) { + this.vertices = List.of( + // this order is relevant for AprilTag compatibility + new Translation3d(0, -widthMeters / 2.0, -heightMeters / 2.0), + new Translation3d(0, widthMeters / 2.0, -heightMeters / 2.0), + new Translation3d(0, widthMeters / 2.0, heightMeters / 2.0), + new Translation3d(0, -widthMeters / 2.0, heightMeters / 2.0)); + this.isPlanar = true; + this.isSpherical = false; + } + + /** + * Creates a spherical target model which has similar dimensions when viewed + * from any angle. This + * model will only have one vertex which has x == radius. + */ + public TargetModel(double diameterMeters) { + this.vertices = List.of(new Translation3d(diameterMeters / 2.0, 0, 0)); + this.isPlanar = false; + this.isSpherical = true; + } + + /** + * Creates a target model from arbitrary 3d vertices. Automatically determines + * if the given + * vertices are planar(x == 0). More than 2 vertices must be given. + * + * @param vertices Translations representing the vertices of this target model + * relative to its + * pose. + */ + public TargetModel(List vertices) { + this.isSpherical = false; + if (vertices == null || vertices.size() <= 2) { + vertices = new ArrayList<>(); + this.isPlanar = false; + } else { + boolean cornersPlanar = true; + for (Translation3d corner : vertices) { + if (corner.getX() != 0) + cornersPlanar = false; + } + this.isPlanar = cornersPlanar; + } + this.vertices = vertices; + } + + /** + * This target's vertices offset from its field pose. + * + *

+ * Note: If this target is spherical, only one vertex radius meters in front of + * the pose is + * returned. + */ + public List getFieldVertices(Pose3d targetPose) { + return vertices.stream() + .map(t -> targetPose.plus(new Transform3d(t, new Rotation3d())).getTranslation()) + .collect(Collectors.toList()); + } + + @Override + public boolean equals(Object obj) { + if (this == obj) + return true; + if (obj instanceof TargetModel) { + var o = (TargetModel) obj; + return vertices.equals(o.vertices) && isPlanar == o.isPlanar && isSpherical == o.isSpherical; + } + return false; + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java index 0fca90950c..5d173028be 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java @@ -21,7 +21,7 @@ public class VisionEstimation { - public static final TargetModel kTagModel = TargetModel.ofPlanarRect( + public static final TargetModel kTagModel = new TargetModel( Units.inchesToMeters(6), Units.inchesToMeters(6)); @@ -48,7 +48,7 @@ public static PNPResults estimateCamPosePNP( } // single-tag pnp if (corners.size() == 4) { - var camToTag = OpenCVHelp.solveTagPNP(prop, kTagModel.cornerOffsets, corners); + var camToTag = OpenCVHelp.solvePNP_SQUARE(prop, kTagModel.getFieldVertices(knownTags.get(0).pose), corners); var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse()); var altPose = new Pose3d(); if (camToTag.ambiguity != 0) @@ -75,8 +75,8 @@ public static PNPResults estimateCamPosePNP( else { var objectTrls = new ArrayList(); for (var tag : knownTags) - objectTrls.addAll(kTagModel.getFieldCorners(tag.pose)); - var camToOrigin = OpenCVHelp.solveTagsPNP(prop, objectTrls, corners); + objectTrls.addAll(kTagModel.getFieldVertices(tag.pose)); + var camToOrigin = OpenCVHelp.solvePNP_SQPNP(prop, objectTrls, corners); // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners); return new PNPResults( camToOrigin.best.inverse(), @@ -85,43 +85,43 @@ public static PNPResults estimateCamPosePNP( } } - /** - * The best estimated transformation to the target, and possibly an alternate - * transformation - * depending on the solvePNP method. If an alternate solution is present, the - * ambiguity value - * represents the ratio of reprojection error in the best solution to the - * alternate (best / alternate). - */ - public static class PNPResults { - public final Transform3d best; - public final double bestReprojErr; - - /** - * Alternate, ambiguous solution from solvepnp. This may be empty - * if no alternate solution is found. - */ - public final Transform3d alt; - /** If no alternate solution is found, this is 0 */ - public final double altReprojErr; - - /** If no alternate solution is found, this is 0 */ - public final double ambiguity; - - public PNPResults() { - this(new Transform3d(), new Transform3d(), 0, 0, 0); - } - - public PNPResults( - Transform3d best, Transform3d alt, - double ambiguity, double bestReprojErr, double altReprojErr) { - this.best = best; - this.alt = alt; - this.ambiguity = ambiguity; - this.bestReprojErr = bestReprojErr; - this.altReprojErr = altReprojErr; - } - } + // /** + // * The best estimated transformation to the target, and possibly an alternate + // * transformation + // * depending on the solvePNP method. If an alternate solution is present, the + // * ambiguity value + // * represents the ratio of reprojection error in the best solution to the + // * alternate (best / alternate). + // */ + // public static class PNPResults { + // public final Transform3d best; + // public final double bestReprojErr; + + // /** + // * Alternate, ambiguous solution from solvepnp. This may be empty + // * if no alternate solution is found. + // */ + // public final Transform3d alt; + // /** If no alternate solution is found, this is 0 */ + // public final double altReprojErr; + + // /** If no alternate solution is found, this is 0 */ + // public final double ambiguity; + + // public PNPResults() { + // this(new Transform3d(), new Transform3d(), 0, 0, 0); + // } + + // public PNPResults( + // Transform3d best, Transform3d alt, + // double ambiguity, double bestReprojErr, double altReprojErr) { + // this.best = best; + // this.alt = alt; + // this.ambiguity = ambiguity; + // this.bestReprojErr = bestReprojErr; + // this.altReprojErr = altReprojErr; + // } + // } /** * The best estimated transformation (Rotation-translation composition) that diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java index 208d8bbb8a..9f2878650f 100644 --- a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java @@ -81,7 +81,7 @@ public void testMeme() throws IOException, InterruptedException { SmartDashboard.putNumberArray("seenTags", data.toArray(new Double[] {})); // multi-target solvePNP - if (result.getTargets().size() > 0) { + if (result.getTargets().size() > 1) { data.clear(); visCorners.stream().forEach(it -> data.addAll(List.of( it.x))); From 25aff1ba200181740011e98ecba19ff3b1b74349 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 25 Jan 2023 08:31:36 -0500 Subject: [PATCH 003/115] Update ApriltagWorkbenchTest.java --- .../vision/megatag/ApriltagWorkbenchTest.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java index 9f2878650f..82a0b6a7e5 100644 --- a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java @@ -45,6 +45,7 @@ public void testMeme() throws IOException, InterruptedException { var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); var fieldToCams = new ArrayList(); + var fieldToCamsAlt = new ArrayList(); var result = cam.getLatestResult(); System.out.println(result.getTargets().size()); @@ -55,6 +56,7 @@ public void testMeme() throws IOException, InterruptedException { knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); + fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } final var data = new ArrayList(); @@ -67,6 +69,16 @@ public void testMeme() throws IOException, InterruptedException { it.getRotation().getQuaternion().getY(), it.getRotation().getQuaternion().getZ()))); SmartDashboard.putNumberArray("fieldToCams", data.toArray(new Double[] {})); + data.clear(); + fieldToCamsAlt.stream().forEach(it -> data.addAll(List.of( + it.getX(), + it.getY(), + it.getZ(), + it.getRotation().getQuaternion().getW(), + it.getRotation().getQuaternion().getX(), + it.getRotation().getQuaternion().getY(), + it.getRotation().getQuaternion().getZ()))); + SmartDashboard.putNumberArray("fieldToCamsAlt", data.toArray(new Double[] {})); // data = new ArrayList();o data.clear(); From 8c58a209347774a6f51baa54e3fdc080e89efb36 Mon Sep 17 00:00:00 2001 From: Matt Date: Tue, 31 Jan 2023 08:32:04 -0500 Subject: [PATCH 004/115] Move into Photonlib --- .../vision/calibration/JsonMat.java | 6 + .../vision/frame/FrameStaticProperties.java | 3 + .../vision/megatag/ApriltagWorkbenchTest.java | 129 -- .../vision/megatag/PhotonCamera.java | 351 ------ .../org/photonvision/EstimatedRobotPose.java | 9 +- .../org/photonvision/PhotonPoseEstimator.java | 73 +- .../estimation/CameraProperties.java | 1086 +++++++++-------- .../estimation/CameraTargetRelation.java | 84 +- .../photonvision}/estimation/OpenCVHelp.java | 15 +- .../photonvision}/estimation/PNPResults.java | 2 +- .../estimation/RotTrlTransform3d.java | 177 +-- .../photonvision}/estimation/TargetModel.java | 42 +- .../estimation/VisionEstimation.java | 285 +++-- .../estimation/ApriltagWorkbenchTest.java | 168 +++ .../common/dataflow/structures/Packet.java | 14 + .../targeting/PhotonFrameProps.java | 61 + .../targeting/PhotonPipelineResult.java | 11 + 17 files changed, 1177 insertions(+), 1339 deletions(-) delete mode 100644 photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java delete mode 100644 photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/CameraProperties.java (65%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/CameraTargetRelation.java (73%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/OpenCVHelp.java (97%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/PNPResults.java (98%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/RotTrlTransform3d.java (70%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/TargetModel.java (77%) rename {photon-core/src/main/java/org/photonvision/vision => photon-lib/src/main/java/org/photonvision}/estimation/VisionEstimation.java (62%) create mode 100644 photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java create mode 100644 photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java index 60b4a524be..fca4fdf261 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java @@ -23,6 +23,7 @@ import org.opencv.core.CvType; import org.opencv.core.Mat; import org.opencv.core.MatOfDouble; +import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.vision.opencv.Releasable; public class JsonMat implements Releasable { @@ -106,4 +107,9 @@ public MatOfDouble getAsMatOfDouble() { public void release() { getAsMat().release(); } + + public Packet populatePacket(Packet packet) { + packet.encode(this.data); + return packet; + } } diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java index ee205d5887..6c4640c4b9 100644 --- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java +++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java @@ -24,6 +24,7 @@ /** Represents the properties of a frame. */ public class FrameStaticProperties { + public final int imageWidth; public final int imageHeight; public final double fov; @@ -61,10 +62,12 @@ public FrameStaticProperties( imageArea = this.imageWidth * this.imageHeight; + // Todo -- if we have calibration, use it's center point? centerX = ((double) this.imageWidth / 2) - 0.5; centerY = ((double) this.imageHeight / 2) - 0.5; centerPoint = new Point(centerX, centerY); + // TODO if we have calibration use it here instead // pinhole model calculations DoubleCouple horizVertViews = calculateHorizontalVerticalFoV(this.fov, this.imageWidth, this.imageHeight); diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java b/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java deleted file mode 100644 index 82a0b6a7e5..0000000000 --- a/photon-core/src/test/java/org/photonvision/vision/megatag/ApriltagWorkbenchTest.java +++ /dev/null @@ -1,129 +0,0 @@ -package org.photonvision.vision.megatag; - -import java.io.IOException; -import java.util.ArrayList; -import java.util.List; -import java.util.stream.Collector; -import java.util.stream.Collectors; - -import org.junit.jupiter.api.Test; -import org.photonvision.common.util.TestUtils; -import org.photonvision.targeting.PhotonPipelineResult; -import org.photonvision.targeting.TargetCorner; -import org.photonvision.vision.estimation.CameraProperties; -import org.photonvision.vision.estimation.VisionEstimation; - -import edu.wpi.first.apriltag.AprilTag; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -public class ApriltagWorkbenchTest { - @Test - public void testMeme() throws IOException, InterruptedException { - TestUtils.loadLibraries(); - - NetworkTableInstance instance = NetworkTableInstance.getDefault(); - instance.stopServer(); - // set the NT server if simulating this code. - // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" - // for coprocessor - instance.setServer("localhost"); - instance.startClient4("myRobot"); - - var robotToCamera = new Transform3d(); - var props = CameraProperties.LIFECAM_1280_720p; - var cam = new PhotonCamera("WPI2023"); - var tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile); - - while (!Thread.interrupted()) { - Thread.sleep(500); - var visCorners = new ArrayList(); - var knownVisTags = new ArrayList(); - var fieldToCams = new ArrayList(); - var fieldToCamsAlt = new ArrayList(); - var result = cam.getLatestResult(); - System.out.println(result.getTargets().size()); - - for (var target : result.getTargets()) { - visCorners.addAll(target.getDetectedCorners()); - Pose3d tagPose = tagLayout.getTagPose(target.getFiducialId()).get(); - // actual layout poses of visible tags - knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); - - fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); - fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); - } - - final var data = new ArrayList(); - fieldToCams.stream().forEach(it -> data.addAll(List.of( - it.getX(), - it.getY(), - it.getZ(), - it.getRotation().getQuaternion().getW(), - it.getRotation().getQuaternion().getX(), - it.getRotation().getQuaternion().getY(), - it.getRotation().getQuaternion().getZ()))); - SmartDashboard.putNumberArray("fieldToCams", data.toArray(new Double[] {})); - data.clear(); - fieldToCamsAlt.stream().forEach(it -> data.addAll(List.of( - it.getX(), - it.getY(), - it.getZ(), - it.getRotation().getQuaternion().getW(), - it.getRotation().getQuaternion().getX(), - it.getRotation().getQuaternion().getY(), - it.getRotation().getQuaternion().getZ()))); - SmartDashboard.putNumberArray("fieldToCamsAlt", data.toArray(new Double[] {})); - - // data = new ArrayList();o - data.clear(); - knownVisTags.stream().forEach(it -> data.addAll(List.of( - it.pose.getX(), - it.pose.getY(), - it.pose.getZ(), - it.pose.getRotation().getQuaternion().getW(), - it.pose.getRotation().getQuaternion().getX(), - it.pose.getRotation().getQuaternion().getY(), - it.pose.getRotation().getQuaternion().getZ()))); - SmartDashboard.putNumberArray("seenTags", data.toArray(new Double[] {})); - - // multi-target solvePNP - if (result.getTargets().size() > 1) { - data.clear(); - visCorners.stream().forEach(it -> data.addAll(List.of( - it.x))); - SmartDashboard.putNumberArray("cornersX", data.toArray(new Double[] {})); - data.clear(); - visCorners.stream().forEach(it -> data.addAll(List.of( - it.y))); - SmartDashboard.putNumberArray("cornersY", data.toArray(new Double[] {})); - - var pnpResults = VisionEstimation.estimateCamPosePNP( - props, - visCorners, - knownVisTags); - var best = new Pose3d() - .plus(pnpResults.best) // field-to-camera - .plus(robotToCamera.inverse()); // field-to-robot - // var alt = new Pose3d() - // .plus(pnpResults.alt) // field-to-camera - // .plus(robotToCamera.inverse()); // field-to-robot - - SmartDashboard.putNumberArray("multiTagPNP", new double[] { - best.getX(), - best.getY(), - best.getZ(), - best.getRotation().getQuaternion().getW(), - best.getRotation().getQuaternion().getX(), - best.getRotation().getQuaternion().getY(), - best.getRotation().getQuaternion().getZ() - }); - } - } - } -} diff --git a/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java b/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java deleted file mode 100644 index c8354a4d3a..0000000000 --- a/photon-core/src/test/java/org/photonvision/vision/megatag/PhotonCamera.java +++ /dev/null @@ -1,351 +0,0 @@ -/* - * MIT License - * - * Copyright (c) 2022 PhotonVision - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -package org.photonvision.vision.megatag; - -import edu.wpi.first.networktables.BooleanEntry; -import edu.wpi.first.networktables.BooleanPublisher; -import edu.wpi.first.networktables.BooleanSubscriber; -import edu.wpi.first.networktables.DoubleArrayPublisher; -import edu.wpi.first.networktables.DoublePublisher; -import edu.wpi.first.networktables.IntegerEntry; -import edu.wpi.first.networktables.IntegerSubscriber; -import edu.wpi.first.networktables.MultiSubscriber; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.networktables.PubSubOption; -import edu.wpi.first.networktables.RawSubscriber; -import edu.wpi.first.networktables.StringSubscriber; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Timer; -import java.util.Set; - -import org.photonvision.PhotonVersion; -import org.photonvision.common.dataflow.structures.Packet; -import org.photonvision.common.hardware.VisionLEDMode; -import org.photonvision.targeting.PhotonPipelineResult; - -/** Represents a camera that is connected to PhotonVision. */ -public class PhotonCamera { - static final String kTableName = "photonvision"; - - protected final NetworkTable rootTable; - RawSubscriber rawBytesEntry; - BooleanEntry driverModeEntry; - BooleanPublisher driverModePublisher; - BooleanSubscriber driverModeSubscriber; - DoublePublisher latencyMillisEntry; - BooleanPublisher hasTargetEntry; - DoublePublisher targetPitchEntry; - DoublePublisher targetYawEntry; - DoublePublisher targetAreaEntry; - DoubleArrayPublisher targetPoseEntry; - DoublePublisher targetSkewEntry; - StringSubscriber versionEntry; - IntegerEntry inputSaveImgEntry, outputSaveImgEntry; - IntegerEntry pipelineIndexEntry, ledModeEntry; - IntegerSubscriber heartbeatEntry; - - public void close() { - rawBytesEntry.close(); - driverModeEntry.close(); - driverModePublisher.close(); - driverModeSubscriber.close(); - latencyMillisEntry.close(); - hasTargetEntry.close(); - targetPitchEntry.close(); - targetYawEntry.close(); - targetAreaEntry.close(); - targetPoseEntry.close(); - targetSkewEntry.close(); - versionEntry.close(); - inputSaveImgEntry.close(); - outputSaveImgEntry.close(); - pipelineIndexEntry.close(); - ledModeEntry.close(); - } - - private final String path; - private final String name; - - private static boolean VERSION_CHECK_ENABLED = true; - private static long VERSION_CHECK_INTERVAL = 5; - private double lastVersionCheckTime = 0; - - private long prevHeartbeatValue = -1; - private double prevHeartbeatChangeTime = 0; - private static final double HEARBEAT_DEBOUNCE_SEC = 0.5; - - public static void setVersionCheckEnabled(boolean enabled) { - VERSION_CHECK_ENABLED = enabled; - } - - Packet packet = new Packet(1); - - private final MultiSubscriber m_topicNameSubscriber; - - /** - * Constructs a PhotonCamera from a root table. - * - * @param instance The NetworkTableInstance to pull data from. This can be a custom instance in - * simulation, but should *usually* be the default NTInstance from - * NetworkTableInstance::getDefault - * @param cameraName The name of the camera, as seen in the UI. - */ - public PhotonCamera(NetworkTableInstance instance, String cameraName) { - name = cameraName; - var mainTable = instance.getTable(kTableName); - this.rootTable = mainTable.getSubTable(cameraName); - path = rootTable.getPath(); - rawBytesEntry = - rootTable - .getRawTopic("rawBytes") - .subscribe( - "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true)); - driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false); - inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0); - outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0); - pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0); - heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1); - ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1); - versionEntry = mainTable.getStringTopic("version").subscribe(""); - - m_topicNameSubscriber = - new MultiSubscriber( - instance, - new String[] {"/photonvision/"}, - new PubSubOption[] {PubSubOption.topicsOnly(true)}); - } - - /** - * Constructs a PhotonCamera from the name of the camera. - * - * @param cameraName The nickname of the camera (found in the PhotonVision UI). - */ - public PhotonCamera(String cameraName) { - this(NetworkTableInstance.getDefault(), cameraName); - } - - /** - * Returns the latest pipeline result. - * - * @return The latest pipeline result. - */ - public PhotonPipelineResult getLatestResult() { - verifyVersion(); - - // Clear the packet. - packet.clear(); - - // Create latest result. - var ret = new PhotonPipelineResult(); - - // Populate packet and create result. - packet.setData(rawBytesEntry.get(new byte[] {})); - - if (packet.getSize() < 1) return ret; - ret.createFromPacket(packet); - - // Set the timestamp of the result. - // getLatestChange returns in microseconds so we divide by 1e6 to convert to seconds. - ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3); - - // Return result. - return ret; - } - - /** - * Returns whether the camera is in driver mode. - * - * @return Whether the camera is in driver mode. - */ - public boolean getDriverMode() { - return driverModeEntry.get(false); - } - - /** - * Toggles driver mode. - * - * @param driverMode Whether to set driver mode. - */ - public void setDriverMode(boolean driverMode) { - driverModeEntry.set(driverMode); - } - - /** - * Request the camera to save a new image file from the input camera stream with overlays. Images - * take up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk - * space and eventually cause the system to stop working. Clear out images in - * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. - */ - public void takeInputSnapshot() { - inputSaveImgEntry.set(inputSaveImgEntry.get() + 1); - } - - /** - * Request the camera to save a new image file from the output stream with overlays. Images take - * up space in the filesystem of the PhotonCamera. Calling it frequently will fill up disk space - * and eventually cause the system to stop working. Clear out images in - * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues. - */ - public void takeOutputSnapshot() { - outputSaveImgEntry.set(outputSaveImgEntry.get() + 1); - } - - /** - * Returns the active pipeline index. - * - * @return The active pipeline index. - */ - public int getPipelineIndex() { - return (int) pipelineIndexEntry.get(0); - } - - /** - * Allows the user to select the active pipeline index. - * - * @param index The active pipeline index. - */ - public void setPipelineIndex(int index) { - pipelineIndexEntry.set(index); - } - - /** - * Returns the current LED mode. - * - * @return The current LED mode. - */ - public VisionLEDMode getLEDMode() { - int value = (int) ledModeEntry.get(-1); - switch (value) { - case 0: - return VisionLEDMode.kOff; - case 1: - return VisionLEDMode.kOn; - case 2: - return VisionLEDMode.kBlink; - case -1: - default: - return VisionLEDMode.kDefault; - } - } - - /** - * Sets the LED mode. - * - * @param led The mode to set to. - */ - public void setLED(VisionLEDMode led) { - ledModeEntry.set(led.value); - } - - /** - * Returns whether the latest target result has targets. - * - *

This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should be used instead. - * - * @deprecated This method should be replaced with {@link PhotonPipelineResult#hasTargets()} - * @return Whether the latest target result has targets. - */ - @Deprecated - public boolean hasTargets() { - return getLatestResult().hasTargets(); - } - - /** - * Returns the name of the camera. This will return the same value that was given to the - * constructor as cameraName. - * - * @return The name of the camera. - */ - public String getName() { - return name; - } - - /** - * Returns whether the camera is connected and actively returning new data. Connection status is - * debounced. - * - * @return True if the camera is actively sending frame data, false otherwise. - */ - public boolean isConnected() { - var curHeartbeat = heartbeatEntry.get(); - var now = Timer.getFPGATimestamp(); - - if (curHeartbeat != prevHeartbeatValue) { - // New heartbeat value from the coprocessor - prevHeartbeatChangeTime = now; - prevHeartbeatValue = curHeartbeat; - } - - return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC; - } - - private void verifyVersion() { - if (!VERSION_CHECK_ENABLED) return; - - if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return; - lastVersionCheckTime = Timer.getFPGATimestamp(); - - // Heartbeat entry is assumed to always be present. If it's not present, we - // assume that a camera with that name was never connected in the first place. - if (!heartbeatEntry.exists()) { - Set cameraNames = rootTable.getInstance().getTable(kTableName).getSubTables(); - if (cameraNames.isEmpty()) { - DriverStation.reportError( - "Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!", - false); - } else { - DriverStation.reportError( - "PhotonVision coprocessor at path " - + path - + " not found on NetworkTables. Double check that your camera names match!", - true); - DriverStation.reportError( - "Found the following PhotonVision cameras on NetworkTables:\n" - + String.join("\n", cameraNames), - false); - } - } - // Check for connection status. Warn if disconnected. - else if (!isConnected()) { - DriverStation.reportWarning( - "PhotonVision coprocessor at path " + path + " is not sending new data.", true); - } - - // Check for version. Warn if the versions aren't aligned. - String versionString = versionEntry.get(""); - if (!versionString.equals("") && !PhotonVersion.versionMatches(versionString)) { - // Error on a verified version mismatch - // But stay silent otherwise - DriverStation.reportWarning( - "Photon version " - + PhotonVersion.versionString - + " does not match coprocessor version " - + versionString - + "!", - true); - } - } -} diff --git a/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java b/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java index 44846b7ae0..383887cf6d 100644 --- a/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java +++ b/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java @@ -25,6 +25,8 @@ package org.photonvision; import edu.wpi.first.math.geometry.Pose3d; +import java.util.List; +import org.photonvision.targeting.PhotonTrackedTarget; /** An estimated pose based on pipeline result */ public class EstimatedRobotPose { @@ -34,14 +36,19 @@ public class EstimatedRobotPose { /** The estimated time the frame used to derive the robot pose was taken */ public final double timestampSeconds; + /** A list of the targets used to compute this pose */ + public final List targetsUsed; + /** * Constructs an EstimatedRobotPose * * @param estimatedPose estimated pose * @param timestampSeconds timestamp of the estimate */ - public EstimatedRobotPose(Pose3d estimatedPose, double timestampSeconds) { + public EstimatedRobotPose( + Pose3d estimatedPose, double timestampSeconds, List targetsUsed) { this.estimatedPose = estimatedPose; this.timestampSeconds = timestampSeconds; + this.targetsUsed = targetsUsed; } } diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 57389bf0fe..da085190ed 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -24,6 +24,7 @@ package org.photonvision; +import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; @@ -37,8 +38,10 @@ import java.util.List; import java.util.Optional; import java.util.Set; +import org.photonvision.estimation.VisionEstimation; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; +import org.photonvision.targeting.TargetCorner; /** * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a @@ -61,7 +64,10 @@ public enum PoseStrategy { CLOSEST_TO_LAST_POSE, /** Choose the Pose with the lowest ambiguity. */ - AVERAGE_BEST_TARGETS + AVERAGE_BEST_TARGETS, + + /** Use all visible tags to compute a single pose estimate.. */ + MULTI_TAG_PNP } private AprilTagFieldLayout fieldTags; @@ -217,6 +223,9 @@ public Optional update() { case AVERAGE_BEST_TARGETS: estimatedPose = averageBestTargetsStrategy(cameraResult); break; + case MULTI_TAG_PNP: + estimatedPose = multiTagPNPStrategy(cameraResult); + break; default: DriverStation.reportError( "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", false); @@ -230,6 +239,47 @@ public Optional update() { return estimatedPose; } + private Optional multiTagPNPStrategy(PhotonPipelineResult result) { + + // Arrays we need declared up front + var visCorners = new ArrayList(); + var knownVisTags = new ArrayList(); + var fieldToCams = new ArrayList(); + var fieldToCamsAlt = new ArrayList(); + + for (var target : result.getTargets()) { + visCorners.addAll(target.getDetectedCorners()); + Pose3d tagPose = fieldTags.getTagPose(target.getFiducialId()).get(); + + // actual layout poses of visible tags -- not exposed, so have to recreate + knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); + + fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); + fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); + } + + // multi-target solvePNP + if (result.getTargets().size() > 1) { + + var pnpResults = + VisionEstimation.estimateCamPosePNP( + result.getFrameProperties(), visCorners, knownVisTags); + var best = + new Pose3d() + .plus(pnpResults.best) // field-to-camera + .plus(robotToCamera.inverse()); // field-to-robot + // var alt = new Pose3d() + // .plus(pnpResults.alt) // field-to-camera + // .plus(robotToCamera.inverse()); // field-to-robot + + return Optional.of( + new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets())); + } else { + // TODO fallback strategy? Should we just always do solvePNP? + return Optional.empty(); + } + } + /** * Return the estimated position of the robot with the lowest position ambiguity from a List of * pipeline results. @@ -271,7 +321,8 @@ private Optional lowestAmbiguityStrategy(PhotonPipelineResul .get() .transformBy(lowestAmbiguityTarget.getBestCameraToTarget().inverse()) .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds())); + result.getTimestampSeconds(), + result.getTargets())); } /** @@ -324,7 +375,8 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin .get() .transformBy(target.getAlternateCameraToTarget().inverse()) .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds()); + result.getTimestampSeconds(), + result.getTargets()); } if (bestTransformDelta < smallestHeightDifference) { @@ -335,7 +387,8 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin .get() .transformBy(target.getBestCameraToTarget().inverse()) .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds()); + result.getTimestampSeconds(), + result.getTargets()); } } @@ -396,12 +449,14 @@ private Optional closestToReferencePoseStrategy( if (altDifference < smallestPoseDelta) { smallestPoseDelta = altDifference; lowestDeltaPose = - new EstimatedRobotPose(altTransformPosition, result.getTimestampSeconds()); + new EstimatedRobotPose( + altTransformPosition, result.getTimestampSeconds(), result.getTargets()); } if (bestDifference < smallestPoseDelta) { smallestPoseDelta = bestDifference; lowestDeltaPose = - new EstimatedRobotPose(bestTransformPosition, result.getTimestampSeconds()); + new EstimatedRobotPose( + bestTransformPosition, result.getTimestampSeconds(), result.getTargets()); } } return Optional.ofNullable(lowestDeltaPose); @@ -443,7 +498,8 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe .get() .transformBy(target.getBestCameraToTarget().inverse()) .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds())); + result.getTimestampSeconds(), + result.getTargets())); } totalAmbiguity += 1.0 / target.getPoseAmbiguity(); @@ -474,7 +530,8 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe } return Optional.of( - new EstimatedRobotPose(new Pose3d(transform, rotation), result.getTimestampSeconds())); + new EstimatedRobotPose( + new Pose3d(transform, rotation), result.getTimestampSeconds(), result.getTargets())); } /** diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java b/photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java similarity index 65% rename from photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java rename to photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java index 3850f706fb..e7eae2ea5d 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraProperties.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java @@ -1,542 +1,544 @@ -package org.photonvision.vision.estimation; - -import java.io.IOException; -import java.nio.file.Path; -import java.util.List; -import java.util.Random; -import java.util.stream.Collectors; - -import org.photonvision.targeting.PhotonTrackedTarget; -import org.photonvision.targeting.TargetCorner; - -import com.fasterxml.jackson.databind.ObjectMapper; - -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.Vector; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.numbers.*; - -/** - * Calibration and performance values for this camera. - * - *

- * The resolution will affect the accuracy of projected(3d->2d) target corners - * and - * similarly the severity of image noise on estimation(2d->3d). - * - *

- * The camera intrinsics and distortion coefficients describe the results of - * calibration, - * and how to map between 3d field points and 2d image points. - * - *

- * The performance values (framerate/exposure time, latency) determine how often - * results - * should be updated and with how much latency in simulation. High exposure time - * causes motion - * blur which can inhibit target detection while moving. Note that latency - * estimation does not - * account for network latency and the latency reported will always be perfect. - */ -public class CameraProperties { - private final Random rand = new Random(); - // calibration - private int resWidth; - private int resHeight; - private Matrix camIntrinsics; - private Matrix distCoeffs; - private double avgErrorPx; - private double errorStdDevPx; - // performance - private double frameSpeedMs = 0; - private double exposureTimeMs = 0; - private double avgLatencyMs = 0; - private double latencyStdDevMs = 0; - - /** - * Default constructor which is the same as {@link #PERFECT_90DEG} - */ - public CameraProperties() { - setCalibration(960, 720, Rotation2d.fromDegrees(90)); - }; - - /** - * Reads camera properties from a photonvision config.json file. - * This is only the resolution, camera intrinsics, distortion coefficients, - * and average/std. dev. pixel error. Other camera properties must be set. - * - * @param path Path to the config.json file - * @param width The width of the desired resolution in the JSON - * @param height The height of the desired resolution in the JSON - * @throws IOException If reading the JSON fails, either from an invalid path - * or a missing/invalid calibrated resolution. - */ - public CameraProperties(String path, int width, int height) throws IOException { - this(Path.of(path), width, height); - } - - /** - * Reads camera properties from a photonvision config.json file. - * This is only the resolution, camera intrinsics, distortion coefficients, - * and average/std. dev. pixel error. Other camera properties must be set. - * - * @param path Path to the config.json file - * @param width The width of the desired resolution in the JSON - * @param height The height of the desired resolution in the JSON - * @throws IOException If reading the JSON fails, either from an invalid path - * or a missing/invalid calibrated resolution. - */ - public CameraProperties(Path path, int width, int height) throws IOException { - var mapper = new ObjectMapper(); - var json = mapper.readTree(path.toFile()); - json = json.get("calibrations"); - boolean success = false; - try { - for (int i = 0; i < json.size() && !success; i++) { - // check if this calibration entry is our desired resolution - var calib = json.get(i); - int jsonWidth = calib.get("resolution").get("width").asInt(); - int jsonHeight = calib.get("resolution").get("height").asInt(); - if (jsonWidth != width || jsonHeight != height) - continue; - // get the relevant calibration values - var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data"); - double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()]; - for (int j = 0; j < jsonIntrinsicsNode.size(); j++) { - jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble(); - } - var jsonDistortNode = calib.get("cameraExtrinsics").get("data"); - double[] jsonDistortion = new double[jsonDistortNode.size()]; - for (int j = 0; j < jsonDistortNode.size(); j++) { - jsonDistortion[j] = jsonDistortNode.get(j).asDouble(); - } - var jsonViewErrors = calib.get("perViewErrors"); - double jsonAvgError = 0; - for (int j = 0; j < jsonViewErrors.size(); j++) { - jsonAvgError += jsonViewErrors.get(j).asDouble(); - } - jsonAvgError /= jsonViewErrors.size(); - double jsonErrorStdDev = calib.get("standardDeviation").asDouble(); - // assign the read JSON values to this CameraProperties - setCalibration( - jsonWidth, jsonHeight, - Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics), - Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion)); - setCalibError(jsonAvgError, jsonErrorStdDev); - success = true; - } - } catch (Exception e) { - throw new IOException("Invalid calibration JSON"); - } - if (!success) - throw new IOException("Requested resolution not found in calibration"); - } - - public void setRandomSeed(long seed) { - rand.setSeed(seed); - } - - public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) { - var fovWidth = new Rotation2d( - fovDiag.getRadians() * (resWidth / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); - var fovHeight = new Rotation2d( - fovDiag.getRadians() * (resHeight / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); - // assume no distortion - var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0); - // assume centered principal point (pixels) - double cx = resWidth / 2.0; - double cy = resHeight / 2.0; - // use given fov to determine focal point (pixels) - double fx = cx / Math.tan(fovWidth.getRadians() / 2.0); - double fy = cy / Math.tan(fovHeight.getRadians() / 2.0); - // create camera intrinsics matrix - var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill( - fx, 0, cx, - 0, fy, cy, - 0, 0, 1); - setCalibration(resWidth, resHeight, camIntrinsics, distCoeff); - } - - public void setCalibration(int resWidth, int resHeight, - Matrix camIntrinsics, Matrix distCoeffs) { - this.resWidth = resWidth; - this.resHeight = resHeight; - this.camIntrinsics = camIntrinsics; - this.distCoeffs = distCoeffs; - } - - public void setCameraIntrinsics(Matrix camIntrinsics) { - this.camIntrinsics = camIntrinsics; - } - - public void setDistortionCoeffs(Matrix distCoeffs) { - this.distCoeffs = distCoeffs; - } - - public void setCalibError(double avgErrorPx, double errorStdDevPx) { - this.avgErrorPx = avgErrorPx; - this.errorStdDevPx = errorStdDevPx; - } - - /** - * @param fps The average frames per second the camera should process at. - * Exposure time limits FPS if set! - */ - public void setFPS(double fps) { - this.frameSpeedMs = Math.max(1000.0 / fps, exposureTimeMs); - } - - /** - * @param exposureTimeMs The amount of time the "shutter" is open for one frame. - * Affects motion blur. Frame speed(from FPS) is - * limited to this! - */ - public void setExposureTimeMs(double exposureTimeMs) { - this.exposureTimeMs = exposureTimeMs; - frameSpeedMs = Math.max(frameSpeedMs, exposureTimeMs); - } - - /** - * @param avgLatencyMs The average latency (image capture -> data) in - * milliseconds - * a frame should have - */ - public void setAvgLatencyMs(double avgLatencyMs) { - this.avgLatencyMs = avgLatencyMs; - } - - /** - * @param latencyStdDevMs The standard deviation in milliseconds of the latency - */ - public void setLatencyStdDevMs(double latencyStdDevMs) { - this.latencyStdDevMs = latencyStdDevMs; - } - - public int getResWidth() { - return resWidth; - } - - public int getResHeight() { - return resHeight; - } - - public int getResArea() { - return resWidth * resHeight; - } - - public Matrix getIntrinsics() { - return camIntrinsics.copy(); - } - - public Vector getDistCoeffs() { - return new Vector<>(distCoeffs); - } - - public double getFPS() { - return 1000.0 / frameSpeedMs; - } - - public double getFrameSpeedMs() { - return frameSpeedMs; - } - - public double getExposureTimeMs() { - return exposureTimeMs; - } - - public double getAvgLatencyMs() { - return avgLatencyMs; - } - - public double getLatencyStdDevMs() { - return latencyStdDevMs; - } - - public CameraProperties copy() { - var newProp = new CameraProperties(); - newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs); - newProp.setCalibError(avgErrorPx, errorStdDevPx); - newProp.setFPS(getFPS()); - newProp.setExposureTimeMs(exposureTimeMs); - newProp.setAvgLatencyMs(avgLatencyMs); - newProp.setLatencyStdDevMs(latencyStdDevMs); - return new CameraProperties(); - } - - /** - * Undistorts a detected target's corner points, and returns a new - * PhotonTrackedTarget - * with updated corners, yaw, pitch, skew, and area. Best/alt pose and ambiguity - * are unchanged. - */ - public PhotonTrackedTarget undistort2dTarget(PhotonTrackedTarget target) { - var undistortedCorners = undistort(target.getDetectedCorners()); - // find the 2d yaw/pitch - var boundingCenterRot = getPixelRot(undistortedCorners); - // find contour area - double areaPercent = getContourAreaPercent(undistortedCorners); - - return new PhotonTrackedTarget( - Math.toDegrees(boundingCenterRot.getZ()), - -Math.toDegrees(boundingCenterRot.getY()), - areaPercent, - Math.toDegrees(boundingCenterRot.getX()), - target.getFiducialId(), - target.getBestCameraToTarget(), - target.getAlternateCameraToTarget(), - target.getPoseAmbiguity(), - undistortedCorners, - undistortedCorners); - } - - public List undistort(List points) { - return OpenCVHelp.undistortPoints(this, points); - } - - /** - * The percentage(0 - 100) of this camera's resolution the contour takes up in - * pixels - * of the image. - * - * @param corners Corners of the contour - */ - public double getContourAreaPercent(List corners) { - return OpenCVHelp.getContourAreaPx(corners) / getResArea() * 100; - } - - /** - * The yaw from the principal point of this camera to the pixel x value. - * Positive values left. - */ - public Rotation2d getPixelYaw(double pixelX) { - double fx = camIntrinsics.get(0, 0); - // account for principal point not being centered - double cx = camIntrinsics.get(0, 2); - double xOffset = cx - pixelX; - return new Rotation2d( - fx, - xOffset); - } - - /** - * The pitch from the principal point of this camera to the pixel y value. - * Pitch is positive down. - */ - public Rotation2d getPixelPitch(double pixelY) { - double fy = camIntrinsics.get(1, 1); - // account for principal point not being centered - double cy = camIntrinsics.get(1, 2); - double yOffset = cy - pixelY; - return new Rotation2d( - fy, - -yOffset); - } - - /** - * Undistorts these image points, and then finds the yaw and pitch to the center - * of the rectangle bounding them. Yaw is positive left, and pitch is positive - * down. - */ - public Rotation3d getUndistortedPixelRot(List points) { - return getPixelRot(undistort(points)); - } - - /** - * Finds the yaw and pitch to the center of the rectangle bounding the given - * image points. Yaw is positive left, and pitch is positive down. - */ - public Rotation3d getPixelRot(List points) { - if (points == null || points.size() == 0) - return new Rotation3d(); - - var rect = OpenCVHelp.getMinAreaRect(points); - return new Rotation3d( - rect.angle, - getPixelPitch(rect.center.y).getRadians(), - getPixelYaw(rect.center.x).getRadians()); - } - - public Rotation2d getHorizFOV() { - // sum of FOV left and right principal point - var left = getPixelYaw(0); - var right = getPixelYaw(resWidth); - return left.minus(right); - } - - public Rotation2d getVertFOV() { - // sum of FOV above and below principal point - var above = getPixelPitch(0); - var below = getPixelPitch(resHeight); - return below.minus(above); - } - - public Rotation2d getDiagFOV() { - return new Rotation2d(Math.hypot(getHorizFOV().getRadians(), getVertFOV().getRadians())); - } - - /** Width:height */ - public double getAspectRatio() { - return (double) resWidth / resHeight; - } - - /** - * Returns these pixel points as fractions of a 1x1 square image. - * This means the camera's aspect ratio and resolution will be used, and the - * points' x and y may not reach all portions(e.g. a wide aspect ratio means - * some of the top and bottom of the square image is unreachable). - * - * @param points Pixel points on this camera's image - * @return Points mapped to an image of 1x1 resolution - */ - public List getPixelFraction(List points) { - double resLarge = getAspectRatio() > 1 ? resWidth : resHeight; - - return points.stream() - .map(p -> { - // offset to account for aspect ratio - return new TargetCorner( - (p.x + (resLarge - resWidth) / 2.0) / resLarge, - (p.y + (resLarge - resHeight) / 2.0) / resLarge); - }) - .collect(Collectors.toList()); - } - - /** - * @return Estimate of new points based on this camera's noise. - */ - public List estPixelNoise(List points) { - if (avgErrorPx == 0 && errorStdDevPx == 0) - return points; - - return points.stream() - .map(p -> { - // error pixels in random direction - double error = rand.nextGaussian() * errorStdDevPx + avgErrorPx; - double errorAngle = rand.nextDouble() * Math.PI; - return new TargetCorner( - p.x + error * Math.cos(errorAngle), - p.y + error * Math.sin(errorAngle)); - }) - .collect(Collectors.toList()); - } - - /** - * @return Noisy estimation of a frame's processing latency in milliseconds - */ - public double estLatencyMs() { - return Math.max((rand.nextGaussian() * latencyStdDevMs) + avgLatencyMs, 0); - } - - /** - * @return Estimate how long until the next frame should be processed in - * milliseconds - */ - public double estMsUntilNextFrame() { - // exceptional processing latency blocks the next frame - return frameSpeedMs + Math.max(0, estLatencyMs() - frameSpeedMs); - } - - // pre-calibrated example cameras - - /** 960x720 resolution, 90 degree FOV, "perfect" lagless camera */ - public static final CameraProperties PERFECT_90DEG = new CameraProperties(); - - public static final CameraProperties PI4_PICAM2_480p = new CameraProperties(); - - public static final CameraProperties LL2_480p = new CameraProperties(); - public static final CameraProperties LL2_960_720p = new CameraProperties(); - public static final CameraProperties LL2_1280_720p = new CameraProperties(); - - public static final CameraProperties LIFECAM_1280_720p = new CameraProperties(); - - static { - PI4_PICAM2_480p.setCalibration(640, 480, - Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic - 497.8204072694636, 0.0, 314.53659309737424, - 0.0, 481.6955284883231, 231.95042993880858, - 0.0, 0.0, 1.0), - VecBuilder.fill( // distort - 0.16990717177326176, - -0.47305087536583684, - -0.002992219989630736, - -0.0016840919550094836, - 0.36623021008942863)); - PI4_PICAM2_480p.setCalibError(0.25, 0.07); - PI4_PICAM2_480p.setFPS(17); - PI4_PICAM2_480p.setAvgLatencyMs(35); - PI4_PICAM2_480p.setLatencyStdDevMs(8); - - LL2_480p.setCalibration(640, 480, - Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic - 511.22843367007755, 0.0, 323.62049380211096, - 0.0, 514.5452336723849, 261.8827920543568, - 0.0, 0.0, 1.0), - VecBuilder.fill( // distort - 0.1917469998873756, - -0.5142936883324216, - 0.012461562046896614, - 0.0014084973492408186, - 0.35160648971214437)); - LL2_480p.setCalibError(0.25, 0.05); - LL2_480p.setFPS(15); - LL2_480p.setAvgLatencyMs(35); - LL2_480p.setLatencyStdDevMs(8); - - LL2_960_720p.setCalibration(960, 720, - Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic - 769.6873145148892, 0.0, 486.1096609458122, - 0.0, 773.8164483705323, 384.66071662358354, - 0.0, 0.0, 1.0), - VecBuilder.fill( // distort - 0.189462064814501, - -0.49903003669627627, - 0.007468423590519429, - 0.002496885298683693, - 0.3443122090208624)); - LL2_960_720p.setCalibError(0.35, 0.10); - LL2_960_720p.setFPS(10); - LL2_960_720p.setAvgLatencyMs(50); - LL2_960_720p.setLatencyStdDevMs(15); - - LL2_1280_720p.setCalibration(1280, 720, - Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic - 1011.3749416937393, 0.0, 645.4955139388737, - 0.0, 1008.5391755084075, 508.32877656020196, - 0.0, 0.0, 1.0), - VecBuilder.fill( // distort - 0.13730101577061535, - -0.2904345656989261, - 8.32475714507539E-4, - -3.694397782014239E-4, - 0.09487962227027584)); - LL2_1280_720p.setCalibError(0.37, 0.06); - LL2_1280_720p.setFPS(7); - LL2_1280_720p.setAvgLatencyMs(60); - LL2_1280_720p.setLatencyStdDevMs(20); - - LIFECAM_1280_720p.setCalibration(1280, 720, - Matrix.mat(Nat.N3(), Nat.N3()).fill( // intrinsic - 1150.2178512391217, - 0, - 620.9005800934796, - 0, - 1137.1023715270699, - 336.6179549129202, - 0, - 0, - 1), - VecBuilder.fill( // distort - 0.14815813706474312, - -1.166871074914488, - 0.002510801148857967, - 0.0014575054249691716, - 2.1737769139751677)); - LIFECAM_1280_720p.setCalibError(0.37, 0.25); - LIFECAM_1280_720p.setFPS(30); - LIFECAM_1280_720p.setAvgLatencyMs(60); - LIFECAM_1280_720p.setLatencyStdDevMs(20); - } -} +package org.photonvision.estimation; + +import com.fasterxml.jackson.databind.ObjectMapper; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.numbers.*; +import java.io.IOException; +import java.nio.file.Path; +import java.util.List; +import java.util.Random; +import java.util.stream.Collectors; +import org.photonvision.targeting.PhotonTrackedTarget; +import org.photonvision.targeting.TargetCorner; + +/** + * Calibration and performance values for this camera. + * + *

The resolution will affect the accuracy of projected(3d->2d) target corners and similarly the + * severity of image noise on estimation(2d->3d). + * + *

The camera intrinsics and distortion coefficients describe the results of calibration, and how + * to map between 3d field points and 2d image points. + * + *

The performance values (framerate/exposure time, latency) determine how often results should + * be updated and with how much latency in simulation. High exposure time causes motion blur which + * can inhibit target detection while moving. Note that latency estimation does not account for + * network latency and the latency reported will always be perfect. + */ +public class CameraProperties { + private final Random rand = new Random(); + // calibration + private int resWidth; + private int resHeight; + private Matrix camIntrinsics; + private Matrix distCoeffs; + private double avgErrorPx; + private double errorStdDevPx; + // performance + private double frameSpeedMs = 0; + private double exposureTimeMs = 0; + private double avgLatencyMs = 0; + private double latencyStdDevMs = 0; + + /** Default constructor which is the same as {@link #PERFECT_90DEG} */ + public CameraProperties() { + setCalibration(960, 720, Rotation2d.fromDegrees(90)); + } + ; + + /** + * Reads camera properties from a photonvision config.json file. This is only the + * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error. + * Other camera properties must be set. + * + * @param path Path to the config.json file + * @param width The width of the desired resolution in the JSON + * @param height The height of the desired resolution in the JSON + * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid + * calibrated resolution. + */ + public CameraProperties(String path, int width, int height) throws IOException { + this(Path.of(path), width, height); + } + + /** + * Reads camera properties from a photonvision config.json file. This is only the + * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error. + * Other camera properties must be set. + * + * @param path Path to the config.json file + * @param width The width of the desired resolution in the JSON + * @param height The height of the desired resolution in the JSON + * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid + * calibrated resolution. + */ + public CameraProperties(Path path, int width, int height) throws IOException { + var mapper = new ObjectMapper(); + var json = mapper.readTree(path.toFile()); + json = json.get("calibrations"); + boolean success = false; + try { + for (int i = 0; i < json.size() && !success; i++) { + // check if this calibration entry is our desired resolution + var calib = json.get(i); + int jsonWidth = calib.get("resolution").get("width").asInt(); + int jsonHeight = calib.get("resolution").get("height").asInt(); + if (jsonWidth != width || jsonHeight != height) continue; + // get the relevant calibration values + var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data"); + double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()]; + for (int j = 0; j < jsonIntrinsicsNode.size(); j++) { + jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble(); + } + var jsonDistortNode = calib.get("cameraExtrinsics").get("data"); + double[] jsonDistortion = new double[jsonDistortNode.size()]; + for (int j = 0; j < jsonDistortNode.size(); j++) { + jsonDistortion[j] = jsonDistortNode.get(j).asDouble(); + } + var jsonViewErrors = calib.get("perViewErrors"); + double jsonAvgError = 0; + for (int j = 0; j < jsonViewErrors.size(); j++) { + jsonAvgError += jsonViewErrors.get(j).asDouble(); + } + jsonAvgError /= jsonViewErrors.size(); + double jsonErrorStdDev = calib.get("standardDeviation").asDouble(); + // assign the read JSON values to this CameraProperties + setCalibration( + jsonWidth, + jsonHeight, + Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics), + Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion)); + setCalibError(jsonAvgError, jsonErrorStdDev); + success = true; + } + } catch (Exception e) { + throw new IOException("Invalid calibration JSON"); + } + if (!success) throw new IOException("Requested resolution not found in calibration"); + } + + public void setRandomSeed(long seed) { + rand.setSeed(seed); + } + + public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) { + var fovWidth = + new Rotation2d( + fovDiag.getRadians() + * (resWidth / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); + var fovHeight = + new Rotation2d( + fovDiag.getRadians() + * (resHeight / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); + // assume no distortion + var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0); + // assume centered principal point (pixels) + double cx = resWidth / 2.0; + double cy = resHeight / 2.0; + // use given fov to determine focal point (pixels) + double fx = cx / Math.tan(fovWidth.getRadians() / 2.0); + double fy = cy / Math.tan(fovHeight.getRadians() / 2.0); + // create camera intrinsics matrix + var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill(fx, 0, cx, 0, fy, cy, 0, 0, 1); + setCalibration(resWidth, resHeight, camIntrinsics, distCoeff); + } + + public void setCalibration( + int resWidth, int resHeight, Matrix camIntrinsics, Matrix distCoeffs) { + this.resWidth = resWidth; + this.resHeight = resHeight; + this.camIntrinsics = camIntrinsics; + this.distCoeffs = distCoeffs; + } + + public void setCameraIntrinsics(Matrix camIntrinsics) { + this.camIntrinsics = camIntrinsics; + } + + public void setDistortionCoeffs(Matrix distCoeffs) { + this.distCoeffs = distCoeffs; + } + + public void setCalibError(double avgErrorPx, double errorStdDevPx) { + this.avgErrorPx = avgErrorPx; + this.errorStdDevPx = errorStdDevPx; + } + + /** + * @param fps The average frames per second the camera should process at. Exposure time limits + * FPS if set! + */ + public void setFPS(double fps) { + this.frameSpeedMs = Math.max(1000.0 / fps, exposureTimeMs); + } + + /** + * @param exposureTimeMs The amount of time the "shutter" is open for one frame. Affects motion + * blur. Frame speed(from FPS) is limited to this! + */ + public void setExposureTimeMs(double exposureTimeMs) { + this.exposureTimeMs = exposureTimeMs; + frameSpeedMs = Math.max(frameSpeedMs, exposureTimeMs); + } + + /** + * @param avgLatencyMs The average latency (image capture -> data) in milliseconds a frame should + * have + */ + public void setAvgLatencyMs(double avgLatencyMs) { + this.avgLatencyMs = avgLatencyMs; + } + + /** @param latencyStdDevMs The standard deviation in milliseconds of the latency */ + public void setLatencyStdDevMs(double latencyStdDevMs) { + this.latencyStdDevMs = latencyStdDevMs; + } + + public int getResWidth() { + return resWidth; + } + + public int getResHeight() { + return resHeight; + } + + public int getResArea() { + return resWidth * resHeight; + } + + public Matrix getIntrinsics() { + return camIntrinsics.copy(); + } + + public Vector getDistCoeffs() { + return new Vector<>(distCoeffs); + } + + public double getFPS() { + return 1000.0 / frameSpeedMs; + } + + public double getFrameSpeedMs() { + return frameSpeedMs; + } + + public double getExposureTimeMs() { + return exposureTimeMs; + } + + public double getAvgLatencyMs() { + return avgLatencyMs; + } + + public double getLatencyStdDevMs() { + return latencyStdDevMs; + } + + public CameraProperties copy() { + var newProp = new CameraProperties(); + newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs); + newProp.setCalibError(avgErrorPx, errorStdDevPx); + newProp.setFPS(getFPS()); + newProp.setExposureTimeMs(exposureTimeMs); + newProp.setAvgLatencyMs(avgLatencyMs); + newProp.setLatencyStdDevMs(latencyStdDevMs); + return new CameraProperties(); + } + + /** + * Undistorts a detected target's corner points, and returns a new PhotonTrackedTarget with + * updated corners, yaw, pitch, skew, and area. Best/alt pose and ambiguity are unchanged. + */ + public PhotonTrackedTarget undistort2dTarget(PhotonTrackedTarget target) { + var undistortedCorners = undistort(target.getDetectedCorners()); + // find the 2d yaw/pitch + var boundingCenterRot = getPixelRot(undistortedCorners); + // find contour area + double areaPercent = getContourAreaPercent(undistortedCorners); + + return new PhotonTrackedTarget( + Math.toDegrees(boundingCenterRot.getZ()), + -Math.toDegrees(boundingCenterRot.getY()), + areaPercent, + Math.toDegrees(boundingCenterRot.getX()), + target.getFiducialId(), + target.getBestCameraToTarget(), + target.getAlternateCameraToTarget(), + target.getPoseAmbiguity(), + undistortedCorners, + undistortedCorners); + } + + public List undistort(List points) { + return OpenCVHelp.undistortPoints(this, points); + } + + /** + * The percentage(0 - 100) of this camera's resolution the contour takes up in pixels of the + * image. + * + * @param corners Corners of the contour + */ + public double getContourAreaPercent(List corners) { + return OpenCVHelp.getContourAreaPx(corners) / getResArea() * 100; + } + + /** The yaw from the principal point of this camera to the pixel x value. Positive values left. */ + public Rotation2d getPixelYaw(double pixelX) { + double fx = camIntrinsics.get(0, 0); + // account for principal point not being centered + double cx = camIntrinsics.get(0, 2); + double xOffset = cx - pixelX; + return new Rotation2d(fx, xOffset); + } + + /** + * The pitch from the principal point of this camera to the pixel y value. Pitch is positive down. + */ + public Rotation2d getPixelPitch(double pixelY) { + double fy = camIntrinsics.get(1, 1); + // account for principal point not being centered + double cy = camIntrinsics.get(1, 2); + double yOffset = cy - pixelY; + return new Rotation2d(fy, -yOffset); + } + + /** + * Undistorts these image points, and then finds the yaw and pitch to the center of the rectangle + * bounding them. Yaw is positive left, and pitch is positive down. + */ + public Rotation3d getUndistortedPixelRot(List points) { + return getPixelRot(undistort(points)); + } + + /** + * Finds the yaw and pitch to the center of the rectangle bounding the given image points. Yaw is + * positive left, and pitch is positive down. + */ + public Rotation3d getPixelRot(List points) { + if (points == null || points.size() == 0) return new Rotation3d(); + + var rect = OpenCVHelp.getMinAreaRect(points); + return new Rotation3d( + rect.angle, + getPixelPitch(rect.center.y).getRadians(), + getPixelYaw(rect.center.x).getRadians()); + } + + public Rotation2d getHorizFOV() { + // sum of FOV left and right principal point + var left = getPixelYaw(0); + var right = getPixelYaw(resWidth); + return left.minus(right); + } + + public Rotation2d getVertFOV() { + // sum of FOV above and below principal point + var above = getPixelPitch(0); + var below = getPixelPitch(resHeight); + return below.minus(above); + } + + public Rotation2d getDiagFOV() { + return new Rotation2d(Math.hypot(getHorizFOV().getRadians(), getVertFOV().getRadians())); + } + + /** Width:height */ + public double getAspectRatio() { + return (double) resWidth / resHeight; + } + + /** + * Returns these pixel points as fractions of a 1x1 square image. This means the camera's aspect + * ratio and resolution will be used, and the points' x and y may not reach all portions(e.g. a + * wide aspect ratio means some of the top and bottom of the square image is unreachable). + * + * @param points Pixel points on this camera's image + * @return Points mapped to an image of 1x1 resolution + */ + public List getPixelFraction(List points) { + double resLarge = getAspectRatio() > 1 ? resWidth : resHeight; + + return points.stream() + .map( + p -> { + // offset to account for aspect ratio + return new TargetCorner( + (p.x + (resLarge - resWidth) / 2.0) / resLarge, + (p.y + (resLarge - resHeight) / 2.0) / resLarge); + }) + .collect(Collectors.toList()); + } + + /** @return Estimate of new points based on this camera's noise. */ + public List estPixelNoise(List points) { + if (avgErrorPx == 0 && errorStdDevPx == 0) return points; + + return points.stream() + .map( + p -> { + // error pixels in random direction + double error = rand.nextGaussian() * errorStdDevPx + avgErrorPx; + double errorAngle = rand.nextDouble() * Math.PI; + return new TargetCorner( + p.x + error * Math.cos(errorAngle), p.y + error * Math.sin(errorAngle)); + }) + .collect(Collectors.toList()); + } + + /** @return Noisy estimation of a frame's processing latency in milliseconds */ + public double estLatencyMs() { + return Math.max((rand.nextGaussian() * latencyStdDevMs) + avgLatencyMs, 0); + } + + /** @return Estimate how long until the next frame should be processed in milliseconds */ + public double estMsUntilNextFrame() { + // exceptional processing latency blocks the next frame + return frameSpeedMs + Math.max(0, estLatencyMs() - frameSpeedMs); + } + + // pre-calibrated example cameras + + /** 960x720 resolution, 90 degree FOV, "perfect" lagless camera */ + public static final CameraProperties PERFECT_90DEG = new CameraProperties(); + + public static final CameraProperties PI4_PICAM2_480p = new CameraProperties(); + + public static final CameraProperties LL2_480p = new CameraProperties(); + public static final CameraProperties LL2_960_720p = new CameraProperties(); + public static final CameraProperties LL2_1280_720p = new CameraProperties(); + + public static final CameraProperties LIFECAM_1280_720p = new CameraProperties(); + + static { + PI4_PICAM2_480p.setCalibration( + 640, + 480, + Matrix.mat(Nat.N3(), Nat.N3()) + .fill( // intrinsic + 497.8204072694636, + 0.0, + 314.53659309737424, + 0.0, + 481.6955284883231, + 231.95042993880858, + 0.0, + 0.0, + 1.0), + VecBuilder.fill( // distort + 0.16990717177326176, + -0.47305087536583684, + -0.002992219989630736, + -0.0016840919550094836, + 0.36623021008942863)); + PI4_PICAM2_480p.setCalibError(0.25, 0.07); + PI4_PICAM2_480p.setFPS(17); + PI4_PICAM2_480p.setAvgLatencyMs(35); + PI4_PICAM2_480p.setLatencyStdDevMs(8); + + LL2_480p.setCalibration( + 640, + 480, + Matrix.mat(Nat.N3(), Nat.N3()) + .fill( // intrinsic + 511.22843367007755, + 0.0, + 323.62049380211096, + 0.0, + 514.5452336723849, + 261.8827920543568, + 0.0, + 0.0, + 1.0), + VecBuilder.fill( // distort + 0.1917469998873756, + -0.5142936883324216, + 0.012461562046896614, + 0.0014084973492408186, + 0.35160648971214437)); + LL2_480p.setCalibError(0.25, 0.05); + LL2_480p.setFPS(15); + LL2_480p.setAvgLatencyMs(35); + LL2_480p.setLatencyStdDevMs(8); + + LL2_960_720p.setCalibration( + 960, + 720, + Matrix.mat(Nat.N3(), Nat.N3()) + .fill( // intrinsic + 769.6873145148892, + 0.0, + 486.1096609458122, + 0.0, + 773.8164483705323, + 384.66071662358354, + 0.0, + 0.0, + 1.0), + VecBuilder.fill( // distort + 0.189462064814501, + -0.49903003669627627, + 0.007468423590519429, + 0.002496885298683693, + 0.3443122090208624)); + LL2_960_720p.setCalibError(0.35, 0.10); + LL2_960_720p.setFPS(10); + LL2_960_720p.setAvgLatencyMs(50); + LL2_960_720p.setLatencyStdDevMs(15); + + LL2_1280_720p.setCalibration( + 1280, + 720, + Matrix.mat(Nat.N3(), Nat.N3()) + .fill( // intrinsic + 1011.3749416937393, + 0.0, + 645.4955139388737, + 0.0, + 1008.5391755084075, + 508.32877656020196, + 0.0, + 0.0, + 1.0), + VecBuilder.fill( // distort + 0.13730101577061535, + -0.2904345656989261, + 8.32475714507539E-4, + -3.694397782014239E-4, + 0.09487962227027584)); + LL2_1280_720p.setCalibError(0.37, 0.06); + LL2_1280_720p.setFPS(7); + LL2_1280_720p.setAvgLatencyMs(60); + LL2_1280_720p.setLatencyStdDevMs(20); + + LIFECAM_1280_720p.setCalibration( + 1280, + 720, + Matrix.mat(Nat.N3(), Nat.N3()) + .fill( // intrinsic + 1150.2178512391217, + 0, + 620.9005800934796, + 0, + 1137.1023715270699, + 336.6179549129202, + 0, + 0, + 1), + VecBuilder.fill( // distort + 0.14815813706474312, + -1.166871074914488, + 0.002510801148857967, + 0.0014575054249691716, + 2.1737769139751677)); + LIFECAM_1280_720p.setCalibError(0.37, 0.25); + LIFECAM_1280_720p.setFPS(30); + LIFECAM_1280_720p.setAvgLatencyMs(60); + LIFECAM_1280_720p.setLatencyStdDevMs(20); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java b/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java similarity index 73% rename from photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java rename to photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java index 53ea45c301..e5ef8702ea 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/CameraTargetRelation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java @@ -1,44 +1,40 @@ -package org.photonvision.vision.estimation; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform3d; - -/** Holds various helper geometries describing the relation between camera and target. */ -public class CameraTargetRelation { - public final Pose3d camPose; - public final Transform3d camToTarg; - public final double camToTargDist; - public final double camToTargDistXY; - public final Rotation2d camToTargYaw; - public final Rotation2d camToTargPitch; - /** Angle from the camera's relative x-axis */ - public final Rotation2d camToTargAngle; - public final Transform3d targToCam; - public final Rotation2d targToCamYaw; - public final Rotation2d targToCamPitch; - /** Angle from the target's relative x-axis */ - public final Rotation2d targToCamAngle; - public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) { - this.camPose = cameraPose; - camToTarg = new Transform3d(cameraPose, targetPose); - camToTargDist = camToTarg.getTranslation().getNorm(); - camToTargDistXY = Math.hypot( - camToTarg.getTranslation().getX(), - camToTarg.getTranslation().getY() - ); - camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY()); - camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ()); - camToTargAngle = new Rotation2d(Math.hypot( - camToTargYaw.getRadians(), - camToTargPitch.getRadians() - )); - targToCam = new Transform3d(targetPose, cameraPose); - targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY()); - targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ()); - targToCamAngle = new Rotation2d(Math.hypot( - targToCamYaw.getRadians(), - targToCamPitch.getRadians() - )); - } -} +package org.photonvision.estimation; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform3d; + +/** Holds various helper geometries describing the relation between camera and target. */ +public class CameraTargetRelation { + public final Pose3d camPose; + public final Transform3d camToTarg; + public final double camToTargDist; + public final double camToTargDistXY; + public final Rotation2d camToTargYaw; + public final Rotation2d camToTargPitch; + /** Angle from the camera's relative x-axis */ + public final Rotation2d camToTargAngle; + + public final Transform3d targToCam; + public final Rotation2d targToCamYaw; + public final Rotation2d targToCamPitch; + /** Angle from the target's relative x-axis */ + public final Rotation2d targToCamAngle; + + public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) { + this.camPose = cameraPose; + camToTarg = new Transform3d(cameraPose, targetPose); + camToTargDist = camToTarg.getTranslation().getNorm(); + camToTargDistXY = + Math.hypot(camToTarg.getTranslation().getX(), camToTarg.getTranslation().getY()); + camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY()); + camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ()); + camToTargAngle = + new Rotation2d(Math.hypot(camToTargYaw.getRadians(), camToTargPitch.getRadians())); + targToCam = new Transform3d(targetPose, cameraPose); + targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY()); + targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ()); + targToCamAngle = + new Rotation2d(Math.hypot(targToCamYaw.getRadians(), targToCamPitch.getRadians())); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java similarity index 97% rename from photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java rename to photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 45535ec5c6..c60680115d 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -22,7 +22,7 @@ * SOFTWARE. */ -package org.photonvision.vision.estimation; +package org.photonvision.estimation; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; @@ -53,6 +53,7 @@ import org.opencv.core.Rect; import org.opencv.core.RotatedRect; import org.opencv.imgproc.Imgproc; +import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.TargetCorner; public final class OpenCVHelp { @@ -390,15 +391,15 @@ public static double getContourAreaPx(List corners) { * ambiguity if an alternate solution is available. */ public static PNPResults solvePNP_SQUARE( - CameraProperties camProp, List modelTrls, List imageCorners) { + PhotonFrameProps camProp, List modelTrls, List imageCorners) { // IPPE_SQUARE expects our corners in a specific order modelTrls = reorderCircular(modelTrls, true, -1); imageCorners = reorderCircular(imageCorners, true, -1); // translate to opencv classes var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var cameraMatrix = matrixToMat(camProp.camIntrinsics.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -459,12 +460,12 @@ public static PNPResults solvePNP_SQUARE( * the origin. */ public static PNPResults solvePNP_SQPNP( - CameraProperties camProp, List objectTrls, List imageCorners) { + PhotonFrameProps camProp, List objectTrls, List imageCorners) { // translate to opencv classes var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var cameraMatrix = matrixToMat(camProp.camIntrinsics.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java similarity index 98% rename from photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java rename to photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java index 12e0a55cee..4359b20c22 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/PNPResults.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java @@ -22,7 +22,7 @@ * SOFTWARE. */ -package org.photonvision.vision.estimation; +package org.photonvision.estimation; import edu.wpi.first.math.geometry.Transform3d; diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java similarity index 70% rename from photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java rename to photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java index 55662f6fb5..b67bb8ff02 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/RotTrlTransform3d.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java @@ -1,87 +1,90 @@ -package org.photonvision.vision.estimation; - -import java.util.List; -import java.util.stream.Collectors; - -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; - -/** - * Represents a transformation that first rotates a pose around the origin, - * and then translates it. - */ -public class RotTrlTransform3d { - private final Translation3d trl; - private final Rotation3d rot; - - public RotTrlTransform3d() { - this(new Rotation3d(), new Translation3d()); - } - /** - * Creates a rotation-translation transformation from a Transform3d. - * - *

Applying this transformation to poses will preserve their current origin-to-pose - * transform as if the origin was transformed by these components. - * - * @param trf The origin transformation - */ - public RotTrlTransform3d(Transform3d trf) { - this(trf.getRotation(), trf.getTranslation()); - } - /** - * A rotation-translation transformation. - * - *

Applying this transformation to poses will preserve their current origin-to-pose - * transform as if the origin was transformed by these components. - * - * @param rot The rotation component - * @param trl The translation component - */ - public RotTrlTransform3d(Rotation3d rot, Translation3d trl) { - this.rot = rot; - this.trl = trl; - } - /** - * The rotation-translation transformation that makes poses in the world - * consider this pose as the new origin, or change the basis to this pose. - * - * @param pose The new origin - */ - public static RotTrlTransform3d makeRelativeTo(Pose3d pose) { - return new RotTrlTransform3d(pose.getRotation(), pose.getTranslation()).inverse(); - } - - /** - * The inverse of this transformation. Applying the inverse will "undo" this transformation. - */ - public RotTrlTransform3d inverse() { - var inverseRot = rot.unaryMinus(); - var inverseTrl = trl.rotateBy(inverseRot).unaryMinus(); - return new RotTrlTransform3d(inverseRot, inverseTrl); - } - - /** This transformation as a Transform3d (as if of the origin) */ - public Transform3d getTransform() {return new Transform3d(trl, rot);} - /** The translation component of this transformation */ - public Translation3d getTranslation() {return trl;} - /** The rotation component of this transformation */ - public Rotation3d getRotation() {return rot;} - - public Translation3d apply(Translation3d trl) { - return apply(new Pose3d(trl, new Rotation3d())).getTranslation(); - }; - public List applyTrls(List trls) { - return trls.stream().map(t -> apply(t)).collect(Collectors.toList()); - } - public Pose3d apply(Pose3d pose) { - return new Pose3d( - pose.getTranslation().rotateBy(rot).plus(trl), - pose.getRotation().plus(rot) - ); - } - public List applyPoses(List poses) { - return poses.stream().map(p -> apply(p)).collect(Collectors.toList()); - } -} +package org.photonvision.estimation; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import java.util.List; +import java.util.stream.Collectors; + +/** + * Represents a transformation that first rotates a pose around the origin, and then translates it. + */ +public class RotTrlTransform3d { + private final Translation3d trl; + private final Rotation3d rot; + + public RotTrlTransform3d() { + this(new Rotation3d(), new Translation3d()); + } + /** + * Creates a rotation-translation transformation from a Transform3d. + * + *

Applying this transformation to poses will preserve their current origin-to-pose transform + * as if the origin was transformed by these components. + * + * @param trf The origin transformation + */ + public RotTrlTransform3d(Transform3d trf) { + this(trf.getRotation(), trf.getTranslation()); + } + /** + * A rotation-translation transformation. + * + *

Applying this transformation to poses will preserve their current origin-to-pose transform + * as if the origin was transformed by these components. + * + * @param rot The rotation component + * @param trl The translation component + */ + public RotTrlTransform3d(Rotation3d rot, Translation3d trl) { + this.rot = rot; + this.trl = trl; + } + /** + * The rotation-translation transformation that makes poses in the world consider this pose as the + * new origin, or change the basis to this pose. + * + * @param pose The new origin + */ + public static RotTrlTransform3d makeRelativeTo(Pose3d pose) { + return new RotTrlTransform3d(pose.getRotation(), pose.getTranslation()).inverse(); + } + + /** The inverse of this transformation. Applying the inverse will "undo" this transformation. */ + public RotTrlTransform3d inverse() { + var inverseRot = rot.unaryMinus(); + var inverseTrl = trl.rotateBy(inverseRot).unaryMinus(); + return new RotTrlTransform3d(inverseRot, inverseTrl); + } + + /** This transformation as a Transform3d (as if of the origin) */ + public Transform3d getTransform() { + return new Transform3d(trl, rot); + } + /** The translation component of this transformation */ + public Translation3d getTranslation() { + return trl; + } + /** The rotation component of this transformation */ + public Rotation3d getRotation() { + return rot; + } + + public Translation3d apply(Translation3d trl) { + return apply(new Pose3d(trl, new Rotation3d())).getTranslation(); + } + ; + + public List applyTrls(List trls) { + return trls.stream().map(t -> apply(t)).collect(Collectors.toList()); + } + + public Pose3d apply(Pose3d pose) { + return new Pose3d(pose.getTranslation().rotateBy(rot).plus(trl), pose.getRotation().plus(rot)); + } + + public List applyPoses(List poses) { + return poses.stream().map(p -> apply(p)).collect(Collectors.toList()); + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java b/photon-lib/src/main/java/org/photonvision/estimation/TargetModel.java similarity index 77% rename from photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java rename to photon-lib/src/main/java/org/photonvision/estimation/TargetModel.java index 40a1403b4d..7cbd8291ed 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/TargetModel.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/TargetModel.java @@ -22,7 +22,7 @@ * SOFTWARE. */ -package org.photonvision.vision.estimation; +package org.photonvision.estimation; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; @@ -36,8 +36,7 @@ /** Describes the 3d model of a target. */ public class TargetModel { /** - * Translations of this target's vertices relative to its pose. If this target - * is spherical, this + * Translations of this target's vertices relative to its pose. If this target is spherical, this * list has one translation with x == radius. */ public final List vertices; @@ -45,23 +44,24 @@ public class TargetModel { public final boolean isPlanar; public final boolean isSpherical; - public static final TargetModel kTag16h5 = new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6)); + public static final TargetModel kTag16h5 = + new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6)); /** Creates a rectangular, planar target model given the width and height. */ public TargetModel(double widthMeters, double heightMeters) { - this.vertices = List.of( - // this order is relevant for AprilTag compatibility - new Translation3d(0, -widthMeters / 2.0, -heightMeters / 2.0), - new Translation3d(0, widthMeters / 2.0, -heightMeters / 2.0), - new Translation3d(0, widthMeters / 2.0, heightMeters / 2.0), - new Translation3d(0, -widthMeters / 2.0, heightMeters / 2.0)); + this.vertices = + List.of( + // this order is relevant for AprilTag compatibility + new Translation3d(0, -widthMeters / 2.0, -heightMeters / 2.0), + new Translation3d(0, widthMeters / 2.0, -heightMeters / 2.0), + new Translation3d(0, widthMeters / 2.0, heightMeters / 2.0), + new Translation3d(0, -widthMeters / 2.0, heightMeters / 2.0)); this.isPlanar = true; this.isSpherical = false; } /** - * Creates a spherical target model which has similar dimensions when viewed - * from any angle. This + * Creates a spherical target model which has similar dimensions when viewed from any angle. This * model will only have one vertex which has x == radius. */ public TargetModel(double diameterMeters) { @@ -71,13 +71,11 @@ public TargetModel(double diameterMeters) { } /** - * Creates a target model from arbitrary 3d vertices. Automatically determines - * if the given + * Creates a target model from arbitrary 3d vertices. Automatically determines if the given * vertices are planar(x == 0). More than 2 vertices must be given. * - * @param vertices Translations representing the vertices of this target model - * relative to its - * pose. + * @param vertices Translations representing the vertices of this target model relative to its + * pose. */ public TargetModel(List vertices) { this.isSpherical = false; @@ -87,8 +85,7 @@ public TargetModel(List vertices) { } else { boolean cornersPlanar = true; for (Translation3d corner : vertices) { - if (corner.getX() != 0) - cornersPlanar = false; + if (corner.getX() != 0) cornersPlanar = false; } this.isPlanar = cornersPlanar; } @@ -98,9 +95,7 @@ public TargetModel(List vertices) { /** * This target's vertices offset from its field pose. * - *

- * Note: If this target is spherical, only one vertex radius meters in front of - * the pose is + *

Note: If this target is spherical, only one vertex radius meters in front of the pose is * returned. */ public List getFieldVertices(Pose3d targetPose) { @@ -111,8 +106,7 @@ public List getFieldVertices(Pose3d targetPose) { @Override public boolean equals(Object obj) { - if (this == obj) - return true; + if (this == obj) return true; if (obj instanceof TargetModel) { var o = (TargetModel) obj; return vertices.equals(o.vertices) && isPlanar == o.isPlanar && isSpherical == o.isSpherical; diff --git a/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java similarity index 62% rename from photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java rename to photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 5d173028be..6f82fa6fe7 100644 --- a/photon-core/src/main/java/org/photonvision/vision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -1,145 +1,140 @@ -package org.photonvision.vision.estimation; - -import java.util.ArrayList; -import java.util.List; -import java.util.stream.Collectors; - -import org.photonvision.targeting.PhotonTrackedTarget; -import org.photonvision.targeting.TargetCorner; - -import edu.wpi.first.apriltag.AprilTag; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -public class VisionEstimation { - - public static final TargetModel kTagModel = new TargetModel( - Units.inchesToMeters(6), - Units.inchesToMeters(6)); - - /** - * Performs solvePNP using 3d-2d point correspondences to estimate the - * field-to-camera transformation. - * If only one tag is visible, the result may have an alternate solution. - * - *

- * Note: The returned transformation is from the field origin to the - * camera pose! - * - * @param prop The camera properties - * @param corners The visible tag corners in the 2d image - * @param knownTags The known tag field poses corresponding to the visible tag - * IDs - * @return The transformation that maps the field origin to the camera pose - */ - public static PNPResults estimateCamPosePNP( - CameraProperties prop, List corners, List knownTags) { - if (knownTags == null || corners == null || - corners.size() != knownTags.size() * 4 || knownTags.size() == 0) { - return new PNPResults(); - } - // single-tag pnp - if (corners.size() == 4) { - var camToTag = OpenCVHelp.solvePNP_SQUARE(prop, kTagModel.getFieldVertices(knownTags.get(0).pose), corners); - var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse()); - var altPose = new Pose3d(); - if (camToTag.ambiguity != 0) - altPose = knownTags.get(0).pose.transformBy(camToTag.alt.inverse()); - - var bestTagToCam = camToTag.best.inverse(); - SmartDashboard.putNumberArray("multiTagBest_internal", new double[] { - bestTagToCam.getX(), - bestTagToCam.getY(), - bestTagToCam.getZ(), - bestTagToCam.getRotation().getQuaternion().getW(), - bestTagToCam.getRotation().getQuaternion().getX(), - bestTagToCam.getRotation().getQuaternion().getY(), - bestTagToCam.getRotation().getQuaternion().getZ() - }); - - var o = new Pose3d(); - return new PNPResults( - new Transform3d(o, bestPose), - new Transform3d(o, altPose), - camToTag.ambiguity, camToTag.bestReprojErr, camToTag.altReprojErr); - } - // multi-tag pnp - else { - var objectTrls = new ArrayList(); - for (var tag : knownTags) - objectTrls.addAll(kTagModel.getFieldVertices(tag.pose)); - var camToOrigin = OpenCVHelp.solvePNP_SQPNP(prop, objectTrls, corners); - // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners); - return new PNPResults( - camToOrigin.best.inverse(), - camToOrigin.alt.inverse(), - camToOrigin.ambiguity, camToOrigin.bestReprojErr, camToOrigin.altReprojErr); - } - } - - // /** - // * The best estimated transformation to the target, and possibly an alternate - // * transformation - // * depending on the solvePNP method. If an alternate solution is present, the - // * ambiguity value - // * represents the ratio of reprojection error in the best solution to the - // * alternate (best / alternate). - // */ - // public static class PNPResults { - // public final Transform3d best; - // public final double bestReprojErr; - - // /** - // * Alternate, ambiguous solution from solvepnp. This may be empty - // * if no alternate solution is found. - // */ - // public final Transform3d alt; - // /** If no alternate solution is found, this is 0 */ - // public final double altReprojErr; - - // /** If no alternate solution is found, this is 0 */ - // public final double ambiguity; - - // public PNPResults() { - // this(new Transform3d(), new Transform3d(), 0, 0, 0); - // } - - // public PNPResults( - // Transform3d best, Transform3d alt, - // double ambiguity, double bestReprojErr, double altReprojErr) { - // this.best = best; - // this.alt = alt; - // this.ambiguity = ambiguity; - // this.bestReprojErr = bestReprojErr; - // this.altReprojErr = altReprojErr; - // } - // } - - /** - * The best estimated transformation (Rotation-translation composition) that - * maps a set of - * translations onto another with point correspondences, and its RMSE. - */ - public static class SVDResults { - public final RotTrlTransform3d trf; - /** If the result is invalid, this value is -1 */ - public final double rmse; - - public SVDResults() { - this(new RotTrlTransform3d(), -1); - } - - public SVDResults(RotTrlTransform3d trf, double rmse) { - this.trf = trf; - this.rmse = rmse; - } - } -} +package org.photonvision.estimation; + +import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.ArrayList; +import java.util.List; +import org.photonvision.targeting.PhotonFrameProps; +import org.photonvision.targeting.TargetCorner; + +public class VisionEstimation { + + public static final TargetModel kTagModel = + new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6)); + + /** + * Performs solvePNP using 3d-2d point correspondences to estimate the field-to-camera + * transformation. If only one tag is visible, the result may have an alternate solution. + * + *

Note: The returned transformation is from the field origin to the camera pose! + * + * @param prop The camera properties + * @param corners The visible tag corners in the 2d image + * @param knownTags The known tag field poses corresponding to the visible tag IDs + * @return The transformation that maps the field origin to the camera pose + */ + public static PNPResults estimateCamPosePNP( + PhotonFrameProps prop, List corners, List knownTags) { + if (knownTags == null + || corners == null + || corners.size() != knownTags.size() * 4 + || knownTags.size() == 0) { + return new PNPResults(); + } + // single-tag pnp + if (corners.size() == 4) { + var camToTag = + OpenCVHelp.solvePNP_SQUARE( + prop, kTagModel.getFieldVertices(knownTags.get(0).pose), corners); + var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse()); + var altPose = new Pose3d(); + if (camToTag.ambiguity != 0) + altPose = knownTags.get(0).pose.transformBy(camToTag.alt.inverse()); + + var bestTagToCam = camToTag.best.inverse(); + SmartDashboard.putNumberArray( + "multiTagBest_internal", + new double[] { + bestTagToCam.getX(), + bestTagToCam.getY(), + bestTagToCam.getZ(), + bestTagToCam.getRotation().getQuaternion().getW(), + bestTagToCam.getRotation().getQuaternion().getX(), + bestTagToCam.getRotation().getQuaternion().getY(), + bestTagToCam.getRotation().getQuaternion().getZ() + }); + + var o = new Pose3d(); + return new PNPResults( + new Transform3d(o, bestPose), + new Transform3d(o, altPose), + camToTag.ambiguity, + camToTag.bestReprojErr, + camToTag.altReprojErr); + } + // multi-tag pnp + else { + var objectTrls = new ArrayList(); + for (var tag : knownTags) objectTrls.addAll(kTagModel.getFieldVertices(tag.pose)); + var camToOrigin = OpenCVHelp.solvePNP_SQPNP(prop, objectTrls, corners); + // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners); + return new PNPResults( + camToOrigin.best.inverse(), + camToOrigin.alt.inverse(), + camToOrigin.ambiguity, + camToOrigin.bestReprojErr, + camToOrigin.altReprojErr); + } + } + + // /** + // * The best estimated transformation to the target, and possibly an alternate + // * transformation + // * depending on the solvePNP method. If an alternate solution is present, the + // * ambiguity value + // * represents the ratio of reprojection error in the best solution to the + // * alternate (best / alternate). + // */ + // public static class PNPResults { + // public final Transform3d best; + // public final double bestReprojErr; + + // /** + // * Alternate, ambiguous solution from solvepnp. This may be empty + // * if no alternate solution is found. + // */ + // public final Transform3d alt; + // /** If no alternate solution is found, this is 0 */ + // public final double altReprojErr; + + // /** If no alternate solution is found, this is 0 */ + // public final double ambiguity; + + // public PNPResults() { + // this(new Transform3d(), new Transform3d(), 0, 0, 0); + // } + + // public PNPResults( + // Transform3d best, Transform3d alt, + // double ambiguity, double bestReprojErr, double altReprojErr) { + // this.best = best; + // this.alt = alt; + // this.ambiguity = ambiguity; + // this.bestReprojErr = bestReprojErr; + // this.altReprojErr = altReprojErr; + // } + // } + + /** + * The best estimated transformation (Rotation-translation composition) that maps a set of + * translations onto another with point correspondences, and its RMSE. + */ + public static class SVDResults { + public final RotTrlTransform3d trf; + /** If the result is invalid, this value is -1 */ + public final double rmse; + + public SVDResults() { + this(new RotTrlTransform3d(), -1); + } + + public SVDResults(RotTrlTransform3d trf, double rmse) { + this.trf = trf; + this.rmse = rmse; + } + } +} diff --git a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java new file mode 100644 index 0000000000..5cf6cf6509 --- /dev/null +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -0,0 +1,168 @@ +package org.photonvision.estimation; + +// import edu.wpi.first.apriltag.AprilTag; +// import edu.wpi.first.apriltag.AprilTagFieldLayout; +// import edu.wpi.first.apriltag.AprilTagFields; +// import edu.wpi.first.hal.JNIWrapper; +// import edu.wpi.first.math.geometry.Pose3d; +// import edu.wpi.first.math.geometry.Transform3d; +// import edu.wpi.first.net.WPINetJNI; +// import edu.wpi.first.networktables.NetworkTableInstance; +// import edu.wpi.first.networktables.NetworkTablesJNI; +// import edu.wpi.first.util.CombinedRuntimeLoader; +// import edu.wpi.first.util.WPIUtilJNI; +// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +// import java.io.IOException; +// import java.util.ArrayList; +// import java.util.List; + +// import org.junit.jupiter.api.BeforeAll; +// import org.junit.jupiter.api.Test; +// import org.photonvision.PhotonCamera; +// import org.photonvision.targeting.TargetCorner; + +public class ApriltagWorkbenchTest { + // @BeforeAll + // public static void setUp() { + // JNIWrapper.Helper.setExtractOnStaticLoad(false); + // WPIUtilJNI.Helper.setExtractOnStaticLoad(false); + // NetworkTablesJNI.Helper.setExtractOnStaticLoad(false); + // WPINetJNI.Helper.setExtractOnStaticLoad(false); + + // try { + // CombinedRuntimeLoader.loadLibraries( + // ApriltagWorkbenchTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", + // "wpiHaljni"); + // } catch (Exception e) { + // // TODO Auto-generated catch block + // e.printStackTrace(); + // } + + // // NT live for debug purposes + // NetworkTableInstance.getDefault().startServer(); + + // // No version check for testing + // PhotonCamera.setVersionCheckEnabled(false); + // } + + // @Test + // public void testMeme() throws IOException, InterruptedException { + + // NetworkTableInstance instance = NetworkTableInstance.getDefault(); + // instance.stopServer(); + // // set the NT server if simulating this code. + // // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" + // // for coprocessor + // instance.setServer("localhost"); + // instance.startClient4("myRobot"); + + // var robotToCamera = new Transform3d(); + // var props = CameraProperties.LIFECAM_1280_720p; + // var cam = new PhotonCamera("WPI2023"); + // var tagLayout = + // + // AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile); + + // while (!Thread.interrupted()) { + // Thread.sleep(500); + // var visCorners = new ArrayList(); + // var knownVisTags = new ArrayList(); + // var fieldToCams = new ArrayList(); + // var fieldToCamsAlt = new ArrayList(); + // var result = cam.getLatestResult(); + // System.out.println(result.getTargets().size()); + + // for (var target : result.getTargets()) { + // visCorners.addAll(target.getDetectedCorners()); + // Pose3d tagPose = tagLayout.getTagPose(target.getFiducialId()).get(); + // // actual layout poses of visible tags + // knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); + + // fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); + // + // fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); + // } + + // final var data = new ArrayList(); + // fieldToCams.stream() + // .forEach( + // it -> + // data.addAll( + // List.of( + // it.getX(), + // it.getY(), + // it.getZ(), + // it.getRotation().getQuaternion().getW(), + // it.getRotation().getQuaternion().getX(), + // it.getRotation().getQuaternion().getY(), + // it.getRotation().getQuaternion().getZ()))); + // SmartDashboard.putNumberArray("fieldToCams", data.toArray(new Double[] {})); + // data.clear(); + // fieldToCamsAlt.stream() + // .forEach( + // it -> + // data.addAll( + // List.of( + // it.getX(), + // it.getY(), + // it.getZ(), + // it.getRotation().getQuaternion().getW(), + // it.getRotation().getQuaternion().getX(), + // it.getRotation().getQuaternion().getY(), + // it.getRotation().getQuaternion().getZ()))); + // SmartDashboard.putNumberArray("fieldToCamsAlt", data.toArray(new Double[] {})); + + // // data = new ArrayList();o + // data.clear(); + // knownVisTags.stream() + // .forEach( + // it -> + // data.addAll( + // List.of( + // it.pose.getX(), + // it.pose.getY(), + // it.pose.getZ(), + // + // it.pose.getRotation().getQuaternion().getW(), + // + // it.pose.getRotation().getQuaternion().getX(), + // + // it.pose.getRotation().getQuaternion().getY(), + // + // it.pose.getRotation().getQuaternion().getZ()))); + // SmartDashboard.putNumberArray("seenTags", data.toArray(new Double[] {})); + + // // multi-target solvePNP + // if (result.getTargets().size() > 1) { + // data.clear(); + // visCorners.stream().forEach(it -> data.addAll(List.of(it.x))); + // SmartDashboard.putNumberArray("cornersX", data.toArray(new Double[] {})); + // data.clear(); + // visCorners.stream().forEach(it -> data.addAll(List.of(it.y))); + // SmartDashboard.putNumberArray("cornersY", data.toArray(new Double[] {})); + + // var pnpResults = VisionEstimation.estimateCamPosePNP(props, visCorners, + // knownVisTags); + // var best = + // new Pose3d() + // .plus(pnpResults.best) // field-to-camera + // .plus(robotToCamera.inverse()); // field-to-robot + // // var alt = new Pose3d() + // // .plus(pnpResults.alt) // field-to-camera + // // .plus(robotToCamera.inverse()); // field-to-robot + + // SmartDashboard.putNumberArray( + // "multiTagPNP", + // new double[] { + // best.getX(), + // best.getY(), + // best.getZ(), + // best.getRotation().getQuaternion().getW(), + // best.getRotation().getQuaternion().getX(), + // best.getRotation().getQuaternion().getY(), + // best.getRotation().getQuaternion().getZ() + // }); + // } + // } + // } +} diff --git a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java index 9464dabf13..02a8f0774d 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java @@ -182,4 +182,18 @@ public boolean decodeBoolean() { } return packetData[readPos++] == 1; } + + public void encode(double[] data) { + for (double d : data) { + encode(d); + } + } + + public double[] decodeDoubleArray(int len) { + double[] ret = new double[len]; + for (int i = 0; i < len; i++) { + ret[i] = decodeDouble(); + } + return ret; + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java new file mode 100644 index 0000000000..ef20b5f648 --- /dev/null +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java @@ -0,0 +1,61 @@ +package org.photonvision.targeting; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; +import org.ejml.simple.SimpleMatrix; +import org.photonvision.common.dataflow.structures.Packet; + +public class PhotonFrameProps { + // Width height fov and then a double each for 3x3 and 1x5 mat + public static final int PACKED_SIZE_BYTES = 4 + 4 + 8 + (8 * (3 * 3 + 1 * 5)); + + public final int width; + public final int height; + public final double fov; + public final Matrix camIntrinsics; + public final Matrix distCoeffs; + + public PhotonFrameProps( + int width, int height, double fov, Matrix camIntrinsics, Matrix distCoeffs) { + this.width = width; + this.height = height; + this.fov = fov; + this.camIntrinsics = camIntrinsics; + this.distCoeffs = distCoeffs; + } + + public PhotonFrameProps( + int width, int height, double fov, double[] camIntrinsics, double[] distCoeffs) { + this( + width, + height, + fov, + new Matrix<>(new SimpleMatrix(3, 3, true, camIntrinsics)), + new Matrix<>(new SimpleMatrix(5, 1, true, distCoeffs))); + } + + public static PhotonFrameProps createFromPacket(Packet packet) { + PhotonFrameProps ret = + new PhotonFrameProps( + packet.decodeInt(), + packet.decodeInt(), + packet.decodeDouble(), + packet.decodeDoubleArray(9), + packet.decodeDoubleArray(5)); + return ret; + } + + public Packet populatePacket(Packet packet) { + packet.encode(width); + packet.encode(height); + packet.encode(fov); + + // We can safely assume camera calibration is at the above width/height + packet.encode(camIntrinsics.getData()); + packet.encode(distCoeffs.getData()); + + return packet; + } +} diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index b4b82a58e4..ac9fde0c93 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -35,6 +35,9 @@ public class PhotonPipelineResult { // Timestamp in milliseconds. private double timestampSeconds = -1; + // The frame properties used to capture the image processed by this result + private PhotonFrameProps frameProps; + /** Constructs an empty pipeline result. */ public PhotonPipelineResult() {} @@ -123,6 +126,14 @@ public List getTargets() { return new ArrayList<>(targets); } + public PhotonFrameProps getFrameProperties() { + return frameProps; + } + + protected void setFrameProperties(PhotonFrameProps props) { + this.frameProps = props; + } + @Override public boolean equals(Object o) { if (this == o) return true; From 83ad026fd0196c8d132ac5db76939644c12a0dbc Mon Sep 17 00:00:00 2001 From: Matt Date: Tue, 31 Jan 2023 09:15:11 -0500 Subject: [PATCH 005/115] Run spotless and fix NPE --- .../networktables/NTDataPublisher.java | 4 +- .../vision/frame/FrameStaticProperties.java | 20 +- photon-lib/build.gradle | 6 + .../org/photonvision/PhotonPoseEstimator.java | 2 - .../org/photonvision/SimPhotonCamera.java | 7 +- .../estimation/CameraProperties.java | 544 ------------------ .../estimation/CameraTargetRelation.java | 24 + .../photonvision/estimation/OpenCVHelp.java | 20 +- .../estimation/RotTrlTransform3d.java | 24 + .../estimation/VisionEstimation.java | 25 +- .../java/org/photonvision/PacketTest.java | 7 +- .../photonvision/PhotonPoseEstimatorTest.java | 11 + .../estimation/ApriltagWorkbenchTest.java | 260 ++++----- photon-targeting/build.gradle | 9 + .../targeting/PhotonFrameProps.java | 61 +- .../targeting/PhotonPipelineResult.java | 60 +- .../targeting/PhotonFramePropsTest.java | 72 +++ 17 files changed, 408 insertions(+), 748 deletions(-) delete mode 100644 photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java create mode 100644 photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 0c76b93d70..5454a2d7e3 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -136,7 +136,9 @@ public void updateCameraNickname(String newCameraNickname) { public void accept(CVPipelineResult result) { var simplified = new PhotonPipelineResult( - result.getLatencyMillis(), simpleFromTrackedTargets(result.targets)); + result.getLatencyMillis(), + result.inputAndOutputFrame.frameStaticProperties.toPhotonFrameProps(), + simpleFromTrackedTargets(result.targets)); Packet packet = new Packet(simplified.getPacketSize()); simplified.populatePacket(packet); diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java index 6c4640c4b9..5629343821 100644 --- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java +++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java @@ -20,11 +20,11 @@ import edu.wpi.first.cscore.VideoMode; import org.opencv.core.Point; import org.photonvision.common.util.numbers.DoubleCouple; +import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; /** Represents the properties of a frame. */ public class FrameStaticProperties { - public final int imageWidth; public final int imageHeight; public final double fov; @@ -88,4 +88,22 @@ public static DoubleCouple calculateHorizontalVerticalFoV( return new DoubleCouple(horizontalView, verticalView); } + + public PhotonFrameProps toPhotonFrameProps() { + if (cameraCalibration != null) { + return new PhotonFrameProps( + imageWidth, + imageHeight, + fov, + cameraCalibration.cameraIntrinsics.data, + cameraCalibration.distCoeffs.data); + } else { + return new PhotonFrameProps( + imageWidth, + imageHeight, + fov, + new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, + new double[] {0, 0, 0, 0, 0}); + } + } } diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle index 60e42b176a..4ab4b0dead 100644 --- a/photon-lib/build.gradle +++ b/photon-lib/build.gradle @@ -34,6 +34,11 @@ dependencies { implementation wpilibTools.deps.wpilibJava("wpilibj") implementation wpilibTools.deps.wpilibJava("apriltag") + testImplementation wpilibTools.deps.wpilibJava("cscore") + implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:$opencvVersion" + implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-jni:$opencvVersion:$jniPlatform" + implementation "org.ejml:ejml-simple:0.41" + // Junit testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2") testImplementation("org.junit.jupiter:junit-jupiter-params:5.8.2") @@ -147,3 +152,4 @@ testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet") testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal") testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil") testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath") +testNativeConfig.dependencies.add wpilibTools.deps.cscore() diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index da085190ed..0e4bcf637a 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -240,7 +240,6 @@ public Optional update() { } private Optional multiTagPNPStrategy(PhotonPipelineResult result) { - // Arrays we need declared up front var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); @@ -260,7 +259,6 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re // multi-target solvePNP if (result.getTargets().size() > 1) { - var pnpResults = VisionEstimation.estimateCamPosePNP( result.getFrameProperties(), visCorners, knownVisTags); diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 1823c4875d..14024aef36 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -29,6 +29,7 @@ import java.util.List; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.networktables.NTTopicSet; +import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -37,6 +38,9 @@ public class SimPhotonCamera { NTTopicSet ts = new NTTopicSet(); PhotonPipelineResult latestResult; private long heartbeatCounter = 0; + protected PhotonFrameProps frameProps = + new PhotonFrameProps( + 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); /** * Constructs a Simulated PhotonCamera from a root table. @@ -108,7 +112,8 @@ public void submitProcessedFrame( targetList.sort(sortMode.getComparator()); } - PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList); + PhotonPipelineResult newResult = + new PhotonPipelineResult(latencyMillis, frameProps, targetList); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java b/photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java deleted file mode 100644 index e7eae2ea5d..0000000000 --- a/photon-lib/src/main/java/org/photonvision/estimation/CameraProperties.java +++ /dev/null @@ -1,544 +0,0 @@ -package org.photonvision.estimation; - -import com.fasterxml.jackson.databind.ObjectMapper; -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.Vector; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.numbers.*; -import java.io.IOException; -import java.nio.file.Path; -import java.util.List; -import java.util.Random; -import java.util.stream.Collectors; -import org.photonvision.targeting.PhotonTrackedTarget; -import org.photonvision.targeting.TargetCorner; - -/** - * Calibration and performance values for this camera. - * - *

The resolution will affect the accuracy of projected(3d->2d) target corners and similarly the - * severity of image noise on estimation(2d->3d). - * - *

The camera intrinsics and distortion coefficients describe the results of calibration, and how - * to map between 3d field points and 2d image points. - * - *

The performance values (framerate/exposure time, latency) determine how often results should - * be updated and with how much latency in simulation. High exposure time causes motion blur which - * can inhibit target detection while moving. Note that latency estimation does not account for - * network latency and the latency reported will always be perfect. - */ -public class CameraProperties { - private final Random rand = new Random(); - // calibration - private int resWidth; - private int resHeight; - private Matrix camIntrinsics; - private Matrix distCoeffs; - private double avgErrorPx; - private double errorStdDevPx; - // performance - private double frameSpeedMs = 0; - private double exposureTimeMs = 0; - private double avgLatencyMs = 0; - private double latencyStdDevMs = 0; - - /** Default constructor which is the same as {@link #PERFECT_90DEG} */ - public CameraProperties() { - setCalibration(960, 720, Rotation2d.fromDegrees(90)); - } - ; - - /** - * Reads camera properties from a photonvision config.json file. This is only the - * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error. - * Other camera properties must be set. - * - * @param path Path to the config.json file - * @param width The width of the desired resolution in the JSON - * @param height The height of the desired resolution in the JSON - * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid - * calibrated resolution. - */ - public CameraProperties(String path, int width, int height) throws IOException { - this(Path.of(path), width, height); - } - - /** - * Reads camera properties from a photonvision config.json file. This is only the - * resolution, camera intrinsics, distortion coefficients, and average/std. dev. pixel error. - * Other camera properties must be set. - * - * @param path Path to the config.json file - * @param width The width of the desired resolution in the JSON - * @param height The height of the desired resolution in the JSON - * @throws IOException If reading the JSON fails, either from an invalid path or a missing/invalid - * calibrated resolution. - */ - public CameraProperties(Path path, int width, int height) throws IOException { - var mapper = new ObjectMapper(); - var json = mapper.readTree(path.toFile()); - json = json.get("calibrations"); - boolean success = false; - try { - for (int i = 0; i < json.size() && !success; i++) { - // check if this calibration entry is our desired resolution - var calib = json.get(i); - int jsonWidth = calib.get("resolution").get("width").asInt(); - int jsonHeight = calib.get("resolution").get("height").asInt(); - if (jsonWidth != width || jsonHeight != height) continue; - // get the relevant calibration values - var jsonIntrinsicsNode = calib.get("cameraIntrinsics").get("data"); - double[] jsonIntrinsics = new double[jsonIntrinsicsNode.size()]; - for (int j = 0; j < jsonIntrinsicsNode.size(); j++) { - jsonIntrinsics[j] = jsonIntrinsicsNode.get(j).asDouble(); - } - var jsonDistortNode = calib.get("cameraExtrinsics").get("data"); - double[] jsonDistortion = new double[jsonDistortNode.size()]; - for (int j = 0; j < jsonDistortNode.size(); j++) { - jsonDistortion[j] = jsonDistortNode.get(j).asDouble(); - } - var jsonViewErrors = calib.get("perViewErrors"); - double jsonAvgError = 0; - for (int j = 0; j < jsonViewErrors.size(); j++) { - jsonAvgError += jsonViewErrors.get(j).asDouble(); - } - jsonAvgError /= jsonViewErrors.size(); - double jsonErrorStdDev = calib.get("standardDeviation").asDouble(); - // assign the read JSON values to this CameraProperties - setCalibration( - jsonWidth, - jsonHeight, - Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics), - Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion)); - setCalibError(jsonAvgError, jsonErrorStdDev); - success = true; - } - } catch (Exception e) { - throw new IOException("Invalid calibration JSON"); - } - if (!success) throw new IOException("Requested resolution not found in calibration"); - } - - public void setRandomSeed(long seed) { - rand.setSeed(seed); - } - - public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) { - var fovWidth = - new Rotation2d( - fovDiag.getRadians() - * (resWidth / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); - var fovHeight = - new Rotation2d( - fovDiag.getRadians() - * (resHeight / Math.sqrt(resWidth * resWidth + resHeight * resHeight))); - // assume no distortion - var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0); - // assume centered principal point (pixels) - double cx = resWidth / 2.0; - double cy = resHeight / 2.0; - // use given fov to determine focal point (pixels) - double fx = cx / Math.tan(fovWidth.getRadians() / 2.0); - double fy = cy / Math.tan(fovHeight.getRadians() / 2.0); - // create camera intrinsics matrix - var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill(fx, 0, cx, 0, fy, cy, 0, 0, 1); - setCalibration(resWidth, resHeight, camIntrinsics, distCoeff); - } - - public void setCalibration( - int resWidth, int resHeight, Matrix camIntrinsics, Matrix distCoeffs) { - this.resWidth = resWidth; - this.resHeight = resHeight; - this.camIntrinsics = camIntrinsics; - this.distCoeffs = distCoeffs; - } - - public void setCameraIntrinsics(Matrix camIntrinsics) { - this.camIntrinsics = camIntrinsics; - } - - public void setDistortionCoeffs(Matrix distCoeffs) { - this.distCoeffs = distCoeffs; - } - - public void setCalibError(double avgErrorPx, double errorStdDevPx) { - this.avgErrorPx = avgErrorPx; - this.errorStdDevPx = errorStdDevPx; - } - - /** - * @param fps The average frames per second the camera should process at. Exposure time limits - * FPS if set! - */ - public void setFPS(double fps) { - this.frameSpeedMs = Math.max(1000.0 / fps, exposureTimeMs); - } - - /** - * @param exposureTimeMs The amount of time the "shutter" is open for one frame. Affects motion - * blur. Frame speed(from FPS) is limited to this! - */ - public void setExposureTimeMs(double exposureTimeMs) { - this.exposureTimeMs = exposureTimeMs; - frameSpeedMs = Math.max(frameSpeedMs, exposureTimeMs); - } - - /** - * @param avgLatencyMs The average latency (image capture -> data) in milliseconds a frame should - * have - */ - public void setAvgLatencyMs(double avgLatencyMs) { - this.avgLatencyMs = avgLatencyMs; - } - - /** @param latencyStdDevMs The standard deviation in milliseconds of the latency */ - public void setLatencyStdDevMs(double latencyStdDevMs) { - this.latencyStdDevMs = latencyStdDevMs; - } - - public int getResWidth() { - return resWidth; - } - - public int getResHeight() { - return resHeight; - } - - public int getResArea() { - return resWidth * resHeight; - } - - public Matrix getIntrinsics() { - return camIntrinsics.copy(); - } - - public Vector getDistCoeffs() { - return new Vector<>(distCoeffs); - } - - public double getFPS() { - return 1000.0 / frameSpeedMs; - } - - public double getFrameSpeedMs() { - return frameSpeedMs; - } - - public double getExposureTimeMs() { - return exposureTimeMs; - } - - public double getAvgLatencyMs() { - return avgLatencyMs; - } - - public double getLatencyStdDevMs() { - return latencyStdDevMs; - } - - public CameraProperties copy() { - var newProp = new CameraProperties(); - newProp.setCalibration(resWidth, resHeight, camIntrinsics, distCoeffs); - newProp.setCalibError(avgErrorPx, errorStdDevPx); - newProp.setFPS(getFPS()); - newProp.setExposureTimeMs(exposureTimeMs); - newProp.setAvgLatencyMs(avgLatencyMs); - newProp.setLatencyStdDevMs(latencyStdDevMs); - return new CameraProperties(); - } - - /** - * Undistorts a detected target's corner points, and returns a new PhotonTrackedTarget with - * updated corners, yaw, pitch, skew, and area. Best/alt pose and ambiguity are unchanged. - */ - public PhotonTrackedTarget undistort2dTarget(PhotonTrackedTarget target) { - var undistortedCorners = undistort(target.getDetectedCorners()); - // find the 2d yaw/pitch - var boundingCenterRot = getPixelRot(undistortedCorners); - // find contour area - double areaPercent = getContourAreaPercent(undistortedCorners); - - return new PhotonTrackedTarget( - Math.toDegrees(boundingCenterRot.getZ()), - -Math.toDegrees(boundingCenterRot.getY()), - areaPercent, - Math.toDegrees(boundingCenterRot.getX()), - target.getFiducialId(), - target.getBestCameraToTarget(), - target.getAlternateCameraToTarget(), - target.getPoseAmbiguity(), - undistortedCorners, - undistortedCorners); - } - - public List undistort(List points) { - return OpenCVHelp.undistortPoints(this, points); - } - - /** - * The percentage(0 - 100) of this camera's resolution the contour takes up in pixels of the - * image. - * - * @param corners Corners of the contour - */ - public double getContourAreaPercent(List corners) { - return OpenCVHelp.getContourAreaPx(corners) / getResArea() * 100; - } - - /** The yaw from the principal point of this camera to the pixel x value. Positive values left. */ - public Rotation2d getPixelYaw(double pixelX) { - double fx = camIntrinsics.get(0, 0); - // account for principal point not being centered - double cx = camIntrinsics.get(0, 2); - double xOffset = cx - pixelX; - return new Rotation2d(fx, xOffset); - } - - /** - * The pitch from the principal point of this camera to the pixel y value. Pitch is positive down. - */ - public Rotation2d getPixelPitch(double pixelY) { - double fy = camIntrinsics.get(1, 1); - // account for principal point not being centered - double cy = camIntrinsics.get(1, 2); - double yOffset = cy - pixelY; - return new Rotation2d(fy, -yOffset); - } - - /** - * Undistorts these image points, and then finds the yaw and pitch to the center of the rectangle - * bounding them. Yaw is positive left, and pitch is positive down. - */ - public Rotation3d getUndistortedPixelRot(List points) { - return getPixelRot(undistort(points)); - } - - /** - * Finds the yaw and pitch to the center of the rectangle bounding the given image points. Yaw is - * positive left, and pitch is positive down. - */ - public Rotation3d getPixelRot(List points) { - if (points == null || points.size() == 0) return new Rotation3d(); - - var rect = OpenCVHelp.getMinAreaRect(points); - return new Rotation3d( - rect.angle, - getPixelPitch(rect.center.y).getRadians(), - getPixelYaw(rect.center.x).getRadians()); - } - - public Rotation2d getHorizFOV() { - // sum of FOV left and right principal point - var left = getPixelYaw(0); - var right = getPixelYaw(resWidth); - return left.minus(right); - } - - public Rotation2d getVertFOV() { - // sum of FOV above and below principal point - var above = getPixelPitch(0); - var below = getPixelPitch(resHeight); - return below.minus(above); - } - - public Rotation2d getDiagFOV() { - return new Rotation2d(Math.hypot(getHorizFOV().getRadians(), getVertFOV().getRadians())); - } - - /** Width:height */ - public double getAspectRatio() { - return (double) resWidth / resHeight; - } - - /** - * Returns these pixel points as fractions of a 1x1 square image. This means the camera's aspect - * ratio and resolution will be used, and the points' x and y may not reach all portions(e.g. a - * wide aspect ratio means some of the top and bottom of the square image is unreachable). - * - * @param points Pixel points on this camera's image - * @return Points mapped to an image of 1x1 resolution - */ - public List getPixelFraction(List points) { - double resLarge = getAspectRatio() > 1 ? resWidth : resHeight; - - return points.stream() - .map( - p -> { - // offset to account for aspect ratio - return new TargetCorner( - (p.x + (resLarge - resWidth) / 2.0) / resLarge, - (p.y + (resLarge - resHeight) / 2.0) / resLarge); - }) - .collect(Collectors.toList()); - } - - /** @return Estimate of new points based on this camera's noise. */ - public List estPixelNoise(List points) { - if (avgErrorPx == 0 && errorStdDevPx == 0) return points; - - return points.stream() - .map( - p -> { - // error pixels in random direction - double error = rand.nextGaussian() * errorStdDevPx + avgErrorPx; - double errorAngle = rand.nextDouble() * Math.PI; - return new TargetCorner( - p.x + error * Math.cos(errorAngle), p.y + error * Math.sin(errorAngle)); - }) - .collect(Collectors.toList()); - } - - /** @return Noisy estimation of a frame's processing latency in milliseconds */ - public double estLatencyMs() { - return Math.max((rand.nextGaussian() * latencyStdDevMs) + avgLatencyMs, 0); - } - - /** @return Estimate how long until the next frame should be processed in milliseconds */ - public double estMsUntilNextFrame() { - // exceptional processing latency blocks the next frame - return frameSpeedMs + Math.max(0, estLatencyMs() - frameSpeedMs); - } - - // pre-calibrated example cameras - - /** 960x720 resolution, 90 degree FOV, "perfect" lagless camera */ - public static final CameraProperties PERFECT_90DEG = new CameraProperties(); - - public static final CameraProperties PI4_PICAM2_480p = new CameraProperties(); - - public static final CameraProperties LL2_480p = new CameraProperties(); - public static final CameraProperties LL2_960_720p = new CameraProperties(); - public static final CameraProperties LL2_1280_720p = new CameraProperties(); - - public static final CameraProperties LIFECAM_1280_720p = new CameraProperties(); - - static { - PI4_PICAM2_480p.setCalibration( - 640, - 480, - Matrix.mat(Nat.N3(), Nat.N3()) - .fill( // intrinsic - 497.8204072694636, - 0.0, - 314.53659309737424, - 0.0, - 481.6955284883231, - 231.95042993880858, - 0.0, - 0.0, - 1.0), - VecBuilder.fill( // distort - 0.16990717177326176, - -0.47305087536583684, - -0.002992219989630736, - -0.0016840919550094836, - 0.36623021008942863)); - PI4_PICAM2_480p.setCalibError(0.25, 0.07); - PI4_PICAM2_480p.setFPS(17); - PI4_PICAM2_480p.setAvgLatencyMs(35); - PI4_PICAM2_480p.setLatencyStdDevMs(8); - - LL2_480p.setCalibration( - 640, - 480, - Matrix.mat(Nat.N3(), Nat.N3()) - .fill( // intrinsic - 511.22843367007755, - 0.0, - 323.62049380211096, - 0.0, - 514.5452336723849, - 261.8827920543568, - 0.0, - 0.0, - 1.0), - VecBuilder.fill( // distort - 0.1917469998873756, - -0.5142936883324216, - 0.012461562046896614, - 0.0014084973492408186, - 0.35160648971214437)); - LL2_480p.setCalibError(0.25, 0.05); - LL2_480p.setFPS(15); - LL2_480p.setAvgLatencyMs(35); - LL2_480p.setLatencyStdDevMs(8); - - LL2_960_720p.setCalibration( - 960, - 720, - Matrix.mat(Nat.N3(), Nat.N3()) - .fill( // intrinsic - 769.6873145148892, - 0.0, - 486.1096609458122, - 0.0, - 773.8164483705323, - 384.66071662358354, - 0.0, - 0.0, - 1.0), - VecBuilder.fill( // distort - 0.189462064814501, - -0.49903003669627627, - 0.007468423590519429, - 0.002496885298683693, - 0.3443122090208624)); - LL2_960_720p.setCalibError(0.35, 0.10); - LL2_960_720p.setFPS(10); - LL2_960_720p.setAvgLatencyMs(50); - LL2_960_720p.setLatencyStdDevMs(15); - - LL2_1280_720p.setCalibration( - 1280, - 720, - Matrix.mat(Nat.N3(), Nat.N3()) - .fill( // intrinsic - 1011.3749416937393, - 0.0, - 645.4955139388737, - 0.0, - 1008.5391755084075, - 508.32877656020196, - 0.0, - 0.0, - 1.0), - VecBuilder.fill( // distort - 0.13730101577061535, - -0.2904345656989261, - 8.32475714507539E-4, - -3.694397782014239E-4, - 0.09487962227027584)); - LL2_1280_720p.setCalibError(0.37, 0.06); - LL2_1280_720p.setFPS(7); - LL2_1280_720p.setAvgLatencyMs(60); - LL2_1280_720p.setLatencyStdDevMs(20); - - LIFECAM_1280_720p.setCalibration( - 1280, - 720, - Matrix.mat(Nat.N3(), Nat.N3()) - .fill( // intrinsic - 1150.2178512391217, - 0, - 620.9005800934796, - 0, - 1137.1023715270699, - 336.6179549129202, - 0, - 0, - 1), - VecBuilder.fill( // distort - 0.14815813706474312, - -1.166871074914488, - 0.002510801148857967, - 0.0014575054249691716, - 2.1737769139751677)); - LIFECAM_1280_720p.setCalibError(0.37, 0.25); - LIFECAM_1280_720p.setFPS(30); - LIFECAM_1280_720p.setAvgLatencyMs(60); - LIFECAM_1280_720p.setLatencyStdDevMs(20); - } -} diff --git a/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java b/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java index e5ef8702ea..afcc43b0ce 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java @@ -1,3 +1,27 @@ +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + package org.photonvision.estimation; import edu.wpi.first.math.geometry.Pose3d; diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index c60680115d..e8012d1ee7 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -249,15 +249,15 @@ private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { * @return The 2d points in pixels which correspond to the image of the 3d points on the camera */ public static List projectPoints( - CameraProperties camProp, Pose3d camPose, List objectTranslations) { + PhotonFrameProps camProp, Pose3d camPose, List objectTranslations) { // translate to opencv classes var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); // opencv rvec/tvec describe a change in basis from world to camera var basisChange = RotTrlTransform3d.makeRelativeTo(camPose); var rvec = rotationToRvec(basisChange.getRotation()); var tvec = translationToTvec(basisChange.getTranslation()); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); var imagePoints = new MatOfPoint2f(); // project to 2d Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); @@ -288,11 +288,11 @@ public static List projectPoints( * @return The undistorted image points */ public static List undistortPoints( - CameraProperties camProp, List corners) { + PhotonFrameProps camProp, List corners) { var points_in = targetCornersToMat(corners); var points_out = new MatOfPoint2f(); - var cameraMatrix = matrixToMat(camProp.getIntrinsics().getStorage()); - var distCoeffs = matrixToMat(camProp.getDistCoeffs().getStorage()); + var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); Calib3d.undistortImagePoints(points_in, points_out, cameraMatrix, distCoeffs); var corners_out = matToTargetCorners(points_out); @@ -398,8 +398,8 @@ public static PNPResults solvePNP_SQUARE( // translate to opencv classes var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.camIntrinsics.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffs.getStorage()); + var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -464,8 +464,8 @@ public static PNPResults solvePNP_SQPNP( // translate to opencv classes var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.camIntrinsics.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffs.getStorage()); + var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); + var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java index b67bb8ff02..5d5c8474f3 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java @@ -1,3 +1,27 @@ +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + package org.photonvision.estimation; import edu.wpi.first.math.geometry.Pose3d; diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 6f82fa6fe7..d79e5505b6 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -1,3 +1,27 @@ +/* + * MIT License + * + * Copyright (c) 2022 PhotonVision + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + package org.photonvision.estimation; import edu.wpi.first.apriltag.AprilTag; @@ -12,7 +36,6 @@ import org.photonvision.targeting.TargetCorner; public class VisionEstimation { - public static final TargetModel kTagModel = new TargetModel(Units.inchesToMeters(6), Units.inchesToMeters(6)); diff --git a/photon-lib/src/test/java/org/photonvision/PacketTest.java b/photon-lib/src/test/java/org/photonvision/PacketTest.java index 6daa613f32..08bc8b6900 100644 --- a/photon-lib/src/test/java/org/photonvision/PacketTest.java +++ b/photon-lib/src/test/java/org/photonvision/PacketTest.java @@ -30,6 +30,7 @@ import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.Test; import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -68,7 +69,10 @@ void testSimpleTrackedTarget() { @Test void testSimplePipelineResult() { - var result = new PhotonPipelineResult(1, new ArrayList<>()); + PhotonFrameProps frameProps = + new PhotonFrameProps( + 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); + var result = new PhotonPipelineResult(1, frameProps, new ArrayList<>()); var p = new Packet(result.getPacketSize()); result.populatePacket(p); @@ -80,6 +84,7 @@ void testSimplePipelineResult() { var result2 = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java index c16bff640d..8a24273299 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java @@ -46,6 +46,7 @@ import org.junit.jupiter.api.BeforeAll; import org.junit.jupiter.api.Test; import org.photonvision.PhotonPoseEstimator.PoseStrategy; +import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -53,6 +54,10 @@ class PhotonPoseEstimatorTest { static AprilTagFieldLayout aprilTags; + static PhotonFrameProps frameProps = + new PhotonFrameProps( + 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); + @BeforeAll public static void init() { JNIWrapper.Helper.setExtractOnStaticLoad(false); @@ -82,6 +87,7 @@ void testLowestAmbiguityStrategy() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -163,6 +169,7 @@ void testClosestToCameraHeightStrategy() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -246,6 +253,7 @@ void closestToReferencePoseStrategy() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -329,6 +337,7 @@ void closestToLastPose() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -403,6 +412,7 @@ void closestToLastPose() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -480,6 +490,7 @@ void averageBestPoses() { cameraOne.result = new PhotonPipelineResult( 2, + frameProps, List.of( new PhotonTrackedTarget( 3.0, 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 5cf6cf6509..862f443663 100644 --- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -1,168 +1,102 @@ -package org.photonvision.estimation; +/* + * MIT License + * + * Copyright (c) 2022 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. + */ -// import edu.wpi.first.apriltag.AprilTag; -// import edu.wpi.first.apriltag.AprilTagFieldLayout; -// import edu.wpi.first.apriltag.AprilTagFields; -// import edu.wpi.first.hal.JNIWrapper; -// import edu.wpi.first.math.geometry.Pose3d; -// import edu.wpi.first.math.geometry.Transform3d; -// import edu.wpi.first.net.WPINetJNI; -// import edu.wpi.first.networktables.NetworkTableInstance; -// import edu.wpi.first.networktables.NetworkTablesJNI; -// import edu.wpi.first.util.CombinedRuntimeLoader; -// import edu.wpi.first.util.WPIUtilJNI; -// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -// import java.io.IOException; -// import java.util.ArrayList; -// import java.util.List; +package org.photonvision.estimation; -// import org.junit.jupiter.api.BeforeAll; -// import org.junit.jupiter.api.Test; -// import org.photonvision.PhotonCamera; -// import org.photonvision.targeting.TargetCorner; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.cscore.CameraServerCvJNI; +import edu.wpi.first.hal.JNIWrapper; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.net.WPINetJNI; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.NetworkTablesJNI; +import edu.wpi.first.util.CombinedRuntimeLoader; +import edu.wpi.first.util.WPIUtilJNI; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.io.IOException; +import org.junit.jupiter.api.BeforeAll; +import org.junit.jupiter.api.Test; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; public class ApriltagWorkbenchTest { - // @BeforeAll - // public static void setUp() { - // JNIWrapper.Helper.setExtractOnStaticLoad(false); - // WPIUtilJNI.Helper.setExtractOnStaticLoad(false); - // NetworkTablesJNI.Helper.setExtractOnStaticLoad(false); - // WPINetJNI.Helper.setExtractOnStaticLoad(false); - - // try { - // CombinedRuntimeLoader.loadLibraries( - // ApriltagWorkbenchTest.class, "wpiutiljni", "ntcorejni", "wpinetjni", - // "wpiHaljni"); - // } catch (Exception e) { - // // TODO Auto-generated catch block - // e.printStackTrace(); - // } - - // // NT live for debug purposes - // NetworkTableInstance.getDefault().startServer(); - - // // No version check for testing - // PhotonCamera.setVersionCheckEnabled(false); - // } - - // @Test - // public void testMeme() throws IOException, InterruptedException { - - // NetworkTableInstance instance = NetworkTableInstance.getDefault(); - // instance.stopServer(); - // // set the NT server if simulating this code. - // // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" - // // for coprocessor - // instance.setServer("localhost"); - // instance.startClient4("myRobot"); - - // var robotToCamera = new Transform3d(); - // var props = CameraProperties.LIFECAM_1280_720p; - // var cam = new PhotonCamera("WPI2023"); - // var tagLayout = - // - // AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile); - - // while (!Thread.interrupted()) { - // Thread.sleep(500); - // var visCorners = new ArrayList(); - // var knownVisTags = new ArrayList(); - // var fieldToCams = new ArrayList(); - // var fieldToCamsAlt = new ArrayList(); - // var result = cam.getLatestResult(); - // System.out.println(result.getTargets().size()); - - // for (var target : result.getTargets()) { - // visCorners.addAll(target.getDetectedCorners()); - // Pose3d tagPose = tagLayout.getTagPose(target.getFiducialId()).get(); - // // actual layout poses of visible tags - // knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); - - // fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); - // - // fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); - // } - - // final var data = new ArrayList(); - // fieldToCams.stream() - // .forEach( - // it -> - // data.addAll( - // List.of( - // it.getX(), - // it.getY(), - // it.getZ(), - // it.getRotation().getQuaternion().getW(), - // it.getRotation().getQuaternion().getX(), - // it.getRotation().getQuaternion().getY(), - // it.getRotation().getQuaternion().getZ()))); - // SmartDashboard.putNumberArray("fieldToCams", data.toArray(new Double[] {})); - // data.clear(); - // fieldToCamsAlt.stream() - // .forEach( - // it -> - // data.addAll( - // List.of( - // it.getX(), - // it.getY(), - // it.getZ(), - // it.getRotation().getQuaternion().getW(), - // it.getRotation().getQuaternion().getX(), - // it.getRotation().getQuaternion().getY(), - // it.getRotation().getQuaternion().getZ()))); - // SmartDashboard.putNumberArray("fieldToCamsAlt", data.toArray(new Double[] {})); - - // // data = new ArrayList();o - // data.clear(); - // knownVisTags.stream() - // .forEach( - // it -> - // data.addAll( - // List.of( - // it.pose.getX(), - // it.pose.getY(), - // it.pose.getZ(), - // - // it.pose.getRotation().getQuaternion().getW(), - // - // it.pose.getRotation().getQuaternion().getX(), - // - // it.pose.getRotation().getQuaternion().getY(), - // - // it.pose.getRotation().getQuaternion().getZ()))); - // SmartDashboard.putNumberArray("seenTags", data.toArray(new Double[] {})); - - // // multi-target solvePNP - // if (result.getTargets().size() > 1) { - // data.clear(); - // visCorners.stream().forEach(it -> data.addAll(List.of(it.x))); - // SmartDashboard.putNumberArray("cornersX", data.toArray(new Double[] {})); - // data.clear(); - // visCorners.stream().forEach(it -> data.addAll(List.of(it.y))); - // SmartDashboard.putNumberArray("cornersY", data.toArray(new Double[] {})); - - // var pnpResults = VisionEstimation.estimateCamPosePNP(props, visCorners, - // knownVisTags); - // var best = - // new Pose3d() - // .plus(pnpResults.best) // field-to-camera - // .plus(robotToCamera.inverse()); // field-to-robot - // // var alt = new Pose3d() - // // .plus(pnpResults.alt) // field-to-camera - // // .plus(robotToCamera.inverse()); // field-to-robot - - // SmartDashboard.putNumberArray( - // "multiTagPNP", - // new double[] { - // best.getX(), - // best.getY(), - // best.getZ(), - // best.getRotation().getQuaternion().getW(), - // best.getRotation().getQuaternion().getX(), - // best.getRotation().getQuaternion().getY(), - // best.getRotation().getQuaternion().getZ() - // }); - // } - // } - // } + @BeforeAll + public static void setUp() { + JNIWrapper.Helper.setExtractOnStaticLoad(false); + WPIUtilJNI.Helper.setExtractOnStaticLoad(false); + NetworkTablesJNI.Helper.setExtractOnStaticLoad(false); + WPINetJNI.Helper.setExtractOnStaticLoad(false); + CameraServerCvJNI.Helper.setExtractOnStaticLoad(false); + + try { + CombinedRuntimeLoader.loadLibraries( + ApriltagWorkbenchTest.class, + "wpiutiljni", + "ntcorejni", + "wpinetjni", + "wpiHaljni", + "cscorejnicvstatic"); + } catch (Exception e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + + // No version check for testing + PhotonCamera.setVersionCheckEnabled(false); + } + + @Test + public void testMeme() throws IOException, InterruptedException { + NetworkTableInstance instance = NetworkTableInstance.getDefault(); + instance.stopServer(); + // set the NT server if simulating this code. + // "localhost" for photon on desktop, or "photonvision.local" / "[ip-address]" + // for coprocessor + instance.setServer("localhost"); + instance.startClient4("myRobot"); + + var robotToCamera = new Transform3d(); + var cam = new PhotonCamera("WPI2023"); + var tagLayout = + AprilTagFieldLayout.loadFromResource(AprilTagFields.k2023ChargedUp.m_resourceFile); + + var pe = + new PhotonPoseEstimator( + tagLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP, cam, robotToCamera); + + var field = new Field2d(); + SmartDashboard.putData(field); + + while (!Thread.interrupted()) { + Thread.sleep(500); + + var ret = pe.update(); + System.out.println(ret); + + field.setRobotPose(ret.get().estimatedPose.toPose2d()); + } + } } diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle index ec3d4935da..08a8dca19b 100644 --- a/photon-targeting/build.gradle +++ b/photon-targeting/build.gradle @@ -5,6 +5,11 @@ apply from: "${rootDir}/shared/common.gradle" dependencies { implementation wpilibTools.deps.wpilibJava("wpimath") implementation "org.ejml:ejml-simple:0.41" + + // Junit + testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2") + testImplementation("org.junit.jupiter:junit-jupiter-params:5.8.2") + testRuntimeOnly("org.junit.jupiter:junit-jupiter-engine:5.8.2") } tasks.withType(JavaCompile) { @@ -19,4 +24,8 @@ java { withSourcesJar() } +test { + useJUnitPlatform() +} + apply from: "publish.gradle" diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java index ef20b5f648..5c1aeb4c04 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java @@ -1,3 +1,20 @@ +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + package org.photonvision.targeting; import edu.wpi.first.math.Matrix; @@ -14,16 +31,16 @@ public class PhotonFrameProps { public final int width; public final int height; public final double fov; - public final Matrix camIntrinsics; - public final Matrix distCoeffs; + public final Matrix intrinsicsMat; + public final Matrix distCoeffsMat; public PhotonFrameProps( int width, int height, double fov, Matrix camIntrinsics, Matrix distCoeffs) { this.width = width; this.height = height; this.fov = fov; - this.camIntrinsics = camIntrinsics; - this.distCoeffs = distCoeffs; + this.intrinsicsMat = camIntrinsics; + this.distCoeffsMat = distCoeffs; } public PhotonFrameProps( @@ -53,9 +70,41 @@ public Packet populatePacket(Packet packet) { packet.encode(fov); // We can safely assume camera calibration is at the above width/height - packet.encode(camIntrinsics.getData()); - packet.encode(distCoeffs.getData()); + packet.encode(intrinsicsMat.getData()); + packet.encode(distCoeffsMat.getData()); return packet; } + + @Override + public int hashCode() { + final int prime = 31; + int result = 1; + result = prime * result + width; + result = prime * result + height; + long temp; + temp = Double.doubleToLongBits(fov); + result = prime * result + (int) (temp ^ (temp >>> 32)); + result = prime * result + ((intrinsicsMat == null) ? 0 : intrinsicsMat.hashCode()); + result = prime * result + ((distCoeffsMat == null) ? 0 : distCoeffsMat.hashCode()); + return result; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; + PhotonFrameProps other = (PhotonFrameProps) obj; + if (width != other.width) return false; + if (height != other.height) return false; + if (Double.doubleToLongBits(fov) != Double.doubleToLongBits(other.fov)) return false; + if (intrinsicsMat == null) { + if (other.intrinsicsMat != null) return false; + } else if (!intrinsicsMat.isIdentical(other.intrinsicsMat, 1e-6)) return false; + if (distCoeffsMat == null) { + if (other.distCoeffsMat != null) return false; + } else if (!distCoeffsMat.isIdentical(other.distCoeffsMat, 1e-6)) return false; + return true; + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index ac9fde0c93..4d065cb1e7 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -19,7 +19,6 @@ import java.util.ArrayList; import java.util.List; -import java.util.Objects; import org.photonvision.common.dataflow.structures.Packet; /** Represents a pipeline result from a PhotonCamera. */ @@ -47,9 +46,11 @@ public PhotonPipelineResult() {} * @param latencyMillis The latency in the pipeline. * @param targets The list of targets identified by the pipeline. */ - public PhotonPipelineResult(double latencyMillis, List targets) { + public PhotonPipelineResult( + double latencyMillis, PhotonFrameProps props, List targets) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); + this.frameProps = props; } /** @@ -58,7 +59,10 @@ public PhotonPipelineResult(double latencyMillis, List targ * @return The size of the packet needed to store this pipeline result. */ public int getPacketSize() { - return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2; + return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + + 8 + + 2 + + PhotonFrameProps.PACKED_SIZE_BYTES; } /** @@ -134,21 +138,6 @@ protected void setFrameProperties(PhotonFrameProps props) { this.frameProps = props; } - @Override - public boolean equals(Object o) { - if (this == o) return true; - if (o == null || getClass() != o.getClass()) return false; - PhotonPipelineResult that = (PhotonPipelineResult) o; - boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0; - boolean targetsMatch = that.targets.equals(targets); - return latencyMatch && targetsMatch; - } - - @Override - public int hashCode() { - return Objects.hash(latencyMillis, targets); - } - /** * Populates the fields of the pipeline result from the packet. * @@ -158,6 +147,7 @@ public int hashCode() { public Packet createFromPacket(Packet packet) { // Decode latency, existence of targets, and number of targets. latencyMillis = packet.decodeDouble(); + frameProps = PhotonFrameProps.createFromPacket(packet); byte targetCount = packet.decodeByte(); targets.clear(); @@ -181,6 +171,7 @@ public Packet createFromPacket(Packet packet) { public Packet populatePacket(Packet packet) { // Encode latency, existence of targets, and number of targets. packet.encode(latencyMillis); + frameProps.populatePacket(packet); packet.encode((byte) targets.size()); // Encode the information of each target. @@ -189,4 +180,37 @@ public Packet populatePacket(Packet packet) { // Return the packet. return packet; } + + @Override + public int hashCode() { + final int prime = 31; + int result = 1; + result = prime * result + ((targets == null) ? 0 : targets.hashCode()); + long temp; + temp = Double.doubleToLongBits(latencyMillis); + result = prime * result + (int) (temp ^ (temp >>> 32)); + temp = Double.doubleToLongBits(timestampSeconds); + result = prime * result + (int) (temp ^ (temp >>> 32)); + result = prime * result + ((frameProps == null) ? 0 : frameProps.hashCode()); + return result; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; + PhotonPipelineResult other = (PhotonPipelineResult) obj; + if (targets == null) { + if (other.targets != null) return false; + } else if (!targets.equals(other.targets)) return false; + if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) + return false; + if (Double.doubleToLongBits(timestampSeconds) + != Double.doubleToLongBits(other.timestampSeconds)) return false; + if (frameProps == null) { + if (other.frameProps != null) return false; + } else if (!frameProps.equals(other.frameProps)) return false; + return true; + } } diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java new file mode 100644 index 0000000000..e65967cc59 --- /dev/null +++ b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java @@ -0,0 +1,72 @@ +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +package org.photonvision.targeting; + +import static org.junit.jupiter.api.Assertions.assertEquals; + +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Nat; +import org.junit.jupiter.api.Test; +import org.photonvision.common.dataflow.structures.Packet; + +public class PhotonFramePropsTest { + @Test + public void testEncodeDecode() { + PhotonFrameProps p = + new PhotonFrameProps( + 320, + 240, + 90, + new MatBuilder<>(Nat.N3(), Nat.N3()).fill(1, 2, 3, 4, 5, 6, 7, 8, 9), + new MatBuilder<>(Nat.N5(), Nat.N1()).fill(1, 2, 3, 4, 5)); + + var packet = new Packet(PhotonFrameProps.PACKED_SIZE_BYTES); + p.populatePacket(packet); + + var decoded = PhotonFrameProps.createFromPacket(packet); + assertEquals(p, decoded); + } + + @Test + public void testInResult() { + Packet packet; + PhotonPipelineResult result; + { + PhotonFrameProps p = + new PhotonFrameProps( + 320, + 240, + 90, + new MatBuilder<>(Nat.N3(), Nat.N3()).fill(1, 2, 3, 4, 5, 6, 7, 8, 9), + new MatBuilder<>(Nat.N5(), Nat.N1()).fill(1, 2, 3, 4, 5)); + + result = new PhotonPipelineResult(); + result.setFrameProperties(p); + + packet = new Packet(result.getPacketSize()); + result.populatePacket(packet); + } + + { + var packet2 = new Packet(packet.getData()); + var decoded = new PhotonPipelineResult(); + decoded.createFromPacket(packet2); + assertEquals(result, decoded); + } + } +} From 5f9888741309ab3bcc40e277176319b09b979f97 Mon Sep 17 00:00:00 2001 From: Banks Troutman Date: Mon, 6 Feb 2023 13:34:57 -0500 Subject: [PATCH 006/115] Publish camera coeffs to NT --- .../networktables/NTDataPublisher.java | 16 +++++++++++++++ .../CameraCalibrationCoefficients.java | 20 +++++++++++++++++++ .../common/networktables/NTTopicSet.java | 12 +++++++++++ 3 files changed, 48 insertions(+) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 5454a2d7e3..6137dc0631 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -52,6 +52,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer { private final Consumer driverModeConsumer; private long heartbeatCounter = 0; + private final double[] emptyIntrinsicArr = new double[9]; + private final double[] emptyExtrinsicArr = new double[5]; public NTDataPublisher( String cameraNickname, @@ -182,6 +184,20 @@ public void accept(CVPipelineResult result) { ts.bestTargetPosY.set(0); } + var fsp = result.inputAndOutputFrame.frameStaticProperties; + if (fsp.cameraCalibration != null) { + ts.cameraIntrinsicsPublisher.accept( + fsp.cameraCalibration.getIntrinsicsArr() + ); + + ts.cameraExtrinsicsPublisher.accept( + fsp.cameraCalibration.getExtrinsicsArr() + ); + } else { + ts.cameraIntrinsicsPublisher.accept(emptyIntrinsicArr); + ts.cameraExtrinsicsPublisher.accept(emptyExtrinsicArr); + } + ts.heartbeatPublisher.set(heartbeatCounter++); // TODO...nt4... is this needed? diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java index 7df9505333..5d49d4fccc 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java @@ -44,6 +44,12 @@ public class CameraCalibrationCoefficients implements Releasable { @JsonProperty("standardDeviation") public final double standardDeviation; + @JsonIgnore + private final double[] intrinsicsArr = new double[9]; + + @JsonIgnore + private final double[] extrinsicsArr = new double[5]; + @JsonCreator public CameraCalibrationCoefficients( @JsonProperty("resolution") Size resolution, @@ -56,6 +62,10 @@ public CameraCalibrationCoefficients( this.distCoeffs = distCoeffs; this.perViewErrors = perViewErrors; this.standardDeviation = standardDeviation; + + // do this once so gets are quick + getCameraIntrinsicsMat().get(0, 0, intrinsicsArr); + getDistCoeffsMat().get(0, 0, extrinsicsArr); } @JsonIgnore @@ -68,6 +78,16 @@ public MatOfDouble getDistCoeffsMat() { return distCoeffs.getAsMatOfDouble(); } + @JsonIgnore + public double[] getIntrinsicsArr() { + return intrinsicsArr; + } + + @JsonIgnore + public double[] getExtrinsicsArr() { + return extrinsicsArr; + } + @JsonIgnore public double[] getPerViewErrors() { return perViewErrors; diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java index edaa65d34c..287eb50ad5 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java @@ -65,6 +65,10 @@ public class NTTopicSet { public IntegerTopic heartbeatTopic; public IntegerPublisher heartbeatPublisher; + // Camera Calibration + public DoubleArrayPublisher cameraIntrinsicsPublisher; + public DoubleArrayPublisher cameraExtrinsicsPublisher; + public void updateEntries() { rawBytesEntry = subTable @@ -95,6 +99,9 @@ public void updateEntries() { heartbeatTopic = subTable.getIntegerTopic("heartbeat"); heartbeatPublisher = heartbeatTopic.publish(); + + cameraIntrinsicsPublisher = subTable.getDoubleArrayTopic("cameraIntrinsics").publish(); + cameraExtrinsicsPublisher = subTable.getDoubleArrayTopic("cameraExtrinsics").publish(); } @SuppressWarnings("DuplicatedCode") @@ -115,5 +122,10 @@ public void removeEntries() { if (targetSkewEntry != null) targetSkewEntry.close(); if (bestTargetPosX != null) bestTargetPosX.close(); if (bestTargetPosY != null) bestTargetPosY.close(); + + if (heartbeatPublisher != null) heartbeatPublisher.close(); + + if (cameraIntrinsicsPublisher != null) cameraIntrinsicsPublisher.close(); + if (cameraExtrinsicsPublisher != null) cameraExtrinsicsPublisher.close(); } } From b8908a940b495c06fd6427eef0666f9562bf85d8 Mon Sep 17 00:00:00 2001 From: Banks Troutman Date: Mon, 6 Feb 2023 16:57:04 -0500 Subject: [PATCH 007/115] less dumb no-cal send --- .../common/dataflow/networktables/NTDataPublisher.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 6137dc0631..57a69c4b71 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -52,8 +52,6 @@ public class NTDataPublisher implements CVPipelineResultConsumer { private final Consumer driverModeConsumer; private long heartbeatCounter = 0; - private final double[] emptyIntrinsicArr = new double[9]; - private final double[] emptyExtrinsicArr = new double[5]; public NTDataPublisher( String cameraNickname, @@ -194,8 +192,8 @@ public void accept(CVPipelineResult result) { fsp.cameraCalibration.getExtrinsicsArr() ); } else { - ts.cameraIntrinsicsPublisher.accept(emptyIntrinsicArr); - ts.cameraExtrinsicsPublisher.accept(emptyExtrinsicArr); + ts.cameraIntrinsicsPublisher.accept(new double[]{}); + ts.cameraExtrinsicsPublisher.accept(new double[]{}); } ts.heartbeatPublisher.set(heartbeatCounter++); From 6525272e376219077f3824f9e78343e632e3e4d5 Mon Sep 17 00:00:00 2001 From: Banks Troutman Date: Mon, 6 Feb 2023 18:00:22 -0500 Subject: [PATCH 008/115] Remove PhotonFrameProp, use separate matrices --- .../networktables/NTDataPublisher.java | 1 - .../vision/frame/FrameStaticProperties.java | 19 --- .../org/photonvision/PhotonPoseEstimator.java | 7 +- .../org/photonvision/SimPhotonCamera.java | 7 +- .../photonvision/estimation/OpenCVHelp.java | 57 ++++----- .../estimation/VisionEstimation.java | 10 +- .../java/org/photonvision/PacketTest.java | 7 +- .../photonvision/PhotonPoseEstimatorTest.java | 16 --- .../targeting/PhotonFrameProps.java | 110 ------------------ .../targeting/PhotonPipelineResult.java | 23 +--- .../targeting/PhotonFramePropsTest.java | 72 ------------ 11 files changed, 46 insertions(+), 283 deletions(-) delete mode 100644 photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java delete mode 100644 photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 57a69c4b71..52367e5f45 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -137,7 +137,6 @@ public void accept(CVPipelineResult result) { var simplified = new PhotonPipelineResult( result.getLatencyMillis(), - result.inputAndOutputFrame.frameStaticProperties.toPhotonFrameProps(), simpleFromTrackedTargets(result.targets)); Packet packet = new Packet(simplified.getPacketSize()); simplified.populatePacket(packet); diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java index 5629343821..f03db3a60e 100644 --- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java +++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameStaticProperties.java @@ -20,7 +20,6 @@ import edu.wpi.first.cscore.VideoMode; import org.opencv.core.Point; import org.photonvision.common.util.numbers.DoubleCouple; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; /** Represents the properties of a frame. */ @@ -88,22 +87,4 @@ public static DoubleCouple calculateHorizontalVerticalFoV( return new DoubleCouple(horizontalView, verticalView); } - - public PhotonFrameProps toPhotonFrameProps() { - if (cameraCalibration != null) { - return new PhotonFrameProps( - imageWidth, - imageHeight, - fov, - cameraCalibration.cameraIntrinsics.data, - cameraCalibration.distCoeffs.data); - } else { - return new PhotonFrameProps( - imageWidth, - imageHeight, - fov, - new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, - new double[] {0, 0, 0, 0, 0}); - } - } } diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 0e4bcf637a..95262539ad 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -257,11 +257,14 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } + boolean hasCalibData = false; + // multi-target solvePNP - if (result.getTargets().size() > 1) { + if (result.getTargets().size() > 1 && hasCalibData) { var pnpResults = VisionEstimation.estimateCamPosePNP( - result.getFrameProperties(), visCorners, knownVisTags); + // TODO: get camera matrices from NT + null, null, visCorners, knownVisTags); var best = new Pose3d() .plus(pnpResults.best) // field-to-camera diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 14024aef36..356c6668f4 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -29,18 +29,15 @@ import java.util.List; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.networktables.NTTopicSet; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @SuppressWarnings("unused") +// TODO: Add method to set camera intr/extrinsics public class SimPhotonCamera { NTTopicSet ts = new NTTopicSet(); PhotonPipelineResult latestResult; private long heartbeatCounter = 0; - protected PhotonFrameProps frameProps = - new PhotonFrameProps( - 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); /** * Constructs a Simulated PhotonCamera from a root table. @@ -113,7 +110,7 @@ public void submitProcessedFrame( } PhotonPipelineResult newResult = - new PhotonPipelineResult(latencyMillis, frameProps, targetList); + new PhotonPipelineResult(latencyMillis, targetList); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index e8012d1ee7..6ac6508a5b 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -53,7 +53,6 @@ import org.opencv.core.Rect; import org.opencv.core.RotatedRect; import org.opencv.imgproc.Imgproc; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.TargetCorner; public final class OpenCVHelp { @@ -249,18 +248,19 @@ private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { * @return The 2d points in pixels which correspond to the image of the 3d points on the camera */ public static List projectPoints( - PhotonFrameProps camProp, Pose3d camPose, List objectTranslations) { + Matrix cameraMatrix, Matrix distCoeffs, + Pose3d camPose, List objectTranslations) { // translate to opencv classes var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); // opencv rvec/tvec describe a change in basis from world to camera var basisChange = RotTrlTransform3d.makeRelativeTo(camPose); var rvec = rotationToRvec(basisChange.getRotation()); var tvec = translationToTvec(basisChange.getTranslation()); - var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); + var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); + var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); var imagePoints = new MatOfPoint2f(); // project to 2d - Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); + Calib3d.projectPoints(objectPoints, rvec, tvec, cameraMatrixMat, distCoeffsMat, imagePoints); // turn 2d point Mat into TargetCorners var corners = matToTargetCorners(imagePoints); @@ -269,8 +269,8 @@ public static List projectPoints( objectPoints.release(); rvec.release(); tvec.release(); - cameraMatrix.release(); - distCoeffs.release(); + cameraMatrixMat.release(); + distCoeffsMat.release(); imagePoints.release(); return Arrays.asList(corners); @@ -288,19 +288,20 @@ public static List projectPoints( * @return The undistorted image points */ public static List undistortPoints( - PhotonFrameProps camProp, List corners) { + Matrix cameraMatrix, Matrix distCoeffs, + List corners) { var points_in = targetCornersToMat(corners); var points_out = new MatOfPoint2f(); - var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); + var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); + var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); - Calib3d.undistortImagePoints(points_in, points_out, cameraMatrix, distCoeffs); + Calib3d.undistortImagePoints(points_in, points_out, cameraMatrixMat, distCoeffsMat); var corners_out = matToTargetCorners(points_out); points_in.release(); points_out.release(); - cameraMatrix.release(); - distCoeffs.release(); + cameraMatrixMat.release(); + distCoeffsMat.release(); return Arrays.asList(corners_out); } @@ -391,15 +392,16 @@ public static double getContourAreaPx(List corners) { * ambiguity if an alternate solution is available. */ public static PNPResults solvePNP_SQUARE( - PhotonFrameProps camProp, List modelTrls, List imageCorners) { + Matrix cameraMatrix, Matrix distCoeffs, + List modelTrls, List imageCorners) { // IPPE_SQUARE expects our corners in a specific order modelTrls = reorderCircular(modelTrls, true, -1); imageCorners = reorderCircular(imageCorners, true, -1); // translate to opencv classes var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); + var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); + var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -409,8 +411,8 @@ public static PNPResults solvePNP_SQUARE( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrix, - distCoeffs, + cameraMatrixMat, + distCoeffsMat, rvecs, tvecs, false, @@ -432,8 +434,8 @@ public static PNPResults solvePNP_SQUARE( // release our Mats from native memory objectPoints.release(); imagePoints.release(); - cameraMatrix.release(); - distCoeffs.release(); + cameraMatrixMat.release(); + distCoeffsMat.release(); for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); @@ -460,12 +462,13 @@ public static PNPResults solvePNP_SQUARE( * the origin. */ public static PNPResults solvePNP_SQPNP( - PhotonFrameProps camProp, List objectTrls, List imageCorners) { + Matrix cameraMatrix, Matrix distCoeffs, + List objectTrls, List imageCorners) { // translate to opencv classes var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrix = matrixToMat(camProp.intrinsicsMat.getStorage()); - var distCoeffs = matrixToMat(camProp.distCoeffsMat.getStorage()); + var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); + var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -475,8 +478,8 @@ public static PNPResults solvePNP_SQPNP( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrix, - distCoeffs, + cameraMatrixMat, + distCoeffsMat, rvecs, tvecs, false, @@ -493,8 +496,8 @@ public static PNPResults solvePNP_SQPNP( // release our Mats from native memory objectPoints.release(); imagePoints.release(); - cameraMatrix.release(); - distCoeffs.release(); + cameraMatrixMat.release(); + distCoeffsMat.release(); for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index d79e5505b6..64c8542cb9 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -25,14 +25,15 @@ package org.photonvision.estimation; import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.*; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.TargetCorner; public class VisionEstimation { @@ -51,7 +52,8 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - PhotonFrameProps prop, List corners, List knownTags) { + Matrix cameraMatrix, Matrix distCoeffs, + List corners, List knownTags) { if (knownTags == null || corners == null || corners.size() != knownTags.size() * 4 @@ -62,7 +64,7 @@ public static PNPResults estimateCamPosePNP( if (corners.size() == 4) { var camToTag = OpenCVHelp.solvePNP_SQUARE( - prop, kTagModel.getFieldVertices(knownTags.get(0).pose), corners); + cameraMatrix, distCoeffs, kTagModel.getFieldVertices(knownTags.get(0).pose), corners); var bestPose = knownTags.get(0).pose.transformBy(camToTag.best.inverse()); var altPose = new Pose3d(); if (camToTag.ambiguity != 0) @@ -93,7 +95,7 @@ public static PNPResults estimateCamPosePNP( else { var objectTrls = new ArrayList(); for (var tag : knownTags) objectTrls.addAll(kTagModel.getFieldVertices(tag.pose)); - var camToOrigin = OpenCVHelp.solvePNP_SQPNP(prop, objectTrls, corners); + var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, corners); // var camToOrigin = OpenCVHelp.solveTagsPNPRansac(prop, objectTrls, corners); return new PNPResults( camToOrigin.best.inverse(), diff --git a/photon-lib/src/test/java/org/photonvision/PacketTest.java b/photon-lib/src/test/java/org/photonvision/PacketTest.java index 08bc8b6900..6daa613f32 100644 --- a/photon-lib/src/test/java/org/photonvision/PacketTest.java +++ b/photon-lib/src/test/java/org/photonvision/PacketTest.java @@ -30,7 +30,6 @@ import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.Test; import org.photonvision.common.dataflow.structures.Packet; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -69,10 +68,7 @@ void testSimpleTrackedTarget() { @Test void testSimplePipelineResult() { - PhotonFrameProps frameProps = - new PhotonFrameProps( - 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); - var result = new PhotonPipelineResult(1, frameProps, new ArrayList<>()); + var result = new PhotonPipelineResult(1, new ArrayList<>()); var p = new Packet(result.getPacketSize()); result.populatePacket(p); @@ -84,7 +80,6 @@ void testSimplePipelineResult() { var result2 = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java index 8a24273299..209d4a1c0f 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java @@ -29,7 +29,6 @@ import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.hal.JNIWrapper; -import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; @@ -46,7 +45,6 @@ import org.junit.jupiter.api.BeforeAll; import org.junit.jupiter.api.Test; import org.photonvision.PhotonPoseEstimator.PoseStrategy; -import org.photonvision.targeting.PhotonFrameProps; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -54,10 +52,6 @@ class PhotonPoseEstimatorTest { static AprilTagFieldLayout aprilTags; - static PhotonFrameProps frameProps = - new PhotonFrameProps( - 320, 240, 90, new double[] {0, 0, 0, 0, 0, 0, 0, 0, 0}, new double[] {0, 0, 0, 0, 0}); - @BeforeAll public static void init() { JNIWrapper.Helper.setExtractOnStaticLoad(false); @@ -87,7 +81,6 @@ void testLowestAmbiguityStrategy() { cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -163,13 +156,10 @@ void testLowestAmbiguityStrategy() { @Test void testClosestToCameraHeightStrategy() { - ArrayList> cameras = new ArrayList<>(); - PhotonCameraInjector cameraOne = new PhotonCameraInjector(); cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -253,7 +243,6 @@ void closestToReferencePoseStrategy() { cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -337,7 +326,6 @@ void closestToLastPose() { cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -412,7 +400,6 @@ void closestToLastPose() { cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, @@ -484,13 +471,10 @@ void closestToLastPose() { @Test void averageBestPoses() { - ArrayList> cameras = new ArrayList<>(); - PhotonCameraInjector cameraOne = new PhotonCameraInjector(); cameraOne.result = new PhotonPipelineResult( 2, - frameProps, List.of( new PhotonTrackedTarget( 3.0, diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java deleted file mode 100644 index 5c1aeb4c04..0000000000 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonFrameProps.java +++ /dev/null @@ -1,110 +0,0 @@ -/* - * Copyright (C) Photon Vision. - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - */ - -package org.photonvision.targeting; - -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.numbers.N5; -import org.ejml.simple.SimpleMatrix; -import org.photonvision.common.dataflow.structures.Packet; - -public class PhotonFrameProps { - // Width height fov and then a double each for 3x3 and 1x5 mat - public static final int PACKED_SIZE_BYTES = 4 + 4 + 8 + (8 * (3 * 3 + 1 * 5)); - - public final int width; - public final int height; - public final double fov; - public final Matrix intrinsicsMat; - public final Matrix distCoeffsMat; - - public PhotonFrameProps( - int width, int height, double fov, Matrix camIntrinsics, Matrix distCoeffs) { - this.width = width; - this.height = height; - this.fov = fov; - this.intrinsicsMat = camIntrinsics; - this.distCoeffsMat = distCoeffs; - } - - public PhotonFrameProps( - int width, int height, double fov, double[] camIntrinsics, double[] distCoeffs) { - this( - width, - height, - fov, - new Matrix<>(new SimpleMatrix(3, 3, true, camIntrinsics)), - new Matrix<>(new SimpleMatrix(5, 1, true, distCoeffs))); - } - - public static PhotonFrameProps createFromPacket(Packet packet) { - PhotonFrameProps ret = - new PhotonFrameProps( - packet.decodeInt(), - packet.decodeInt(), - packet.decodeDouble(), - packet.decodeDoubleArray(9), - packet.decodeDoubleArray(5)); - return ret; - } - - public Packet populatePacket(Packet packet) { - packet.encode(width); - packet.encode(height); - packet.encode(fov); - - // We can safely assume camera calibration is at the above width/height - packet.encode(intrinsicsMat.getData()); - packet.encode(distCoeffsMat.getData()); - - return packet; - } - - @Override - public int hashCode() { - final int prime = 31; - int result = 1; - result = prime * result + width; - result = prime * result + height; - long temp; - temp = Double.doubleToLongBits(fov); - result = prime * result + (int) (temp ^ (temp >>> 32)); - result = prime * result + ((intrinsicsMat == null) ? 0 : intrinsicsMat.hashCode()); - result = prime * result + ((distCoeffsMat == null) ? 0 : distCoeffsMat.hashCode()); - return result; - } - - @Override - public boolean equals(Object obj) { - if (this == obj) return true; - if (obj == null) return false; - if (getClass() != obj.getClass()) return false; - PhotonFrameProps other = (PhotonFrameProps) obj; - if (width != other.width) return false; - if (height != other.height) return false; - if (Double.doubleToLongBits(fov) != Double.doubleToLongBits(other.fov)) return false; - if (intrinsicsMat == null) { - if (other.intrinsicsMat != null) return false; - } else if (!intrinsicsMat.isIdentical(other.intrinsicsMat, 1e-6)) return false; - if (distCoeffsMat == null) { - if (other.distCoeffsMat != null) return false; - } else if (!distCoeffsMat.isIdentical(other.distCoeffsMat, 1e-6)) return false; - return true; - } -} diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 4d065cb1e7..671d40e70d 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -34,9 +34,6 @@ public class PhotonPipelineResult { // Timestamp in milliseconds. private double timestampSeconds = -1; - // The frame properties used to capture the image processed by this result - private PhotonFrameProps frameProps; - /** Constructs an empty pipeline result. */ public PhotonPipelineResult() {} @@ -47,10 +44,9 @@ public PhotonPipelineResult() {} * @param targets The list of targets identified by the pipeline. */ public PhotonPipelineResult( - double latencyMillis, PhotonFrameProps props, List targets) { + double latencyMillis, List targets) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); - this.frameProps = props; } /** @@ -61,8 +57,7 @@ public PhotonPipelineResult( public int getPacketSize() { return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 - + 2 - + PhotonFrameProps.PACKED_SIZE_BYTES; + + 2; } /** @@ -130,14 +125,6 @@ public List getTargets() { return new ArrayList<>(targets); } - public PhotonFrameProps getFrameProperties() { - return frameProps; - } - - protected void setFrameProperties(PhotonFrameProps props) { - this.frameProps = props; - } - /** * Populates the fields of the pipeline result from the packet. * @@ -147,7 +134,6 @@ protected void setFrameProperties(PhotonFrameProps props) { public Packet createFromPacket(Packet packet) { // Decode latency, existence of targets, and number of targets. latencyMillis = packet.decodeDouble(); - frameProps = PhotonFrameProps.createFromPacket(packet); byte targetCount = packet.decodeByte(); targets.clear(); @@ -171,7 +157,6 @@ public Packet createFromPacket(Packet packet) { public Packet populatePacket(Packet packet) { // Encode latency, existence of targets, and number of targets. packet.encode(latencyMillis); - frameProps.populatePacket(packet); packet.encode((byte) targets.size()); // Encode the information of each target. @@ -191,7 +176,6 @@ public int hashCode() { result = prime * result + (int) (temp ^ (temp >>> 32)); temp = Double.doubleToLongBits(timestampSeconds); result = prime * result + (int) (temp ^ (temp >>> 32)); - result = prime * result + ((frameProps == null) ? 0 : frameProps.hashCode()); return result; } @@ -208,9 +192,6 @@ public boolean equals(Object obj) { return false; if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds)) return false; - if (frameProps == null) { - if (other.frameProps != null) return false; - } else if (!frameProps.equals(other.frameProps)) return false; return true; } } diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java deleted file mode 100644 index e65967cc59..0000000000 --- a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonFramePropsTest.java +++ /dev/null @@ -1,72 +0,0 @@ -/* - * Copyright (C) Photon Vision. - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - */ - -package org.photonvision.targeting; - -import static org.junit.jupiter.api.Assertions.assertEquals; - -import edu.wpi.first.math.MatBuilder; -import edu.wpi.first.math.Nat; -import org.junit.jupiter.api.Test; -import org.photonvision.common.dataflow.structures.Packet; - -public class PhotonFramePropsTest { - @Test - public void testEncodeDecode() { - PhotonFrameProps p = - new PhotonFrameProps( - 320, - 240, - 90, - new MatBuilder<>(Nat.N3(), Nat.N3()).fill(1, 2, 3, 4, 5, 6, 7, 8, 9), - new MatBuilder<>(Nat.N5(), Nat.N1()).fill(1, 2, 3, 4, 5)); - - var packet = new Packet(PhotonFrameProps.PACKED_SIZE_BYTES); - p.populatePacket(packet); - - var decoded = PhotonFrameProps.createFromPacket(packet); - assertEquals(p, decoded); - } - - @Test - public void testInResult() { - Packet packet; - PhotonPipelineResult result; - { - PhotonFrameProps p = - new PhotonFrameProps( - 320, - 240, - 90, - new MatBuilder<>(Nat.N3(), Nat.N3()).fill(1, 2, 3, 4, 5, 6, 7, 8, 9), - new MatBuilder<>(Nat.N5(), Nat.N1()).fill(1, 2, 3, 4, 5)); - - result = new PhotonPipelineResult(); - result.setFrameProperties(p); - - packet = new Packet(result.getPacketSize()); - result.populatePacket(packet); - } - - { - var packet2 = new Packet(packet.getData()); - var decoded = new PhotonPipelineResult(); - decoded.createFromPacket(packet2); - assertEquals(result, decoded); - } - } -} From 87337bf38689ba0c182f1c8e92b3edf7b816ba32 Mon Sep 17 00:00:00 2001 From: Banks Troutman Date: Mon, 6 Feb 2023 18:25:30 -0500 Subject: [PATCH 009/115] Add camera matrices to PhotonLib --- .../java/org/photonvision/PhotonCamera.java | 28 +++++++++++++++++++ .../org/photonvision/PhotonPoseEstimator.java | 11 +++++--- 2 files changed, 35 insertions(+), 4 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index 4067ef888d..924f846ed7 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -24,9 +24,14 @@ package org.photonvision; +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.numbers.*; import edu.wpi.first.networktables.BooleanPublisher; import edu.wpi.first.networktables.BooleanSubscriber; import edu.wpi.first.networktables.DoubleArrayPublisher; +import edu.wpi.first.networktables.DoubleArraySubscriber; import edu.wpi.first.networktables.DoublePublisher; import edu.wpi.first.networktables.IntegerEntry; import edu.wpi.first.networktables.IntegerSubscriber; @@ -38,6 +43,8 @@ import edu.wpi.first.networktables.StringSubscriber; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; + +import java.util.Optional; import java.util.Set; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.hardware.VisionLEDMode; @@ -62,6 +69,8 @@ public class PhotonCamera { IntegerEntry inputSaveImgEntry, outputSaveImgEntry; IntegerEntry pipelineIndexEntry, ledModeEntry; IntegerSubscriber heartbeatEntry; + private DoubleArraySubscriber cameraIntrinsicsEntry; + private DoubleArraySubscriber cameraExtrinsicsEntry; public void close() { rawBytesEntry.close(); @@ -79,6 +88,9 @@ public void close() { outputSaveImgEntry.close(); pipelineIndexEntry.close(); ledModeEntry.close(); + heartbeatEntry.close(); + cameraIntrinsicsEntry.close(); + cameraExtrinsicsEntry.close(); } private final String path; @@ -126,6 +138,8 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) { heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1); ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1); versionEntry = mainTable.getStringTopic("version").subscribe(""); + cameraIntrinsicsEntry = mainTable.getDoubleArrayTopic("cameraIntrinsics").subscribe(null); + cameraExtrinsicsEntry = mainTable.getDoubleArrayTopic("cameraExtrinsics").subscribe(null); m_topicNameSubscriber = new MultiSubscriber( @@ -298,6 +312,20 @@ public boolean isConnected() { return (now - prevHeartbeatChangeTime) < HEARBEAT_DEBOUNCE_SEC; } + public Optional> getCameraMatrix() { + var cameraMatrix = cameraIntrinsicsEntry.get(); + if (cameraMatrix != null) { + return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix)); + } else return Optional.empty(); + } + + public Optional> getDistCoeffs() { + var distCoeffs = cameraExtrinsicsEntry.get(); + if (distCoeffs != null) { + return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs)); + } else return Optional.empty(); + } + private void verifyVersion() { if (!VERSION_CHECK_ENABLED) return; diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 95262539ad..b72047b428 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -257,14 +257,17 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } - boolean hasCalibData = false; - + var cameraMatrixOpt = camera.getCameraMatrix(); + var distCoeffsOpt = camera.getDistCoeffs(); + boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); + // multi-target solvePNP if (result.getTargets().size() > 1 && hasCalibData) { + var cameraMatrix = cameraMatrixOpt.get(); + var distCoeffs = distCoeffsOpt.get(); var pnpResults = VisionEstimation.estimateCamPosePNP( - // TODO: get camera matrices from NT - null, null, visCorners, knownVisTags); + cameraMatrix, distCoeffs, visCorners, knownVisTags); var best = new Pose3d() .plus(pnpResults.best) // field-to-camera From b5fa928f85b135889212ef8443eb1c3a90580ee0 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 14:43:47 -0500 Subject: [PATCH 010/115] Make most of the C++ changes --- photon-lib/build.gradle | 2 + .../java/org/photonvision/PhotonCamera.java | 8 +- .../native/cpp/photonlib/PhotonCamera.cpp | 21 +++- .../cpp/photonlib/PhotonPoseEstimator.cpp | 109 ++++++++++++++++++ .../native/include/photonlib/PhotonCamera.h | 9 ++ .../include/photonlib/PhotonPoseEstimator.h | 29 ++++- .../common/networktables/NTTopicSet.java | 2 +- 7 files changed, 166 insertions(+), 14 deletions(-) diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle index 4ab4b0dead..1741b92ac8 100644 --- a/photon-lib/build.gradle +++ b/photon-lib/build.gradle @@ -71,6 +71,7 @@ model { } nativeUtils.useRequiredLibrary(it, "wpilib_shared") nativeUtils.useRequiredLibrary(it, "apriltag_shared") + nativeUtils.useRequiredLibrary(it, "opencv_shared") } } testSuites { @@ -87,6 +88,7 @@ model { nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared") nativeUtils.useRequiredLibrary(it, "apriltag_shared") nativeUtils.useRequiredLibrary(it, "googletest_static") + nativeUtils.useRequiredLibrary(it, "opencv_shared") } } } diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index 924f846ed7..01d2b80f47 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -70,7 +70,7 @@ public class PhotonCamera { IntegerEntry pipelineIndexEntry, ledModeEntry; IntegerSubscriber heartbeatEntry; private DoubleArraySubscriber cameraIntrinsicsEntry; - private DoubleArraySubscriber cameraExtrinsicsEntry; + private DoubleArraySubscriber cameraDistortionEntry; public void close() { rawBytesEntry.close(); @@ -90,7 +90,7 @@ public void close() { ledModeEntry.close(); heartbeatEntry.close(); cameraIntrinsicsEntry.close(); - cameraExtrinsicsEntry.close(); + cameraDistortionEntry.close(); } private final String path; @@ -139,7 +139,7 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) { ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1); versionEntry = mainTable.getStringTopic("version").subscribe(""); cameraIntrinsicsEntry = mainTable.getDoubleArrayTopic("cameraIntrinsics").subscribe(null); - cameraExtrinsicsEntry = mainTable.getDoubleArrayTopic("cameraExtrinsics").subscribe(null); + cameraDistortionEntry = mainTable.getDoubleArrayTopic("cameraDistortion").subscribe(null); m_topicNameSubscriber = new MultiSubscriber( @@ -320,7 +320,7 @@ public Optional> getCameraMatrix() { } public Optional> getDistCoeffs() { - var distCoeffs = cameraExtrinsicsEntry.get(); + var distCoeffs = cameraDistortionEntry.get(); if (distCoeffs != null) { return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs)); } else return Optional.empty(); diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp index 482267acc7..72a10b6f8d 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp @@ -29,6 +29,7 @@ #include "PhotonVersion.h" #include "photonlib/Packet.h" +#include namespace photonlib { @@ -53,6 +54,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance, pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()), ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()), versionEntry(mainTable->GetStringTopic("version").Subscribe("")), + cameraIntrinsicsEntry(rootTable->GetDoubleArrayTopic("cameraIntrinsics").Subscribe({})), + cameraDistortionEntry(rootTable->GetDoubleArrayTopic("cameraDistortion").Subscribe({})), driverModeSubscriber( rootTable->GetBooleanTopic("driverMode").Subscribe(false)), driverModePublisher( @@ -118,12 +121,22 @@ LEDMode PhotonCamera::GetLEDMode() const { return static_cast(static_cast(ledModeSubscriber.Get())); } -void PhotonCamera::SetLEDMode(LEDMode mode) { - ledModeEntry.Set(static_cast(static_cast(mode))); +std::optional PhotonCamera::GetCameraMatrix() { + auto camCoeffs = cameraIntrinsicsEntry.Get(); + if (camCoeffs.size() == 9) { + // clone should deal with ownership concerns? not sure + return cv::Mat(3, 3, CV_64FC1, camCoeffs.data()).clone(); + } + return std::nullopt; } -const std::string_view PhotonCamera::GetCameraName() const { - return m_cameraName; +std::optional PhotonCamera::GetDistCoeffs() { + auto distCoeffs = cameraDistortionEntry.Get(); + if (distCoeffs.size() == 5) { + // clone should deal with ownership concerns? not sure + return cv::Mat(5, 1, CV_64FC1, distCoeffs.data()).clone(); + } + return std::nullopt; } void PhotonCamera::VerifyVersion() { diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 3b4f278073..b1ac646e08 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -42,6 +42,8 @@ #include "photonlib/PhotonPipelineResult.h" #include "photonlib/PhotonTrackedTarget.h" +#include + namespace photonlib { PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, PoseStrategy strat, PhotonCamera&& cam, @@ -79,6 +81,9 @@ std::optional PhotonPoseEstimator::Update() { case AVERAGE_BEST_TARGETS: ret = AverageBestTargetsStrategy(result); break; + case ::photonlib::MULTI_TAG_PNP: + ret = MultiTagPnpStrategy(result); + break; default: FRC_ReportError(frc::warn::Warning, "Invalid Pose Strategy selected!", ""); @@ -221,6 +226,110 @@ PhotonPoseEstimator::ClosestToReferencePoseStrategy( return EstimatedRobotPose{pose, stateTimestamp}; } +std::optional +PhotonPoseEstimator::MultiTagPnpStrategy(PhotonPipelineResult result) { + using namespace frc; + + if (!result.HasTargets()) { + return std::nullopt; + } + + auto targets = result.GetTargets(); + + // List of corners mapped from 3d space (meters) to the 2d camera screen + // (pixels). + std::vector objectPoints; + std::vector imagePoints; + + // Add all target corners to main list of corners + for (auto target : targets) { + int id = target.GetFiducialId(); + if (auto tagCorners = CalcTagCorners(id); tagCorners.has_value()) { + auto targetCorners = target.GetDetectedCorners(); + for (size_t cornerIdx = 0; cornerIdx < 4; ++cornerIdx) { + imagePoints.emplace_back(targetCorners[cornerIdx].first, + targetCorners[cornerIdx].second); + objectPoints.emplace_back((*tagCorners)[cornerIdx]); + } + } + } + + if (imagePoints.empty()) { + return std::nullopt; + } + + // Use OpenCV ITERATIVE solver + cv::Mat rvec(3, 1, cv::DataType::type); + cv::Mat tvec(3, 1, cv::DataType::type); + + auto camMat = camera.GetCameraMatrix(); + auto distCoeffs = camera.GetDistCoeffs(); + if (!camMat || !distCoeffs) { + return std::nullopt; + } + + cv::solvePnP(objectPoints, imagePoints, camMat.value(), + distCoeffs.value(), rvec, tvec, false, cv::SOLVEPNP_SQPNP); + + Pose3d pose = ToPose3d(tvec, rvec); + + return photonlib::EstimatedRobotPose( + pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp()); +} + +frc::Pose3d PhotonPoseEstimator::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { + using namespace frc; + using namespace units; + + cv::Mat R; + cv::Rodrigues(rvec, R); // R is 3x3 + + R = R.t(); // rotation of inverse + cv::Mat tvecI = -R * tvec; // translation of inverse + + Vectord<3> tv; + tv[0] = +tvecI.at(2, 0); + tv[1] = -tvecI.at(0, 0); + tv[2] = -tvecI.at(1, 0); + Vectord<3> rv; + rv[0] = +rvec.at(2, 0); + rv[1] = -rvec.at(0, 0); + rv[2] = +rvec.at(1, 0); + + return Pose3d(Translation3d(meter_t{tv[0]}, meter_t{tv[1]}, meter_t{tv[2]}), + Rotation3d( + // radian_t{rv[0]}, + // radian_t{rv[1]}, + // radian_t{rv[2]} + rv, radian_t{rv.norm()})); +} + +std::optional> PhotonPoseEstimator::CalcTagCorners( + int tagID) { + if (auto tagPose = aprilTags.GetTagPose(tagID); tagPose.has_value()) { + return std::array{TagCornerToObjectPoint(-3_in, -3_in, *tagPose), + TagCornerToObjectPoint(+3_in, -3_in, *tagPose), + TagCornerToObjectPoint(+3_in, +3_in, *tagPose), + TagCornerToObjectPoint(-3_in, +3_in, *tagPose)}; + } else { + return std::nullopt; + } +} + +cv::Point3d PhotonPoseEstimator::ToPoint3d(const frc::Translation3d& translation) { + return cv::Point3d(-translation.Y().value(), -translation.Z().value(), + +translation.X().value()); +} + +cv::Point3d PhotonPoseEstimator::TagCornerToObjectPoint(units::meter_t cornerX, + units::meter_t cornerY, + frc::Pose3d tagPose) { + frc::Translation3d cornerTrans = + tagPose.Translation() + + frc::Translation3d(0.0_m, cornerX, cornerY).RotateBy(tagPose.Rotation()); + return ToPoint3d(cornerTrans); +} + std::optional PhotonPoseEstimator::AverageBestTargetsStrategy(PhotonPipelineResult result) { std::vector>> diff --git a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h index 781c5727ce..fced1be5f9 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h @@ -29,6 +29,7 @@ #include #include +#include #include #include #include @@ -40,6 +41,8 @@ #include "photonlib/PhotonPipelineResult.h" +namespace cv { class Mat; } + namespace photonlib { enum LEDMode : int { kDefault = -1, kOff = 0, kOn = 1, kBlink = 2 }; @@ -144,6 +147,9 @@ class PhotonCamera { */ const std::string_view GetCameraName() const; + std::optional GetCameraMatrix(); + std::optional GetDistCoeffs(); + /** * Returns whether the latest target result has targets. * This method is deprecated; {@link PhotonPipelineResult#hasTargets()} should @@ -176,6 +182,9 @@ class PhotonCamera { nt::IntegerPublisher ledModeEntry; nt::StringSubscriber versionEntry; + nt::DoubleArraySubscriber cameraIntrinsicsEntry; + nt::DoubleArraySubscriber cameraDistortionEntry; + nt::BooleanSubscriber driverModeSubscriber; nt::BooleanPublisher driverModePublisher; nt::IntegerSubscriber pipelineIndexSubscriber; diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index 16e18b9ae8..4e15f2758b 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -35,13 +35,17 @@ #include "photonlib/PhotonCamera.h" +#include +#include + namespace photonlib { -enum PoseStrategy : int { - LOWEST_AMBIGUITY, +enum PoseStrategy { + LOWEST_AMBIGUITY = 0, CLOSEST_TO_CAMERA_HEIGHT, CLOSEST_TO_REFERENCE_POSE, CLOSEST_TO_LAST_POSE, - AVERAGE_BEST_TARGETS + AVERAGE_BEST_TARGETS, + MULTI_TAG_PNP }; struct EstimatedRobotPose { @@ -182,15 +186,30 @@ class PhotonPoseEstimator { std::optional ClosestToReferencePoseStrategy( PhotonPipelineResult result); + /** + * Return the pose calculation using all targets in view in the same PNP() calculation + + * @return the estimated position of the robot in the FCS and the estimated + timestamp of this estimation. + */ + std::optional MultiTagPnpStrategy( + PhotonPipelineResult result); + /** * Return the average of the best target poses using ambiguity as weight. * @return the estimated position of the robot in the FCS and the estimated - timestamp of this - * estimation. + timestamp of this estimation. */ std::optional AverageBestTargetsStrategy( PhotonPipelineResult result); + + cv::Point3d TagCornerToObjectPoint(units::meter_t cornerX, + units::meter_t cornerY, + frc::Pose3d tagPose); + cv::Point3d ToPoint3d(const frc::Translation3d& translation); + std::optional> CalcTagCorners(int id); + frc::Pose3d ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec); }; } // namespace photonlib diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java index 287eb50ad5..5c6c37d3ee 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java @@ -101,7 +101,7 @@ public void updateEntries() { heartbeatPublisher = heartbeatTopic.publish(); cameraIntrinsicsPublisher = subTable.getDoubleArrayTopic("cameraIntrinsics").publish(); - cameraExtrinsicsPublisher = subTable.getDoubleArrayTopic("cameraExtrinsics").publish(); + cameraExtrinsicsPublisher = subTable.getDoubleArrayTopic("cameraDistortion").publish(); } @SuppressWarnings("DuplicatedCode") From 607e4b96859deb76059cefbb5d7f7ce03ae148c1 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 14:44:11 -0500 Subject: [PATCH 011/115] Run wpiformat --- .../org/photonvision/PhotonPoseEstimator.java | 2 +- .../photonvision/estimation/OpenCVHelp.java | 4 +-- .../native/cpp/photonlib/PhotonCamera.cpp | 32 ++++++++++--------- .../cpp/photonlib/PhotonPoseEstimator.cpp | 17 +++++----- .../native/include/photonlib/PhotonCamera.h | 6 ++-- .../include/photonlib/PhotonPoseEstimator.h | 12 +++---- 6 files changed, 39 insertions(+), 34 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index b72047b428..23ee7c890d 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -260,7 +260,7 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re var cameraMatrixOpt = camera.getCameraMatrix(); var distCoeffsOpt = camera.getDistCoeffs(); boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); - + // multi-target solvePNP if (result.getTargets().size() > 1 && hasCalibData) { var cameraMatrix = cameraMatrixOpt.get(); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 6ac6508a5b..d6b2eb5b20 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -248,7 +248,7 @@ private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { * @return The 2d points in pixels which correspond to the image of the 3d points on the camera */ public static List projectPoints( - Matrix cameraMatrix, Matrix distCoeffs, + Matrix cameraMatrix, Matrix distCoeffs, Pose3d camPose, List objectTranslations) { // translate to opencv classes var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); @@ -288,7 +288,7 @@ public static List projectPoints( * @return The undistorted image points */ public static List undistortPoints( - Matrix cameraMatrix, Matrix distCoeffs, + Matrix cameraMatrix, Matrix distCoeffs, List corners) { var points_in = targetCornersToMat(corners); var points_out = new MatOfPoint2f(); diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp index 72a10b6f8d..330fe39466 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp @@ -26,10 +26,10 @@ #include #include +#include #include "PhotonVersion.h" #include "photonlib/Packet.h" -#include namespace photonlib { @@ -54,8 +54,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance, pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()), ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()), versionEntry(mainTable->GetStringTopic("version").Subscribe("")), - cameraIntrinsicsEntry(rootTable->GetDoubleArrayTopic("cameraIntrinsics").Subscribe({})), - cameraDistortionEntry(rootTable->GetDoubleArrayTopic("cameraDistortion").Subscribe({})), + cameraIntrinsicsEntry( + rootTable->GetDoubleArrayTopic("cameraIntrinsics").Subscribe({})), + cameraDistortionEntry( + rootTable->GetDoubleArrayTopic("cameraDistortion").Subscribe({})), driverModeSubscriber( rootTable->GetBooleanTopic("driverMode").Subscribe(false)), driverModePublisher( @@ -122,21 +124,21 @@ LEDMode PhotonCamera::GetLEDMode() const { } std::optional PhotonCamera::GetCameraMatrix() { - auto camCoeffs = cameraIntrinsicsEntry.Get(); - if (camCoeffs.size() == 9) { - // clone should deal with ownership concerns? not sure - return cv::Mat(3, 3, CV_64FC1, camCoeffs.data()).clone(); - } - return std::nullopt; + auto camCoeffs = cameraIntrinsicsEntry.Get(); + if (camCoeffs.size() == 9) { + // clone should deal with ownership concerns? not sure + return cv::Mat(3, 3, CV_64FC1, camCoeffs.data()).clone(); + } + return std::nullopt; } std::optional PhotonCamera::GetDistCoeffs() { - auto distCoeffs = cameraDistortionEntry.Get(); - if (distCoeffs.size() == 5) { - // clone should deal with ownership concerns? not sure - return cv::Mat(5, 1, CV_64FC1, distCoeffs.data()).clone(); - } - return std::nullopt; + auto distCoeffs = cameraDistortionEntry.Get(); + if (distCoeffs.size() == 5) { + // clone should deal with ownership concerns? not sure + return cv::Mat(5, 1, CV_64FC1, distCoeffs.data()).clone(); + } + return std::nullopt; } void PhotonCamera::VerifyVersion() { diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index b1ac646e08..2a0386449c 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -36,14 +36,13 @@ #include #include #include +#include #include #include "photonlib/PhotonCamera.h" #include "photonlib/PhotonPipelineResult.h" #include "photonlib/PhotonTrackedTarget.h" -#include - namespace photonlib { PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, PoseStrategy strat, PhotonCamera&& cam, @@ -226,8 +225,8 @@ PhotonPoseEstimator::ClosestToReferencePoseStrategy( return EstimatedRobotPose{pose, stateTimestamp}; } -std::optional -PhotonPoseEstimator::MultiTagPnpStrategy(PhotonPipelineResult result) { +std::optional PhotonPoseEstimator::MultiTagPnpStrategy( + PhotonPipelineResult result) { using namespace frc; if (!result.HasTargets()) { @@ -268,8 +267,8 @@ PhotonPoseEstimator::MultiTagPnpStrategy(PhotonPipelineResult result) { return std::nullopt; } - cv::solvePnP(objectPoints, imagePoints, camMat.value(), - distCoeffs.value(), rvec, tvec, false, cv::SOLVEPNP_SQPNP); + cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(), + rvec, tvec, false, cv::SOLVEPNP_SQPNP); Pose3d pose = ToPose3d(tvec, rvec); @@ -277,7 +276,8 @@ PhotonPoseEstimator::MultiTagPnpStrategy(PhotonPipelineResult result) { pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp()); } -frc::Pose3d PhotonPoseEstimator::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { +frc::Pose3d PhotonPoseEstimator::ToPose3d(const cv::Mat& tvec, + const cv::Mat& rvec) { using namespace frc; using namespace units; @@ -316,7 +316,8 @@ std::optional> PhotonPoseEstimator::CalcTagCorners( } } -cv::Point3d PhotonPoseEstimator::ToPoint3d(const frc::Translation3d& translation) { +cv::Point3d PhotonPoseEstimator::ToPoint3d( + const frc::Translation3d& translation) { return cv::Point3d(-translation.Y().value(), -translation.Z().value(), +translation.X().value()); } diff --git a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h index fced1be5f9..c22e83614d 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h @@ -28,8 +28,8 @@ #include #include -#include #include +#include #include #include #include @@ -41,7 +41,9 @@ #include "photonlib/PhotonPipelineResult.h" -namespace cv { class Mat; } +namespace cv { +class Mat; +} // namespace cv namespace photonlib { diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index 4e15f2758b..c205feaee1 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -32,12 +32,11 @@ #include #include #include - -#include "photonlib/PhotonCamera.h" - #include #include +#include "photonlib/PhotonCamera.h" + namespace photonlib { enum PoseStrategy { LOWEST_AMBIGUITY = 0, @@ -187,7 +186,8 @@ class PhotonPoseEstimator { PhotonPipelineResult result); /** - * Return the pose calculation using all targets in view in the same PNP() calculation + * Return the pose calculation using all targets in view in the same PNP() + calculation * @return the estimated position of the robot in the FCS and the estimated timestamp of this estimation. @@ -205,8 +205,8 @@ class PhotonPoseEstimator { PhotonPipelineResult result); cv::Point3d TagCornerToObjectPoint(units::meter_t cornerX, - units::meter_t cornerY, - frc::Pose3d tagPose); + units::meter_t cornerY, + frc::Pose3d tagPose); cv::Point3d ToPoint3d(const frc::Translation3d& translation); std::optional> CalcTagCorners(int id); frc::Pose3d ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec); From ae1c63da6f39365c8a7ac4d7753d1d867ee07554 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 16:54:13 -0500 Subject: [PATCH 012/115] Update ApriltagWorkbenchTest.java --- .../java/org/photonvision/estimation/ApriltagWorkbenchTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 862f443663..94e82d310c 100644 --- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -68,7 +68,7 @@ public static void setUp() { PhotonCamera.setVersionCheckEnabled(false); } - @Test + // @Test public void testMeme() throws IOException, InterruptedException { NetworkTableInstance instance = NetworkTableInstance.getDefault(); instance.stopServer(); From 9565a9ef2b116ccfe93baf3d2d7c283f9fbdcac9 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 16:54:42 -0500 Subject: [PATCH 013/115] Run spotless --- .../networktables/NTDataPublisher.java | 15 +++++-------- .../CameraCalibrationCoefficients.java | 6 ++---- .../java/org/photonvision/PhotonCamera.java | 1 - .../org/photonvision/PhotonPoseEstimator.java | 3 +-- .../org/photonvision/SimPhotonCamera.java | 3 +-- .../photonvision/estimation/OpenCVHelp.java | 21 ++++++++++++------- .../estimation/VisionEstimation.java | 6 ++++-- .../estimation/ApriltagWorkbenchTest.java | 1 - .../targeting/PhotonPipelineResult.java | 7 ++----- 9 files changed, 28 insertions(+), 35 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 52367e5f45..14662bb571 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -136,8 +136,7 @@ public void updateCameraNickname(String newCameraNickname) { public void accept(CVPipelineResult result) { var simplified = new PhotonPipelineResult( - result.getLatencyMillis(), - simpleFromTrackedTargets(result.targets)); + result.getLatencyMillis(), simpleFromTrackedTargets(result.targets)); Packet packet = new Packet(simplified.getPacketSize()); simplified.populatePacket(packet); @@ -183,16 +182,12 @@ public void accept(CVPipelineResult result) { var fsp = result.inputAndOutputFrame.frameStaticProperties; if (fsp.cameraCalibration != null) { - ts.cameraIntrinsicsPublisher.accept( - fsp.cameraCalibration.getIntrinsicsArr() - ); + ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr()); - ts.cameraExtrinsicsPublisher.accept( - fsp.cameraCalibration.getExtrinsicsArr() - ); + ts.cameraExtrinsicsPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr()); } else { - ts.cameraIntrinsicsPublisher.accept(new double[]{}); - ts.cameraExtrinsicsPublisher.accept(new double[]{}); + ts.cameraIntrinsicsPublisher.accept(new double[] {}); + ts.cameraExtrinsicsPublisher.accept(new double[] {}); } ts.heartbeatPublisher.set(heartbeatCounter++); diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java index 5d49d4fccc..4b4ae5a8cc 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java @@ -44,11 +44,9 @@ public class CameraCalibrationCoefficients implements Releasable { @JsonProperty("standardDeviation") public final double standardDeviation; - @JsonIgnore - private final double[] intrinsicsArr = new double[9]; + @JsonIgnore private final double[] intrinsicsArr = new double[9]; - @JsonIgnore - private final double[] extrinsicsArr = new double[5]; + @JsonIgnore private final double[] extrinsicsArr = new double[5]; @JsonCreator public CameraCalibrationCoefficients( diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index 01d2b80f47..e4a034e008 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -43,7 +43,6 @@ import edu.wpi.first.networktables.StringSubscriber; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; - import java.util.Optional; import java.util.Set; import org.photonvision.common.dataflow.structures.Packet; diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 23ee7c890d..b4611691cc 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -266,8 +266,7 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re var cameraMatrix = cameraMatrixOpt.get(); var distCoeffs = distCoeffsOpt.get(); var pnpResults = - VisionEstimation.estimateCamPosePNP( - cameraMatrix, distCoeffs, visCorners, knownVisTags); + VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); var best = new Pose3d() .plus(pnpResults.best) // field-to-camera diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 356c6668f4..096efc94c4 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -109,8 +109,7 @@ public void submitProcessedFrame( targetList.sort(sortMode.getComparator()); } - PhotonPipelineResult newResult = - new PhotonPipelineResult(latencyMillis, targetList); + PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index d6b2eb5b20..116401740c 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -248,8 +248,10 @@ private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { * @return The 2d points in pixels which correspond to the image of the 3d points on the camera */ public static List projectPoints( - Matrix cameraMatrix, Matrix distCoeffs, - Pose3d camPose, List objectTranslations) { + Matrix cameraMatrix, + Matrix distCoeffs, + Pose3d camPose, + List objectTranslations) { // translate to opencv classes var objectPoints = translationToTvec(objectTranslations.toArray(new Translation3d[0])); // opencv rvec/tvec describe a change in basis from world to camera @@ -288,8 +290,7 @@ public static List projectPoints( * @return The undistorted image points */ public static List undistortPoints( - Matrix cameraMatrix, Matrix distCoeffs, - List corners) { + Matrix cameraMatrix, Matrix distCoeffs, List corners) { var points_in = targetCornersToMat(corners); var points_out = new MatOfPoint2f(); var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); @@ -392,8 +393,10 @@ public static double getContourAreaPx(List corners) { * ambiguity if an alternate solution is available. */ public static PNPResults solvePNP_SQUARE( - Matrix cameraMatrix, Matrix distCoeffs, - List modelTrls, List imageCorners) { + Matrix cameraMatrix, + Matrix distCoeffs, + List modelTrls, + List imageCorners) { // IPPE_SQUARE expects our corners in a specific order modelTrls = reorderCircular(modelTrls, true, -1); imageCorners = reorderCircular(imageCorners, true, -1); @@ -462,8 +465,10 @@ public static PNPResults solvePNP_SQUARE( * the origin. */ public static PNPResults solvePNP_SQPNP( - Matrix cameraMatrix, Matrix distCoeffs, - List objectTrls, List imageCorners) { + Matrix cameraMatrix, + Matrix distCoeffs, + List objectTrls, + List imageCorners) { // translate to opencv classes var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 64c8542cb9..73fd97526a 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -52,8 +52,10 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - Matrix cameraMatrix, Matrix distCoeffs, - List corners, List knownTags) { + Matrix cameraMatrix, + Matrix distCoeffs, + List corners, + List knownTags) { if (knownTags == null || corners == null || corners.size() != knownTags.size() * 4 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 94e82d310c..61e1d060b7 100644 --- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -38,7 +38,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.io.IOException; import org.junit.jupiter.api.BeforeAll; -import org.junit.jupiter.api.Test; import org.photonvision.PhotonCamera; import org.photonvision.PhotonPoseEstimator; diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 671d40e70d..f2a5292454 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -43,8 +43,7 @@ public PhotonPipelineResult() {} * @param latencyMillis The latency in the pipeline. * @param targets The list of targets identified by the pipeline. */ - public PhotonPipelineResult( - double latencyMillis, List targets) { + public PhotonPipelineResult(double latencyMillis, List targets) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); } @@ -55,9 +54,7 @@ public PhotonPipelineResult( * @return The size of the packet needed to store this pipeline result. */ public int getPacketSize() { - return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES - + 8 - + 2; + return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2; } /** From 2d6191c9ab3226037ceec5bc29c9592442bcad09 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:11:38 -0500 Subject: [PATCH 014/115] Add fallback strategy --- .../org/photonvision/PhotonPoseEstimator.java | 42 +++++++++++++++---- .../cpp/photonlib/PhotonPoseEstimator.cpp | 20 ++++++++- .../include/photonlib/PhotonPoseEstimator.h | 12 ++++++ 3 files changed, 64 insertions(+), 10 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index b4611691cc..5b902a75fb 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -71,7 +71,8 @@ public enum PoseStrategy { } private AprilTagFieldLayout fieldTags; - private PoseStrategy strategy; + private PoseStrategy primaryStrategy; + private PoseStrategy multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY; private final PhotonCamera camera; private final Transform3d robotToCamera; @@ -99,7 +100,7 @@ public PhotonPoseEstimator( PhotonCamera camera, Transform3d robotToCamera) { this.fieldTags = fieldTags; - this.strategy = strategy; + this.primaryStrategy = strategy; this.camera = camera; this.robotToCamera = robotToCamera; } @@ -127,8 +128,8 @@ public void setFieldTags(AprilTagFieldLayout fieldTags) { * * @return the strategy */ - public PoseStrategy getStrategy() { - return strategy; + public PoseStrategy getPrimaryStrategy() { + return primaryStrategy; } /** @@ -136,8 +137,23 @@ public PoseStrategy getStrategy() { * * @param strategy the strategy to set */ - public void setStrategy(PoseStrategy strategy) { - this.strategy = strategy; + public void setPrimaryStrategy(PoseStrategy strategy) { + this.primaryStrategy = strategy; + } + + /** + * Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen. Must + * NOT be MULTI_TAG_PNP + * + * @param strategy the strategy to set + */ + public void setMultiTagFallbackStrategy(PoseStrategy strategy) { + if (strategy == PoseStrategy.MULTI_TAG_PNP) { + DriverStation.reportWarning( + "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", null); + strategy = PoseStrategy.LOWEST_AMBIGUITY; + } + this.multiTagFallbackStrategy = strategy; } /** @@ -207,8 +223,13 @@ public Optional update() { return Optional.empty(); } + return update(cameraResult, this.primaryStrategy); + } + + private Optional update( + PhotonPipelineResult cameraResult, PoseStrategy strat) { Optional estimatedPose; - switch (strategy) { + switch (strat) { case LOWEST_AMBIGUITY: estimatedPose = lowestAmbiguityStrategy(cameraResult); break; @@ -246,6 +267,11 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re var fieldToCams = new ArrayList(); var fieldToCamsAlt = new ArrayList(); + if (result.getTargets().size() < 2) { + // Run fallback strategy instead + update(result, this.multiTagFallbackStrategy); + } + for (var target : result.getTargets()) { visCorners.addAll(target.getDetectedCorners()); Pose3d tagPose = fieldTags.getTagPose(target.getFiducialId()).get(); @@ -262,7 +288,7 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); // multi-target solvePNP - if (result.getTargets().size() > 1 && hasCalibData) { + if (hasCalibData) { var cameraMatrix = cameraMatrixOpt.get(); var distCoeffs = distCoeffsOpt.get(); var pnpResults = diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 2a0386449c..2fcf9e4ffb 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -54,6 +54,17 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, lastPose(frc::Pose3d()), referencePose(frc::Pose3d()) {} +void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { + if (strategy == MULTI_TAG_PNP) { + FRC_ReportError( + frc::warn::Warning, + "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", + ""); + strategy = LOWEST_AMBIGUITY; + } + multiTagFallbackStrategy = strategy; +} + std::optional PhotonPoseEstimator::Update() { auto result = camera.GetLatestResult(); @@ -61,6 +72,11 @@ std::optional PhotonPoseEstimator::Update() { return std::nullopt; } + return Update(result, this->strategy); +} + +std::optional PhotonPoseEstimator::Update( + PhotonPipelineResult result, PoseStrategy strategy) { std::optional ret = std::nullopt; switch (strategy) { @@ -229,8 +245,8 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( PhotonPipelineResult result) { using namespace frc; - if (!result.HasTargets()) { - return std::nullopt; + if (!result.HasTargets() || result.GetTargets().size() < 2) { + return Update(result, this->multiTagFallbackStrategy); } auto targets = result.GetTargets(); diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index c205feaee1..30568fbcb5 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -109,6 +109,14 @@ class PhotonPoseEstimator { */ inline void SetPoseStrategy(PoseStrategy strat) { strategy = strat; } + /** + * Set the Position Estimation Strategy used in multi-tag mode when + * only one tag can be seen. Must NOT be MULTI_TAG_PNP + * + * @param strategy the strategy to set + */ + void SetMultiTagFallbackStrategy(PoseStrategy strategy); + /** * Return the reference position that is being used by the estimator. * @@ -145,6 +153,7 @@ class PhotonPoseEstimator { private: frc::AprilTagFieldLayout aprilTags; PoseStrategy strategy; + PoseStrategy multiTagFallbackStrategy = LOWEST_AMBIGUITY; PhotonCamera camera; frc::Transform3d m_robotToCamera; @@ -152,6 +161,9 @@ class PhotonPoseEstimator { frc::Pose3d lastPose; frc::Pose3d referencePose; + std::optional Update(PhotonPipelineResult result, + PoseStrategy strategy); + /** * Return the estimated position of the robot with the lowest position * ambiguity from a List of pipeline results. From 1d3ff64159fe52b92e056a1543f58981642a241c Mon Sep 17 00:00:00 2001 From: Joseph Farkas <16584585+MrRedness@users.noreply.github.com> Date: Wed, 8 Feb 2023 17:21:14 -0500 Subject: [PATCH 015/115] Const in PhotonPoseEstimator (#20) --- .../cpp/photonlib/PhotonPoseEstimator.cpp | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 2fcf9e4ffb..093c94b50d 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -116,7 +116,7 @@ std::optional PhotonPoseEstimator::LowestAmbiguityStrategy( PhotonPipelineResult result) { int lowestAJ = -1; double lowestAmbiguityScore = std::numeric_limits::infinity(); - auto targets = result.GetTargets(); + auto const targets = result.GetTargets(); for (PhotonPoseEstimator::size_type j = 0; j < targets.size(); ++j) { if (targets[j].GetPoseAmbiguity() < lowestAmbiguityScore) { lowestAJ = j; @@ -163,14 +163,14 @@ PhotonPoseEstimator::ClosestToCameraHeightStrategy( target.GetFiducialId()); continue; } - frc::Pose3d targetPose = fiducialPose.value(); + frc::Pose3d const targetPose = fiducialPose.value(); - units::meter_t alternativeDifference = units::math::abs( + units::meter_t const alternativeDifference = units::math::abs( m_robotToCamera.Z() - targetPose.TransformBy(target.GetAlternateCameraToTarget().Inverse()) .Z()); - units::meter_t bestDifference = units::math::abs( + units::meter_t const bestDifference = units::math::abs( m_robotToCamera.Z() - targetPose.TransformBy(target.GetBestCameraToTarget().Inverse()).Z()); @@ -221,9 +221,9 @@ PhotonPoseEstimator::ClosestToReferencePoseStrategy( targetPose.TransformBy(target.GetBestCameraToTarget().Inverse()) .TransformBy(m_robotToCamera.Inverse()); - units::meter_t alternativeDifference = units::math::abs( + units::meter_t const alternativeDifference = units::math::abs( referencePose.Translation().Distance(altPose.Translation())); - units::meter_t bestDifference = units::math::abs( + units::meter_t const bestDifference = units::math::abs( referencePose.Translation().Distance(bestPose.Translation())); if (alternativeDifference < smallestDifference) { smallestDifference = alternativeDifference; @@ -249,7 +249,7 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( return Update(result, this->multiTagFallbackStrategy); } - auto targets = result.GetTargets(); + auto const targets = result.GetTargets(); // List of corners mapped from 3d space (meters) to the 2d camera screen // (pixels). @@ -259,8 +259,8 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( // Add all target corners to main list of corners for (auto target : targets) { int id = target.GetFiducialId(); - if (auto tagCorners = CalcTagCorners(id); tagCorners.has_value()) { - auto targetCorners = target.GetDetectedCorners(); + if (auto const tagCorners = CalcTagCorners(id); tagCorners.has_value()) { + auto const targetCorners = target.GetDetectedCorners(); for (size_t cornerIdx = 0; cornerIdx < 4; ++cornerIdx) { imagePoints.emplace_back(targetCorners[cornerIdx].first, targetCorners[cornerIdx].second); @@ -274,11 +274,11 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( } // Use OpenCV ITERATIVE solver - cv::Mat rvec(3, 1, cv::DataType::type); - cv::Mat tvec(3, 1, cv::DataType::type); + cv::Mat const rvec(3, 1, cv::DataType::type); + cv::Mat const tvec(3, 1, cv::DataType::type); - auto camMat = camera.GetCameraMatrix(); - auto distCoeffs = camera.GetDistCoeffs(); + auto const camMat = camera.GetCameraMatrix(); + auto const distCoeffs = camera.GetDistCoeffs(); if (!camMat || !distCoeffs) { return std::nullopt; } @@ -286,7 +286,7 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(), rvec, tvec, false, cv::SOLVEPNP_SQPNP); - Pose3d pose = ToPose3d(tvec, rvec); + Pose3d const pose = ToPose3d(tvec, rvec); return photonlib::EstimatedRobotPose( pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp()); @@ -355,7 +355,7 @@ PhotonPoseEstimator::AverageBestTargetsStrategy(PhotonPipelineResult result) { auto targets = result.GetTargets(); for (PhotonPoseEstimator::size_type j = 0; j < targets.size(); ++j) { - PhotonTrackedTarget target = targets[j]; + PhotonTrackedTarget const target = targets[j]; std::optional fiducialPose = aprilTags.GetTagPose(target.GetFiducialId()); if (!fiducialPose) { @@ -385,7 +385,7 @@ PhotonPoseEstimator::AverageBestTargetsStrategy(PhotonPipelineResult result) { for (std::pair>& pair : tempPoses) { - double weight = (1. / pair.second.first) / totalAmbiguity; + double const weight = (1. / pair.second.first) / totalAmbiguity; transform = transform + pair.first.Translation() * weight; rotation = rotation + pair.first.Rotation() * weight; } From e14a048c0c1df916a302c2a840be385a31d8f9f4 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:27:07 -0500 Subject: [PATCH 016/115] Add calibration to photoncamera, change names --- .../networktables/NTDataPublisher.java | 5 ++-- .../java/org/photonvision/PhotonCamera.java | 16 ++++++------ .../org/photonvision/SimPhotonCamera.java | 26 +++++++++++++++++++ .../native/cpp/photonlib/PhotonCamera.cpp | 8 +++--- .../native/include/photonlib/PhotonCamera.h | 4 +-- .../common/networktables/NTTopicSet.java | 6 ++--- 6 files changed, 45 insertions(+), 20 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 14662bb571..bb46fe3005 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -183,11 +183,10 @@ public void accept(CVPipelineResult result) { var fsp = result.inputAndOutputFrame.frameStaticProperties; if (fsp.cameraCalibration != null) { ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr()); - - ts.cameraExtrinsicsPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr()); + ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr()); } else { ts.cameraIntrinsicsPublisher.accept(new double[] {}); - ts.cameraExtrinsicsPublisher.accept(new double[] {}); + ts.cameraDistortionPublisher.accept(new double[] {}); } ts.heartbeatPublisher.set(heartbeatCounter++); diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index e4a034e008..c0e53b5bff 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -68,8 +68,8 @@ public class PhotonCamera { IntegerEntry inputSaveImgEntry, outputSaveImgEntry; IntegerEntry pipelineIndexEntry, ledModeEntry; IntegerSubscriber heartbeatEntry; - private DoubleArraySubscriber cameraIntrinsicsEntry; - private DoubleArraySubscriber cameraDistortionEntry; + private DoubleArraySubscriber cameraIntrinsicsSubscriber; + private DoubleArraySubscriber cameraDistortionSubscriber; public void close() { rawBytesEntry.close(); @@ -88,8 +88,8 @@ public void close() { pipelineIndexEntry.close(); ledModeEntry.close(); heartbeatEntry.close(); - cameraIntrinsicsEntry.close(); - cameraDistortionEntry.close(); + cameraIntrinsicsSubscriber.close(); + cameraDistortionSubscriber.close(); } private final String path; @@ -137,8 +137,8 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) { heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1); ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1); versionEntry = mainTable.getStringTopic("version").subscribe(""); - cameraIntrinsicsEntry = mainTable.getDoubleArrayTopic("cameraIntrinsics").subscribe(null); - cameraDistortionEntry = mainTable.getDoubleArrayTopic("cameraDistortion").subscribe(null); + cameraIntrinsicsSubscriber = mainTable.getDoubleArrayTopic("cameraIntrinsics").subscribe(null); + cameraDistortionSubscriber = mainTable.getDoubleArrayTopic("cameraDistortion").subscribe(null); m_topicNameSubscriber = new MultiSubscriber( @@ -312,14 +312,14 @@ public boolean isConnected() { } public Optional> getCameraMatrix() { - var cameraMatrix = cameraIntrinsicsEntry.get(); + var cameraMatrix = cameraIntrinsicsSubscriber.get(); if (cameraMatrix != null) { return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix)); } else return Optional.empty(); } public Optional> getDistCoeffs() { - var distCoeffs = cameraDistortionEntry.get(); + var distCoeffs = cameraDistortionSubscriber.get(); if (distCoeffs != null) { return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs)); } else return Optional.empty(); diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 096efc94c4..321d3ad2b1 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -24,6 +24,10 @@ package org.photonvision; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; import edu.wpi.first.networktables.NetworkTableInstance; import java.util.Arrays; import java.util.List; @@ -53,6 +57,28 @@ public SimPhotonCamera(NetworkTableInstance instance, String cameraName) { ts.updateEntries(); } + /** + * Publishes the camera intrinsics matrix. The matrix should be in the form: spotless:off + * fx 0 cx + * 0 fy cy + * 0 0 1 + * @param cameraMatrix The cam matrix + * spotless:on + */ + public void setCameraIntrinsicsMat(Matrix cameraMatrix) { + ts.cameraIntrinsicsPublisher.set(cameraMatrix.getData()); + } + + /** + * Publishes the camera distortion matrix. The matrix should be in the form [k1 k2 p1 p2 k3]. See + * more: https://docs.opencv.org/3.4/d4/d94/tutorial_camera_calibration.html + * + * @param distortionMat The distortion mat + */ + public void setCameraDistortionMat(Matrix distortionMat) { + ts.cameraDistortionPublisher.set(distortionMat.getData()); + } + /** * Constructs a Simulated PhotonCamera from the name of the camera. * diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp index 330fe39466..ebee086521 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp @@ -54,9 +54,9 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance, pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()), ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()), versionEntry(mainTable->GetStringTopic("version").Subscribe("")), - cameraIntrinsicsEntry( + cameraIntrinsicsSubscriber( rootTable->GetDoubleArrayTopic("cameraIntrinsics").Subscribe({})), - cameraDistortionEntry( + cameraDistortionSubscriber( rootTable->GetDoubleArrayTopic("cameraDistortion").Subscribe({})), driverModeSubscriber( rootTable->GetBooleanTopic("driverMode").Subscribe(false)), @@ -124,7 +124,7 @@ LEDMode PhotonCamera::GetLEDMode() const { } std::optional PhotonCamera::GetCameraMatrix() { - auto camCoeffs = cameraIntrinsicsEntry.Get(); + auto camCoeffs = cameraIntrinsicsSubscriber.Get(); if (camCoeffs.size() == 9) { // clone should deal with ownership concerns? not sure return cv::Mat(3, 3, CV_64FC1, camCoeffs.data()).clone(); @@ -133,7 +133,7 @@ std::optional PhotonCamera::GetCameraMatrix() { } std::optional PhotonCamera::GetDistCoeffs() { - auto distCoeffs = cameraDistortionEntry.Get(); + auto distCoeffs = cameraDistortionSubscriber.Get(); if (distCoeffs.size() == 5) { // clone should deal with ownership concerns? not sure return cv::Mat(5, 1, CV_64FC1, distCoeffs.data()).clone(); diff --git a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h index c22e83614d..6dd6cf0477 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonCamera.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonCamera.h @@ -184,8 +184,8 @@ class PhotonCamera { nt::IntegerPublisher ledModeEntry; nt::StringSubscriber versionEntry; - nt::DoubleArraySubscriber cameraIntrinsicsEntry; - nt::DoubleArraySubscriber cameraDistortionEntry; + nt::DoubleArraySubscriber cameraIntrinsicsSubscriber; + nt::DoubleArraySubscriber cameraDistortionSubscriber; nt::BooleanSubscriber driverModeSubscriber; nt::BooleanPublisher driverModePublisher; diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java index 5c6c37d3ee..99cd65a275 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java +++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java @@ -67,7 +67,7 @@ public class NTTopicSet { // Camera Calibration public DoubleArrayPublisher cameraIntrinsicsPublisher; - public DoubleArrayPublisher cameraExtrinsicsPublisher; + public DoubleArrayPublisher cameraDistortionPublisher; public void updateEntries() { rawBytesEntry = @@ -101,7 +101,7 @@ public void updateEntries() { heartbeatPublisher = heartbeatTopic.publish(); cameraIntrinsicsPublisher = subTable.getDoubleArrayTopic("cameraIntrinsics").publish(); - cameraExtrinsicsPublisher = subTable.getDoubleArrayTopic("cameraDistortion").publish(); + cameraDistortionPublisher = subTable.getDoubleArrayTopic("cameraDistortion").publish(); } @SuppressWarnings("DuplicatedCode") @@ -126,6 +126,6 @@ public void removeEntries() { if (heartbeatPublisher != null) heartbeatPublisher.close(); if (cameraIntrinsicsPublisher != null) cameraIntrinsicsPublisher.close(); - if (cameraExtrinsicsPublisher != null) cameraExtrinsicsPublisher.close(); + if (cameraDistortionPublisher != null) cameraDistortionPublisher.close(); } } From a5aa77e93cb1def22c02534e41b2f14fab0b11cc Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:30:29 -0500 Subject: [PATCH 017/115] Update PhotonCamera.java --- photon-lib/src/main/java/org/photonvision/PhotonCamera.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index c0e53b5bff..c27f7045b9 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -313,14 +313,14 @@ public boolean isConnected() { public Optional> getCameraMatrix() { var cameraMatrix = cameraIntrinsicsSubscriber.get(); - if (cameraMatrix != null) { + if (cameraMatrix != null && cameraMatrix.length == 9) { return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix)); } else return Optional.empty(); } public Optional> getDistCoeffs() { var distCoeffs = cameraDistortionSubscriber.get(); - if (distCoeffs != null) { + if (distCoeffs != null && distCoeffs.length == 5) { return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs)); } else return Optional.empty(); } From 8d0bc3329bff7cf0594b87fdcaee161f1ec8da48 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:35:17 -0500 Subject: [PATCH 018/115] Delete libphotonlibcamera.so --- photon-server/lib/libphotonlibcamera.so | Bin 145784 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 photon-server/lib/libphotonlibcamera.so diff --git a/photon-server/lib/libphotonlibcamera.so b/photon-server/lib/libphotonlibcamera.so deleted file mode 100644 index f11ed7338aa36b6de39128cbd96cbdc37587015e..0000000000000000000000000000000000000000 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zTDz31q*k0i9(Hi-B6MCa3UU?CBAeg%@JK@S>9ct_L{nF%XK;fa z4(Qvirzj1&kFucHHI*@DV-U#MptGuXp}M82 zN;;=Zr*ifa?%`U!g*eZaa3Av(&EU)ooTwZRffmWhxKeCZ1}Blm4&zJFIrNn>7&4`# zfap|BYEzzA7>iG=*$eTiRz5>w3kDod>|l@4_qNoIRPwy&0y+l2QcY0ucnP~x5>(*R!+u#sR+W zklGovlevruIFCT%N?I*^zKCy6#j^LS;rYO6P+y|3;o9Kq1_+JX4ei>bnJj1XYmxf11E4E*t|lQ*V9kmPP=%t%S=Xg))eRd{31<$2(8zmW+`|D_$dA3*(IByQ`Y!EDeHnk7>u=M=2G1dv=aJufL0tb?c$uxg z0*t!&BwcLqymEPNx%_?`f2_tJuj$^!|787zRsE^l3+L+h@>hO`PTs!`FOv1;ImUAD z+$SaVJzM{#OnrGyy4%-( ze@~{qJfB_e&*1sv>Vx@{_jhLM%X8f2ep813+4et)`sd-lbW@(wb>AJt70a4Zf8#$Q zKXShZA3Y8KrM^5De&e0GzLXOR@?P%u;sYuv_2v0_o4CIGPI9)sy#E$nknBo*d2UkS zL%RJ#Jh3uvX;yWMMG{sVDb` zGxd-2^J9&Z>}E$@GU7eq_OFVAuNGS^=*^k3@JV|%GcK>)r>ef%7H>JoCv z`(W)PN Date: Wed, 8 Feb 2023 17:45:39 -0500 Subject: [PATCH 019/115] a --- build.gradle | 2 +- .../src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp | 4 ++++ shared/config.gradle | 4 ++-- 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/build.gradle b/build.gradle index e014e29739..f8b32518c9 100644 --- a/build.gradle +++ b/build.gradle @@ -27,7 +27,7 @@ apply from: "versioningHelper.gradle" ext { wpilibVersion = "2023.3.2" - opencvVersion = "4.6.0-4" + opencvVersion = "4.6.0-3" joglVersion = "2.4.0-rc-20200307" pubVersion = versionString isDev = pubVersion.startsWith("dev") diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 093c94b50d..3fc9805c21 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -36,7 +36,11 @@ #include #include #include + +// Fun hack i have to add at least on my linux laptop +#define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT 1 #include + #include #include "photonlib/PhotonCamera.h" diff --git a/shared/config.gradle b/shared/config.gradle index aa248f2835..987b61bc59 100644 --- a/shared/config.gradle +++ b/shared/config.gradle @@ -9,8 +9,8 @@ nativeUtils.wpi.configureDependencies { wpiVersion = wpilibVersion wpimathVersion = wpilibVersion niLibVersion = "2023.3.0" - opencvVersion = opencvVersion - googleTestVersion = "1.11.0-4" + opencvVersion = "4.6.0-3" + googleTestVersion = "1.12.1-1" imguiVersion = "1.86-1" } From 97af0ece6d1ad27aaf87e0758f072787b7e29f91 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:50:44 -0500 Subject: [PATCH 020/115] Bump opencv again --- .gitignore | 1 + build.gradle | 2 +- shared/config.gradle | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 6d862765b1..f44a18c11d 100644 --- a/.gitignore +++ b/.gitignore @@ -153,3 +153,4 @@ photon-server/src/main/resources/nativelibraries/apriltag/* photonlib-java-examples/*/vendordeps/* photonlib-cpp-examples/*/vendordeps/* +photon-lib/networktables.json diff --git a/build.gradle b/build.gradle index f8b32518c9..e014e29739 100644 --- a/build.gradle +++ b/build.gradle @@ -27,7 +27,7 @@ apply from: "versioningHelper.gradle" ext { wpilibVersion = "2023.3.2" - opencvVersion = "4.6.0-3" + opencvVersion = "4.6.0-4" joglVersion = "2.4.0-rc-20200307" pubVersion = versionString isDev = pubVersion.startsWith("dev") diff --git a/shared/config.gradle b/shared/config.gradle index 987b61bc59..104faaec04 100644 --- a/shared/config.gradle +++ b/shared/config.gradle @@ -9,7 +9,7 @@ nativeUtils.wpi.configureDependencies { wpiVersion = wpilibVersion wpimathVersion = wpilibVersion niLibVersion = "2023.3.0" - opencvVersion = "4.6.0-3" + opencvVersion = "4.6.0-4" googleTestVersion = "1.12.1-1" imguiVersion = "1.86-1" } From e15f297fd26ee382c565b5335403e07f72553cff Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:56:47 -0500 Subject: [PATCH 021/115] Update OpenCVHelp.java --- .../org/photonvision/estimation/OpenCVHelp.java | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 116401740c..9cedfae3f7 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -242,7 +242,8 @@ private static Rotation3d rotationNWUtoEDN(Rotation3d rot) { * Project object points from the 3d world into the 2d camera image. The camera * properties(intrinsics, distortion) determine the results of this projection. * - * @param camProp The properties of this camera + * @param cameraMatrix the camera intrinsics matrix in standard opencv form + * @param distCoeffs the camera distortion matrix in standard opencv form * @param camPose The current camera pose in the 3d world * @param objectTranslations The 3d points to be projected * @return The 2d points in pixels which correspond to the image of the 3d points on the camera @@ -281,11 +282,12 @@ public static List projectPoints( /** * Undistort 2d image points using a given camera's intrinsics and distortion. * - *

2d image points from {@link #projectPoints(CameraProperties, Pose3d, List) projectPoints} + *

2d image points from {@link #org.photonvision.estimation.OpenCVHelp.projectPoints(CameraProperties, Pose3d, List) projectPoints} * will naturally be distorted, so this operation is important if the image points need to be * directly used (e.g. 2d yaw/pitch). * - * @param camProp The properties of this camera + * @param cameraMatrix the camera intrinsics matrix in standard opencv form + * @param distCoeffs the camera distortion matrix in standard opencv form * @param corners The distorted image points * @return The undistorted image points */ @@ -377,7 +379,8 @@ public static double getContourAreaPx(List corners) { *

This method is intended for use with individual AprilTags, and will not work unless 4 points * are provided. * - * @param camProp The properties of this camera + * @param cameraMatrix the camera intrinsics matrix in standard opencv form + * @param distCoeffs the camera distortion matrix in standard opencv form * @param modelTrls The translations of the object corners. These should have the object pose as * their origin. These must come in a specific, pose-relative order (in NWU): *

    @@ -456,7 +459,8 @@ public static PNPResults solvePNP_SQUARE( *

    This method is intended for use with multiple targets and has no alternate solutions. There * must be at least 3 points. * - * @param camProp The properties of this camera + * @param cameraMatrix the camera intrinsics matrix in standard opencv form + * @param distCoeffs the camera distortion matrix in standard opencv form * @param objectTrls The translations of the object corners, relative to the field. * @param imageCorners The projection of these 3d object points into the 2d camera image. The * order should match the given object point translations. From 87c052de47318e4ea8f3367da9fe97374f25c5a1 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 8 Feb 2023 17:58:20 -0500 Subject: [PATCH 022/115] Update javadocs again --- .../main/java/org/photonvision/estimation/OpenCVHelp.java | 6 +++--- .../java/org/photonvision/estimation/VisionEstimation.java | 3 ++- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 9cedfae3f7..4b6429319d 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -282,9 +282,9 @@ public static List projectPoints( /** * Undistort 2d image points using a given camera's intrinsics and distortion. * - *

    2d image points from {@link #org.photonvision.estimation.OpenCVHelp.projectPoints(CameraProperties, Pose3d, List) projectPoints} - * will naturally be distorted, so this operation is important if the image points need to be - * directly used (e.g. 2d yaw/pitch). + *

    2d image points from projectPoints(CameraProperties, Pose3d, List) projectPoints} will + * naturally be distorted, so this operation is important if the image points need to be directly + * used (e.g. 2d yaw/pitch). * * @param cameraMatrix the camera intrinsics matrix in standard opencv form * @param distCoeffs the camera distortion matrix in standard opencv form diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 73fd97526a..0618b8ed82 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -46,7 +46,8 @@ public class VisionEstimation { * *

    Note: The returned transformation is from the field origin to the camera pose! * - * @param prop The camera properties + * @param cameraMatrix the camera intrinsics matrix in standard opencv form + * @param distCoeffs the camera distortion matrix in standard opencv form * @param corners The visible tag corners in the 2d image * @param knownTags The known tag field poses corresponding to the visible tag IDs * @return The transformation that maps the field origin to the camera pose From 155eaa9a46ca3dea187ae5711ee96ceec207f5c0 Mon Sep 17 00:00:00 2001 From: Matt Date: Thu, 12 Jan 2023 19:05:22 -0500 Subject: [PATCH 023/115] Create C++ Apriltag example --- photon-server/networktables.json | 1 + .../aimandrange/build.gradle | 2 +- .../aimattarget/build.gradle | 2 +- .../apriltagExample/.gitignore | 1 + .../.wpilib/wpilib_preferences.json | 6 + .../apriltagExample/WPILib-License.md | 24 ++ .../apriltagExample/build.gradle | 116 +++++++++ .../apriltagExample/gradlew | 240 ++++++++++++++++++ .../apriltagExample/gradlew.bat | 91 +++++++ .../apriltagExample/networktables.json | 1 + .../apriltagExample/settings.gradle | 30 +++ .../apriltagExample/simgui-ds.json | 102 ++++++++ .../apriltagExample/simgui-window.json | 74 ++++++ .../apriltagExample/simgui.json | 37 +++ .../src/main/cpp/Drivetrain.cpp | 92 +++++++ .../apriltagExample/src/main/cpp/Robot.cpp | 60 +++++ .../src/main/include/Drivetrain.h | 140 ++++++++++ .../src/main/include/PhotonCameraWrapper.h | 45 ++++ .../apriltagExample/src/main/include/Robot.h | 50 ++++ .../apriltagExample/src/test/cpp/main.cpp | 34 +++ photonlib-cpp-examples/examples.txt | 1 + .../getinrange/build.gradle | 2 +- .../aimandrange/build.gradle | 2 +- .../aimattarget/build.gradle | 2 +- .../apriltagExample/build.gradle | 2 +- .../getinrange/build.gradle | 2 +- .../simaimandrange/build.gradle | 2 +- .../simposeest/build.gradle | 2 +- 28 files changed, 1154 insertions(+), 9 deletions(-) create mode 100644 photon-server/networktables.json create mode 100644 photonlib-cpp-examples/apriltagExample/.gitignore create mode 100644 photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json create mode 100644 photonlib-cpp-examples/apriltagExample/WPILib-License.md create mode 100644 photonlib-cpp-examples/apriltagExample/build.gradle create mode 100755 photonlib-cpp-examples/apriltagExample/gradlew create mode 100644 photonlib-cpp-examples/apriltagExample/gradlew.bat create mode 100644 photonlib-cpp-examples/apriltagExample/networktables.json create mode 100644 photonlib-cpp-examples/apriltagExample/settings.gradle create mode 100644 photonlib-cpp-examples/apriltagExample/simgui-ds.json create mode 100644 photonlib-cpp-examples/apriltagExample/simgui-window.json create mode 100644 photonlib-cpp-examples/apriltagExample/simgui.json create mode 100644 photonlib-cpp-examples/apriltagExample/src/main/cpp/Drivetrain.cpp create mode 100644 photonlib-cpp-examples/apriltagExample/src/main/cpp/Robot.cpp create mode 100644 photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h create mode 100644 photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h create mode 100644 photonlib-cpp-examples/apriltagExample/src/main/include/Robot.h create mode 100644 photonlib-cpp-examples/apriltagExample/src/test/cpp/main.cpp diff --git a/photon-server/networktables.json b/photon-server/networktables.json new file mode 100644 index 0000000000..fe51488c70 --- /dev/null +++ b/photon-server/networktables.json @@ -0,0 +1 @@ +[] diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle index b300429674..10e9a0f769 100644 --- a/photonlib-cpp-examples/aimandrange/build.gradle +++ b/photonlib-cpp-examples/aimandrange/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" id "com.dorongold.task-tree" version "2.1.0" } diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle index b300429674..10e9a0f769 100644 --- a/photonlib-cpp-examples/aimattarget/build.gradle +++ b/photonlib-cpp-examples/aimattarget/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" id "com.dorongold.task-tree" version "2.1.0" } diff --git a/photonlib-cpp-examples/apriltagExample/.gitignore b/photonlib-cpp-examples/apriltagExample/.gitignore new file mode 100644 index 0000000000..34878ab18c --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/.gitignore @@ -0,0 +1 @@ +vendordeps diff --git a/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000000..cf67d2d09f --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": true, + "currentLanguage": "cpp", + "projectYear": "2023", + "teamNumber": 5 +} diff --git a/photonlib-cpp-examples/apriltagExample/WPILib-License.md b/photonlib-cpp-examples/apriltagExample/WPILib-License.md new file mode 100644 index 0000000000..ba35a02c5c --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2021 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/photonlib-cpp-examples/apriltagExample/build.gradle b/photonlib-cpp-examples/apriltagExample/build.gradle new file mode 100644 index 0000000000..10e9a0f769 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/build.gradle @@ -0,0 +1,116 @@ +plugins { + id "cpp" + id "google-test-test-suite" + id "edu.wpi.first.GradleRIO" version "2023.3.2" + + id "com.dorongold.task-tree" version "2.1.0" +} + +repositories { + mavenLocal() + jcenter() +} + +apply from: "${rootDir}/../shared/examples_common.gradle" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamOrDefault(5940) + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcCpp(getArtifactTypeClass('FRCNativeArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcCpp + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Set to true to run simulation in debug mode +wpi.cpp.debugSimulation = false + +// Default enable simgui +wpi.sim.addGui().defaultEnabled = true +// Enable DS but not by default +wpi.sim.addDriverstation() + +model { + components { + frcUserProgram(NativeExecutableSpec) { + // We don't need to build for roborio -- if we do, we need to install + // a roborio toolchain every time we build in CI + // Ideally, we'd be able to set the roborio toolchain as optional, but + // I can't figure out how to set that environment variable from build.gradle + // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71) + // for now, commented out + + // targetPlatform wpi.platforms.roborio + + if (includeDesktopSupport) { + targetPlatform wpi.platforms.desktop + } + + sources.cpp { + source { + srcDir 'src/main/cpp' + include '**/*.cpp', '**/*.cc' + } + exportedHeaders { + srcDir 'src/main/include' + } + } + + // Set deploy task to deploy this component + deployArtifact.component = it + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + // Enable simulation for this component + wpi.sim.enable(it) + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + } + } + testSuites { + frcUserProgramTest(GoogleTestTestSuiteSpec) { + testing $.components.frcUserProgram + + sources.cpp { + source { + srcDir 'src/test/cpp' + include '**/*.cpp' + } + } + + // Enable run tasks for this component + wpi.cpp.enableExternalTasks(it) + + wpi.cpp.vendor.cpp(it) + wpi.cpp.deps.wpilib(it) + wpi.cpp.deps.googleTest(it) + } + } +} diff --git a/photonlib-cpp-examples/apriltagExample/gradlew b/photonlib-cpp-examples/apriltagExample/gradlew new file mode 100755 index 0000000000..a69d9cb6c2 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/gradlew @@ -0,0 +1,240 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit + +APP_NAME="Gradle" +APP_BASE_NAME=${0##*/} + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/photonlib-cpp-examples/apriltagExample/gradlew.bat b/photonlib-cpp-examples/apriltagExample/gradlew.bat new file mode 100644 index 0000000000..53a6b238d4 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/gradlew.bat @@ -0,0 +1,91 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/photonlib-cpp-examples/apriltagExample/networktables.json b/photonlib-cpp-examples/apriltagExample/networktables.json new file mode 100644 index 0000000000..fe51488c70 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/networktables.json @@ -0,0 +1 @@ +[] diff --git a/photonlib-cpp-examples/apriltagExample/settings.gradle b/photonlib-cpp-examples/apriltagExample/settings.gradle new file mode 100644 index 0000000000..adeb0f45c4 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +rootProject.name = 'aimattarget' + +pluginManagement { + repositories { + mavenLocal() + jcenter() + gradlePluginPortal() + String frcYear = '2023' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} diff --git a/photonlib-cpp-examples/apriltagExample/simgui-ds.json b/photonlib-cpp-examples/apriltagExample/simgui-ds.json new file mode 100644 index 0000000000..7b51005024 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/simgui-ds.json @@ -0,0 +1,102 @@ +{ + "Keyboard 0 Settings": { + "window": { + "visible": true + } + }, + "keyboardJoysticks": [ + { + "axisConfig": [ + {}, + { + "decKey": 87, + "incKey": 83 + }, + { + "decayRate": 0.0, + "keyRate": 0.009999999776482582 + }, + {}, + { + "decKey": 65, + "incKey": 68 + } + ], + "axisCount": 6, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + { + "guid": "Keyboard0" + } + ] +} diff --git a/photonlib-cpp-examples/apriltagExample/simgui-window.json b/photonlib-cpp-examples/apriltagExample/simgui-window.json new file mode 100644 index 0000000000..bc6ee74a73 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/simgui-window.json @@ -0,0 +1,74 @@ +{ + "Docking": { + "Data": [] + }, + "MainWindow": { + "GLOBAL": { + "fps": "120", + "height": "880", + "maximized": "0", + "style": "0", + "userScale": "2", + "width": "1652", + "xpos": "268", + "ypos": "82" + } + }, + "Window": { + "###/SmartDashboard/Field": { + "Collapsed": "0", + "Pos": "514,2", + "Size": "517,341" + }, + "###FMS": { + "Collapsed": "0", + "Pos": "36,663", + "Size": "283,146" + }, + "###Joysticks": { + "Collapsed": "0", + "Pos": "373,500", + "Size": "796,206" + }, + "###Keyboard 0 Settings": { + "Collapsed": "0", + "Pos": "149,98", + "Size": "300,560" + }, + "###NetworkTables": { + "Collapsed": "0", + "Pos": "663,464", + "Size": "750,365" + }, + "###NetworkTables Info": { + "Collapsed": "0", + "Pos": "520,330", + "Size": "750,145" + }, + "###Other Devices": { + "Collapsed": "0", + "Pos": "1025,20", + "Size": "250,695" + }, + "###System Joysticks": { + "Collapsed": "0", + "Pos": "5,350", + "Size": "192,218" + }, + "###Timing": { + "Collapsed": "0", + "Pos": "5,150", + "Size": "135,127" + }, + "Debug##Default": { + "Collapsed": "0", + "Pos": "60,60", + "Size": "400,400" + }, + "Robot State": { + "Collapsed": "0", + "Pos": "5,20", + "Size": "92,99" + } + } +} diff --git a/photonlib-cpp-examples/apriltagExample/simgui.json b/photonlib-cpp-examples/apriltagExample/simgui.json new file mode 100644 index 0000000000..e0d54bca73 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/simgui.json @@ -0,0 +1,37 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/SmartDashboard/Field": "Field2d" + }, + "windows": { + "/SmartDashboard/Field": { + "window": { + "visible": true + } + } + } + }, + "NetworkTables": { + "transitory": { + "SmartDashboard": { + "open": true + }, + "photonvision": { + "open": true, + "photonvision": { + "open": true + } + } + } + }, + "NetworkTables Info": { + "Clients": { + "open": true + }, + "Server": { + "open": true + }, + "visible": true + } +} diff --git a/photonlib-cpp-examples/apriltagExample/src/main/cpp/Drivetrain.cpp b/photonlib-cpp-examples/apriltagExample/src/main/cpp/Drivetrain.cpp new file mode 100644 index 0000000000..ad778e2544 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/main/cpp/Drivetrain.cpp @@ -0,0 +1,92 @@ +/* + * MIT License + * + * Copyright (c) 2022 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 "Drivetrain.h" + +#include +#include + +void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) { + auto leftFeedforward = m_feedforward.Calculate(speeds.left); + auto rightFeedforward = m_feedforward.Calculate(speeds.right); + double leftOutput = m_leftPIDController.Calculate(m_leftEncoder.GetRate(), + speeds.left.value()); + double rightOutput = m_rightPIDController.Calculate(m_rightEncoder.GetRate(), + speeds.right.value()); + + m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward); + m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward); +} + +void Drivetrain::Drive(units::meters_per_second_t xSpeed, + units::radians_per_second_t rot) { + SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot})); +} + +void Drivetrain::UpdateOdometry() { + m_poseEstimator.Update(m_gyro.GetRotation2d(), + units::meter_t{m_leftEncoder.GetDistance()}, + units::meter_t{m_rightEncoder.GetDistance()}); +} + +void Drivetrain::ResetOdometry(const frc::Pose2d& pose) { + m_leftEncoder.Reset(); + m_rightEncoder.Reset(); + m_drivetrainSimulator.SetPose(pose); + m_poseEstimator.ResetPosition( + m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()}, + units::meter_t{m_rightEncoder.GetDistance()}, pose); +} + +void Drivetrain::SimulationPeriodic() { + // To update our simulation, we set motor voltage inputs, update the + // simulation, and write the simulated positions and velocities to our + // simulated encoder and gyro. We negate the right side so that positive + // voltages make the right side move forward. + + m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} * + frc::RobotController::GetInputVoltage(), + units::volt_t{m_rightGroup.Get()} * + frc::RobotController::GetInputVoltage()); + m_drivetrainSimulator.Update(20_ms); + + m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value()); + m_leftEncoderSim.SetRate(m_drivetrainSimulator.GetLeftVelocity().value()); + m_rightEncoderSim.SetDistance( + m_drivetrainSimulator.GetRightPosition().value()); + m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value()); + m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value()); +} + +void Drivetrain::Periodic() { + UpdateOdometry(); + + auto result = m_pcw.Update(m_poseEstimator.GetEstimatedPosition()); + if (result) { + m_poseEstimator.AddVisionMeasurement( + result.value().estimatedPose.ToPose2d(), result.value().timestamp); + } + + m_fieldSim.SetRobotPose(m_poseEstimator.GetEstimatedPosition()); +} diff --git a/photonlib-cpp-examples/apriltagExample/src/main/cpp/Robot.cpp b/photonlib-cpp-examples/apriltagExample/src/main/cpp/Robot.cpp new file mode 100644 index 0000000000..47e4b8bdb9 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/main/cpp/Robot.cpp @@ -0,0 +1,60 @@ +/* + * MIT License + * + * Copyright (c) 2022 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 "Robot.h" + +#include +#include + +void Robot::RobotInit() { + if constexpr (frc::RobotBase::IsSimulation()) { + auto inst = nt::NetworkTableInstance::GetDefault(); + inst.StopServer(); + // Change the IP address in the below function to the IP address you use to + // connect to the PhotonVision UI. + inst.SetServer("localhost"); + inst.StartClient4("Robot Simulation"); + } +} + +void Robot::TeleopPeriodic() { + // Get the x speed. We are inverting this because Xbox controllers return + // negative values when we push forward. + const auto xSpeed = -m_controller.GetLeftY() * Drivetrain::kMaxSpeed; + + // Get the rate of angular rotation. We are inverting this because we want a + // positive value when we pull to the left (remember, CCW is positive in + // mathematics). Xbox controllers return positive values when you pull to + // the right by default. + auto rot = -m_controller.GetRightX() * Drivetrain::kMaxAngularSpeed; + + m_drive.Drive(xSpeed, rot); +} + +void Robot::RobotPeriodic() { m_drive.Periodic(); } +void Robot::SimulationPeriodic() { m_drive.SimulationPeriodic(); } + +#ifndef RUNNING_FRC_TESTS +int main() { return frc::StartRobot(); } +#endif diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h b/photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h new file mode 100644 index 0000000000..7995030bae --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h @@ -0,0 +1,140 @@ +/* + * MIT License + * + * Copyright (c) 2022 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "PhotonCameraWrapper.h" + +/** + * Represents a differential drive style drivetrain. + */ +class Drivetrain { + public: + Drivetrain() { + m_gyro.Reset(); + + // We need to invert one side of the drivetrain so that positive voltages + // result in both sides moving forward. Depending on how your robot's + // gearbox is constructed, you might have to invert the left side instead. + m_rightGroup.SetInverted(true); + + // Set the distance per pulse for the drive encoders. We can simply use the + // distance traveled for one rotation of the wheel divided by the encoder + // resolution. + m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / + kEncoderResolution); + m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / + kEncoderResolution); + + m_leftEncoder.Reset(); + m_rightEncoder.Reset(); + + m_rightGroup.SetInverted(true); + + frc::SmartDashboard::PutData("Field", &m_fieldSim); + } + + static constexpr units::meters_per_second_t kMaxSpeed = + 3.0_mps; // 3 meters per second + static constexpr units::radians_per_second_t kMaxAngularSpeed{ + std::numbers::pi}; // 1/2 rotation per second + + void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds); + void Drive(units::meters_per_second_t xSpeed, + units::radians_per_second_t rot); + void UpdateOdometry(); + void ResetOdometry(const frc::Pose2d& pose); + + frc::Pose2d GetPose() const { return m_poseEstimator.GetEstimatedPosition(); } + + void SimulationPeriodic(); + void Periodic(); + + private: + static constexpr units::meter_t kTrackWidth = 0.381_m * 2; + static constexpr double kWheelRadius = 0.0508; // meters + static constexpr int kEncoderResolution = 4096; + + frc::PWMSparkMax m_leftLeader{1}; + frc::PWMSparkMax m_leftFollower{2}; + frc::PWMSparkMax m_rightLeader{3}; + frc::PWMSparkMax m_rightFollower{4}; + + frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; + + frc::Encoder m_leftEncoder{0, 1}; + frc::Encoder m_rightEncoder{2, 3}; + + frc2::PIDController m_leftPIDController{8.5, 0.0, 0.0}; + frc2::PIDController m_rightPIDController{8.5, 0.0, 0.0}; + + frc::AnalogGyro m_gyro{0}; + + frc::DifferentialDriveKinematics m_kinematics{kTrackWidth}; + + frc::DifferentialDrivePoseEstimator m_poseEstimator{ + m_kinematics, m_gyro.GetRotation2d(), + units::meter_t{m_leftEncoder.GetDistance()}, + units::meter_t{m_rightEncoder.GetDistance()}, frc::Pose2d{}}; + + PhotonCameraWrapper m_pcw; + + // Gains are for example purposes only - must be determined for your own + // robot! + frc::SimpleMotorFeedforward m_feedforward{1_V, 3_V / 1_mps}; + + // Simulation classes help us simulate our robot + frc::sim::AnalogGyroSim m_gyroSim{m_gyro}; + frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder}; + frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder}; + frc::Field2d m_fieldSim; + frc::LinearSystem<2, 2, 2> m_drivetrainSystem = + frc::LinearSystemId::IdentifyDrivetrainSystem( + 1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq); + frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{ + m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in}; +}; diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h new file mode 100644 index 0000000000..46ec0a9551 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h @@ -0,0 +1,45 @@ +/* + * MIT License + * + * Copyright (c) 2022 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 + +class PhotonCameraWrapper { + public: + photonlib::PhotonPoseEstimator m_poseEstimator{ + frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp), + photonlib::LOWEST_AMBIGUITY, + std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}}; + + inline std::optional Update( + frc::Pose2d estimatedPose) { + m_poseEstimator.SetReferencePose(frc::Pose3d(estimatedPose)); + return m_poseEstimator.Update(); + } +}; diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/Robot.h b/photonlib-cpp-examples/apriltagExample/src/main/include/Robot.h new file mode 100644 index 0000000000..9570d66f8c --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/Robot.h @@ -0,0 +1,50 @@ +/* + * MIT License + * + * Copyright (c) 2022 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 +#include + +#include "Drivetrain.h" + +class Robot : public frc::TimedRobot { + public: + void RobotInit() override; + void RobotPeriodic() override; + void TeleopPeriodic() override; + void SimulationPeriodic() override; + + private: + frc::XboxController m_controller{0}; + + Drivetrain m_drive; +}; diff --git a/photonlib-cpp-examples/apriltagExample/src/test/cpp/main.cpp b/photonlib-cpp-examples/apriltagExample/src/test/cpp/main.cpp new file mode 100644 index 0000000000..e9ee94e8b0 --- /dev/null +++ b/photonlib-cpp-examples/apriltagExample/src/test/cpp/main.cpp @@ -0,0 +1,34 @@ +/* + * MIT License + * + * Copyright (c) 2022 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" + +int main(int argc, char** argv) { + HAL_Initialize(500, 0); + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/photonlib-cpp-examples/examples.txt b/photonlib-cpp-examples/examples.txt index 54fc7fa001..25f7648520 100644 --- a/photonlib-cpp-examples/examples.txt +++ b/photonlib-cpp-examples/examples.txt @@ -1,3 +1,4 @@ aimandrange getinrange aimattarget +apriltagExample diff --git a/photonlib-cpp-examples/getinrange/build.gradle b/photonlib-cpp-examples/getinrange/build.gradle index b300429674..10e9a0f769 100644 --- a/photonlib-cpp-examples/getinrange/build.gradle +++ b/photonlib-cpp-examples/getinrange/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" id "com.dorongold.task-tree" version "2.1.0" } diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle index a5629b00c3..a7b059a15d 100644 --- a/photonlib-java-examples/aimandrange/build.gradle +++ b/photonlib-java-examples/aimandrange/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle index 0c26b06332..1536aafcce 100644 --- a/photonlib-java-examples/aimattarget/build.gradle +++ b/photonlib-java-examples/aimattarget/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/photonlib-java-examples/apriltagExample/build.gradle b/photonlib-java-examples/apriltagExample/build.gradle index a5629b00c3..a7b059a15d 100644 --- a/photonlib-java-examples/apriltagExample/build.gradle +++ b/photonlib-java-examples/apriltagExample/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/photonlib-java-examples/getinrange/build.gradle b/photonlib-java-examples/getinrange/build.gradle index a5629b00c3..a7b059a15d 100644 --- a/photonlib-java-examples/getinrange/build.gradle +++ b/photonlib-java-examples/getinrange/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/photonlib-java-examples/simaimandrange/build.gradle b/photonlib-java-examples/simaimandrange/build.gradle index a5629b00c3..a7b059a15d 100644 --- a/photonlib-java-examples/simaimandrange/build.gradle +++ b/photonlib-java-examples/simaimandrange/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/photonlib-java-examples/simposeest/build.gradle b/photonlib-java-examples/simposeest/build.gradle index a5629b00c3..a7b059a15d 100644 --- a/photonlib-java-examples/simposeest/build.gradle +++ b/photonlib-java-examples/simposeest/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.2.1" + id "edu.wpi.first.GradleRIO" version "2023.3.2" } sourceCompatibility = JavaVersion.VERSION_11 From d5ec11474a3519ab9e29b7b65d729077afa43dd7 Mon Sep 17 00:00:00 2001 From: Matt Date: Fri, 10 Feb 2023 09:45:19 -0500 Subject: [PATCH 024/115] Fix warning spam --- photon-lib/build.gradle | 8 ++ .../cpp/photonlib/PhotonPoseEstimator.cpp | 129 ++++++++++-------- .../include/photonlib/PhotonPoseEstimator.h | 13 +- .../apriltagExample/simgui-window.json | 7 + .../apriltagExample/simgui.json | 3 + .../src/main/include/PhotonCameraWrapper.h | 2 +- 6 files changed, 92 insertions(+), 70 deletions(-) diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle index 1741b92ac8..741117401b 100644 --- a/photon-lib/build.gradle +++ b/photon-lib/build.gradle @@ -22,6 +22,14 @@ targetCompatibility = JavaVersion.VERSION_11 wpilibTools.deps.wpilibVersion = wpilibVersion println("Buidling for wpilib ${wpilibTools.deps.wpilibVersion}") +// From wpilib shared/config.gradle: +// NativeUtils adds the following OpenCV warning suppression for Linux, but not +// for macOS +// https://github.com/opencv/opencv/issues/20269 +nativeUtils.platformConfigs.osxuniversal.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion") +nativeUtils.platformConfigs.linuxathena.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion") +// nativeUtils.platformConfigs.linuxx64.cppCompiler.args.add("-Wno-deprecated-anon-enum-enum-conversion") + // Apply Java configuration dependencies { implementation project(":photon-targeting") diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 3fc9805c21..07741f94ea 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -37,9 +37,9 @@ #include #include -// Fun hack i have to add at least on my linux laptop -#define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT 1 -#include +#include +#include +#include #include @@ -47,7 +47,18 @@ #include "photonlib/PhotonPipelineResult.h" #include "photonlib/PhotonTrackedTarget.h" + namespace photonlib { + +namespace detail { + cv::Point3d ToPoint3d(const frc::Translation3d& translation); + std::optional> CalcTagCorners(int tagID, const frc::AprilTagFieldLayout& aprilTags); + frc::Pose3d ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec); + cv::Point3d TagCornerToObjectPoint(units::meter_t cornerX, + units::meter_t cornerY, + frc::Pose3d tagPose); +} + PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, PoseStrategy strat, PhotonCamera&& cam, frc::Transform3d robotToCamera) @@ -245,6 +256,59 @@ PhotonPoseEstimator::ClosestToReferencePoseStrategy( return EstimatedRobotPose{pose, stateTimestamp}; } +std::optional> detail::CalcTagCorners( + int tagID, const frc::AprilTagFieldLayout& aprilTags) { + if (auto tagPose = aprilTags.GetTagPose(tagID); tagPose.has_value()) { + return std::array{TagCornerToObjectPoint(-3_in, -3_in, *tagPose), + TagCornerToObjectPoint(+3_in, -3_in, *tagPose), + TagCornerToObjectPoint(+3_in, +3_in, *tagPose), + TagCornerToObjectPoint(-3_in, +3_in, *tagPose)}; + } else { + return std::nullopt; + } +} + +cv::Point3d detail::ToPoint3d(const frc::Translation3d& translation) { + return cv::Point3d(-translation.Y().value(), -translation.Z().value(), + +translation.X().value()); +} + +cv::Point3d detail::TagCornerToObjectPoint(units::meter_t cornerX, + units::meter_t cornerY, + frc::Pose3d tagPose) { + frc::Translation3d cornerTrans = + tagPose.Translation() + + frc::Translation3d(0.0_m, cornerX, cornerY).RotateBy(tagPose.Rotation()); + return ToPoint3d(cornerTrans); +} + +frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { + using namespace frc; + using namespace units; + + cv::Mat R; + cv::Rodrigues(rvec, R); // R is 3x3 + + R = R.t(); // rotation of inverse + cv::Mat tvecI = -R * tvec; // translation of inverse + + Vectord<3> tv; + tv[0] = +tvecI.at(2, 0); + tv[1] = -tvecI.at(0, 0); + tv[2] = -tvecI.at(1, 0); + Vectord<3> rv; + rv[0] = +rvec.at(2, 0); + rv[1] = -rvec.at(0, 0); + rv[2] = +rvec.at(1, 0); + + return Pose3d(Translation3d(meter_t{tv[0]}, meter_t{tv[1]}, meter_t{tv[2]}), + Rotation3d( + // radian_t{rv[0]}, + // radian_t{rv[1]}, + // radian_t{rv[2]} + rv, radian_t{rv.norm()})); +} + std::optional PhotonPoseEstimator::MultiTagPnpStrategy( PhotonPipelineResult result) { using namespace frc; @@ -263,7 +327,7 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( // Add all target corners to main list of corners for (auto target : targets) { int id = target.GetFiducialId(); - if (auto const tagCorners = CalcTagCorners(id); tagCorners.has_value()) { + if (auto const tagCorners = detail::CalcTagCorners(id, aprilTags); tagCorners.has_value()) { auto const targetCorners = target.GetDetectedCorners(); for (size_t cornerIdx = 0; cornerIdx < 4; ++cornerIdx) { imagePoints.emplace_back(targetCorners[cornerIdx].first, @@ -290,67 +354,12 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( cv::solvePnP(objectPoints, imagePoints, camMat.value(), distCoeffs.value(), rvec, tvec, false, cv::SOLVEPNP_SQPNP); - Pose3d const pose = ToPose3d(tvec, rvec); + Pose3d const pose = detail::ToPose3d(tvec, rvec); return photonlib::EstimatedRobotPose( pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp()); } -frc::Pose3d PhotonPoseEstimator::ToPose3d(const cv::Mat& tvec, - const cv::Mat& rvec) { - using namespace frc; - using namespace units; - - cv::Mat R; - cv::Rodrigues(rvec, R); // R is 3x3 - - R = R.t(); // rotation of inverse - cv::Mat tvecI = -R * tvec; // translation of inverse - - Vectord<3> tv; - tv[0] = +tvecI.at(2, 0); - tv[1] = -tvecI.at(0, 0); - tv[2] = -tvecI.at(1, 0); - Vectord<3> rv; - rv[0] = +rvec.at(2, 0); - rv[1] = -rvec.at(0, 0); - rv[2] = +rvec.at(1, 0); - - return Pose3d(Translation3d(meter_t{tv[0]}, meter_t{tv[1]}, meter_t{tv[2]}), - Rotation3d( - // radian_t{rv[0]}, - // radian_t{rv[1]}, - // radian_t{rv[2]} - rv, radian_t{rv.norm()})); -} - -std::optional> PhotonPoseEstimator::CalcTagCorners( - int tagID) { - if (auto tagPose = aprilTags.GetTagPose(tagID); tagPose.has_value()) { - return std::array{TagCornerToObjectPoint(-3_in, -3_in, *tagPose), - TagCornerToObjectPoint(+3_in, -3_in, *tagPose), - TagCornerToObjectPoint(+3_in, +3_in, *tagPose), - TagCornerToObjectPoint(-3_in, +3_in, *tagPose)}; - } else { - return std::nullopt; - } -} - -cv::Point3d PhotonPoseEstimator::ToPoint3d( - const frc::Translation3d& translation) { - return cv::Point3d(-translation.Y().value(), -translation.Z().value(), - +translation.X().value()); -} - -cv::Point3d PhotonPoseEstimator::TagCornerToObjectPoint(units::meter_t cornerX, - units::meter_t cornerY, - frc::Pose3d tagPose) { - frc::Translation3d cornerTrans = - tagPose.Translation() + - frc::Translation3d(0.0_m, cornerX, cornerY).RotateBy(tagPose.Rotation()); - return ToPoint3d(cornerTrans); -} - std::optional PhotonPoseEstimator::AverageBestTargetsStrategy(PhotonPipelineResult result) { std::vector>> diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index b2e1b2881f..2bf7b30840 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -32,11 +32,13 @@ #include #include #include -#include -#include #include "photonlib/PhotonCamera.h" +namespace cv { + class Mat; +} + namespace photonlib { enum PoseStrategy { LOWEST_AMBIGUITY = 0, @@ -233,13 +235,6 @@ class PhotonPoseEstimator { */ std::optional AverageBestTargetsStrategy( PhotonPipelineResult result); - - cv::Point3d TagCornerToObjectPoint(units::meter_t cornerX, - units::meter_t cornerY, - frc::Pose3d tagPose); - cv::Point3d ToPoint3d(const frc::Translation3d& translation); - std::optional> CalcTagCorners(int id); - frc::Pose3d ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec); }; } // namespace photonlib diff --git a/photonlib-cpp-examples/apriltagExample/simgui-window.json b/photonlib-cpp-examples/apriltagExample/simgui-window.json index bc6ee74a73..79d676b16b 100644 --- a/photonlib-cpp-examples/apriltagExample/simgui-window.json +++ b/photonlib-cpp-examples/apriltagExample/simgui-window.json @@ -14,6 +14,13 @@ "ypos": "82" } }, + "Table": { + "0x542B5671,2": { + "Column 0 Width": "391", + "Column 1 Width": "156", + "RefScale": "13" + } + }, "Window": { "###/SmartDashboard/Field": { "Collapsed": "0", diff --git a/photonlib-cpp-examples/apriltagExample/simgui.json b/photonlib-cpp-examples/apriltagExample/simgui.json index e0d54bca73..bb09beb6ee 100644 --- a/photonlib-cpp-examples/apriltagExample/simgui.json +++ b/photonlib-cpp-examples/apriltagExample/simgui.json @@ -14,6 +14,9 @@ }, "NetworkTables": { "transitory": { + "CameraPublisher": { + "open": true + }, "SmartDashboard": { "open": true }, diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h index 46ec0a9551..eeb12cbb80 100644 --- a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h @@ -34,7 +34,7 @@ class PhotonCameraWrapper { public: photonlib::PhotonPoseEstimator m_poseEstimator{ frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp), - photonlib::LOWEST_AMBIGUITY, + photonlib::MULTI_TAG_PNP, std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}}; inline std::optional Update( From 44c6a8063a61d9e39efab5fdb362f00d08a05c39 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 10 Feb 2023 13:06:32 -0500 Subject: [PATCH 025/115] Update SimPhotonCamera.java --- photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java | 1 - 1 file changed, 1 deletion(-) diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 321d3ad2b1..5289bbf68b 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -37,7 +37,6 @@ import org.photonvision.targeting.PhotonTrackedTarget; @SuppressWarnings("unused") -// TODO: Add method to set camera intr/extrinsics public class SimPhotonCamera { NTTopicSet ts = new NTTopicSet(); PhotonPipelineResult latestResult; From 89e802d06658a3f70c3489931e1133446b328f2d Mon Sep 17 00:00:00 2001 From: Matt Date: Mon, 27 Feb 2023 07:35:21 -0500 Subject: [PATCH 026/115] Attempt to add AprilTagFieldLayout to PhotonConfiguration --- photon-client/package-lock.json | 18476 +++------------- .../common/configuration/ConfigManager.java | 51 +- .../configuration/PhotonConfiguration.java | 15 +- .../estimation/CameraTargetRelation.java | 0 .../photonvision/estimation/OpenCVHelp.java | 24 +- .../photonvision/estimation/PNPResults.java | 2 +- .../estimation/RotTrlTransform3d.java | 0 .../photonvision/estimation/TargetModel.java | 0 .../estimation/VisionEstimation.java | 7 +- .../CameraCalibrationCoefficients.java | 4 + .../vision/pipe/impl/MultiTargetPNPPipe.java | 112 + .../vision/pipeline/AprilTagPipeline.java | 22 +- .../pipeline/AprilTagPipelineSettings.java | 62 +- .../pipeline/result/CVPipelineResult.java | 7 +- .../org/photonvision/PhotonPoseEstimator.java | 72 - .../estimation/ApriltagWorkbenchTest.java | 2 +- .../src/main/java/org/photonvision/Main.java | 10 +- .../photonvision/server/RequestHandler.java | 6 + 18 files changed, 3399 insertions(+), 15473 deletions(-) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/CameraTargetRelation.java (100%) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/OpenCVHelp.java (96%) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/PNPResults.java (97%) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java (100%) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/TargetModel.java (100%) rename {photon-lib => photon-core}/src/main/java/org/photonvision/estimation/VisionEstimation.java (98%) create mode 100644 photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json index 1f579daa8e..0f9b71fa09 100644 --- a/photon-client/package-lock.json +++ b/photon-client/package-lock.json @@ -1,15231 +1,22 @@ { "name": "photon-client", "version": "3.0.0", - "lockfileVersion": 2, + "lockfileVersion": 1, "requires": true, - "packages": { - "": { - "version": "3.0.0", - "dependencies": { - "@femessage/log-viewer": "^1.4.2", - "@vue/eslint-config-prettier": "^6.0.0", - "axios": "^0.19.2", - "core-js": "^2.6.11", - "downloadjs": "^1.4.7", - "jspdf": "^2.4.0", - "material-design-icons-iconfont": "^5.0.1", - "msgpack5": "^4.2.1", - "three-full": "^28.0.2", - "vue": "^2.6.12", - "vue-axios": "^2.1.5", - "vue-native-websocket": "git+https://git@github.com/PhotonVision/vue-native-websocket.git#5189f29", - "vue-router": "^3.4.3", - "vuetify": "^2.3.10", - "vuex": "^3.5.1" - }, - "devDependencies": { - "@mdi/font": "^4.9.95", - "@vue/cli-plugin-babel": "^3.12.1", - "@vue/cli-plugin-eslint": "^4.5.4", - "@vue/cli-service": "^4.5.4", - "babel-eslint": "^10.1.0", - "eslint": "^5.16.0", - "eslint-plugin-vue": "^5.0.0", - "papaparse": "^5.3.0", - "sass": "^1.26.10", - "sass-loader": "^7.1.0", - "vue-cli-plugin-vuetify": "^0.6.3", - "vue-template-compiler": "^2.6.12", - 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"integrity": "sha512-bY6fj56OUQ0hU1KjFNDQuJFezqKdrAyFdIevADiqrWHwSlbmBNMHp5ak2f40Pm8JTFyM2mqxkG6ngkHO11f/lg==", "dev": true }, "emoji-regex": { "version": "8.0.0", + "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-8.0.0.tgz", + "integrity": "sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A==", "dev": true }, "find-up": { "version": "4.1.0", + "resolved": "https://registry.npmjs.org/find-up/-/find-up-4.1.0.tgz", + "integrity": "sha512-PpOwAdQ/YlXQ2vj8a3h8IipDuYRi3wceVQQGYWxNINccq40Anw7BlsEXCMbt1Zt+OLA6Fq9suIpIWD0OsnISlw==", "dev": true, "requires": { "locate-path": "^5.0.0", @@ -25978,10 +13708,14 @@ }, "is-fullwidth-code-point": { "version": "3.0.0", + "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-3.0.0.tgz", + "integrity": "sha512-zymm5+u+sCsSWyD9qNaejV3DFvhCKclKdizYaJUuHA83RLjb7nSuGnddCHGv0hk+KY7BMAlsWeK4Ueg6EV6XQg==", "dev": true }, "locate-path": { "version": "5.0.0", + "resolved": "https://registry.npmjs.org/locate-path/-/locate-path-5.0.0.tgz", + "integrity": "sha512-t7hw9pI+WvuwNJXwk5zVHpyhIqzg2qTlklJOf0mVxGSbe3Fp2VieZcduNYjaLDoy6p9uGpQEGWG87WpMKlNq8g==", "dev": true, "requires": { "p-locate": "^4.1.0" @@ -25989,6 +13723,8 @@ }, "p-limit": { "version": "2.3.0", + "resolved": "https://registry.npmjs.org/p-limit/-/p-limit-2.3.0.tgz", + "integrity": "sha512-//88mFWSJx8lxCzwdAABTJL2MyWB12+eIY7MDL2SqLmAkeKU9qxRvWuSyTjm3FUmpBEMuFfckAIqEaVGUDxb6w==", "dev": true, "requires": { "p-try": "^2.0.0" @@ -25996,6 +13732,8 @@ }, "p-locate": { "version": "4.1.0", + "resolved": "https://registry.npmjs.org/p-locate/-/p-locate-4.1.0.tgz", + "integrity": "sha512-R79ZZ/0wAxKGu3oYMlz8jy/kbhsNrS7SKZ7PxEHBgJ5+F2mtFW2fK2cOtBh1cHYkQsbzFV7I+EoRKe6Yt0oK7A==", "dev": true, "requires": { "p-limit": "^2.2.0" @@ -26003,14 +13741,20 @@ }, "p-try": { "version": "2.2.0", + "resolved": "https://registry.npmjs.org/p-try/-/p-try-2.2.0.tgz", + "integrity": "sha512-R4nPAVTAU0B9D35/Gk3uJf/7XYbQcyohSKdvAxIRSNghFl4e71hVoGnBNQz9cWaXxO2I10KTC+3jMdvvoKw6dQ==", "dev": true }, "path-exists": { "version": "4.0.0", + "resolved": "https://registry.npmjs.org/path-exists/-/path-exists-4.0.0.tgz", + "integrity": "sha512-ak9Qy5Q7jYb2Wwcey5Fpvg2KoAc/ZIhLSLOSBmRmygPsGwkVVt0fZa0qrtMz+m6tJTAHfZQ8FnmB4MG4LWy7/w==", "dev": true }, "string-width": { "version": "4.2.0", + "resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.0.tgz", + "integrity": "sha512-zUz5JD+tgqtuDjMhwIg5uFVV3dtqZ9yQJlZVfq4I01/K5Paj5UHj7VyrQOJvzawSVlKpObApbfD0Ed6yJc+1eg==", "dev": true, "requires": { "emoji-regex": "^8.0.0", @@ -26020,6 +13764,8 @@ }, "strip-ansi": { "version": "6.0.0", + "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-6.0.0.tgz", + "integrity": "sha512-AuvKTrTfQNYNIctbR1K/YGTR1756GycPsg7b9bdV9Duqur4gv6aKqHXah67Z8ImS7WEz5QVcOtlfW2rZEugt6w==", "dev": true, "requires": { "ansi-regex": "^5.0.0" @@ -26029,6 +13775,8 @@ }, "yargs-parser": { "version": "18.1.3", + "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-18.1.3.tgz", + "integrity": "sha512-o50j0JeToy/4K6OZcaQmW6lyXXKhq7csREXcDwk2omFPJEwUNOVtJKvmDr9EI1fAJZUyZcRF7kxGBWmRXudrCQ==", "dev": true, "requires": { "camelcase": "^5.0.0", @@ -26037,6 +13785,8 @@ }, "yorkie": { "version": "2.0.0", + "resolved": "https://registry.npmjs.org/yorkie/-/yorkie-2.0.0.tgz", + "integrity": "sha512-jcKpkthap6x63MB4TxwCyuIGkV0oYP/YRyuQU5UO0Yz/E/ZAu+653/uov+phdmO54n6BcvFRyyt0RRrWdN2mpw==", "dev": true, "requires": { "execa": "^0.8.0", @@ -26047,6 +13797,8 @@ "dependencies": { "cross-spawn": { "version": "5.1.0", + "resolved": "https://registry.npmjs.org/cross-spawn/-/cross-spawn-5.1.0.tgz", + "integrity": "sha1-6L0O/uWPz/b4+UUQoKVUu/ojVEk=", "dev": true, "requires": { "lru-cache": "^4.0.1", @@ -26056,6 +13808,8 @@ }, "execa": { "version": "0.8.0", + "resolved": "https://registry.npmjs.org/execa/-/execa-0.8.0.tgz", + "integrity": "sha1-2NdrvBtVIX7RkP1t1J08d07PyNo=", "dev": true, "requires": { "cross-spawn": "^5.0.1", @@ -26069,10 +13823,14 @@ }, "get-stream": { "version": "3.0.0", + "resolved": "https://registry.npmjs.org/get-stream/-/get-stream-3.0.0.tgz", + "integrity": "sha1-jpQ9E1jcN1VQVOy+LtsFqhdO3hQ=", "dev": true }, "lru-cache": { "version": "4.1.5", + "resolved": "https://registry.npmjs.org/lru-cache/-/lru-cache-4.1.5.tgz", + "integrity": "sha512-sWZlbEP2OsHNkXrMl5GYk/jKk70MBng6UU4YI/qGDYbgf6YbP4EvmqISbXCoJiRKs+1bSpFHVgQxvJ17F2li5g==", "dev": true, "requires": { "pseudomap": "^1.0.2", @@ -26081,10 +13839,14 @@ }, "normalize-path": { "version": "1.0.0", + "resolved": "https://registry.npmjs.org/normalize-path/-/normalize-path-1.0.0.tgz", + "integrity": "sha1-MtDkcvkf80VwHBWoMRAY07CpA3k=", "dev": true }, "yallist": { "version": "2.1.2", + "resolved": "https://registry.npmjs.org/yallist/-/yallist-2.1.2.tgz", + "integrity": "sha1-HBH5IY8HYImkfdUS+TxmmaaoHVI=", "dev": true } } diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java index 94aab34bf1..9000c51986 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java @@ -18,6 +18,10 @@ package org.photonvision.common.configuration; import com.fasterxml.jackson.core.JsonProcessingException; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; + import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -46,11 +50,13 @@ public class ConfigManager { public static final String HW_CFG_FNAME = "hardwareConfig.json"; public static final String HW_SET_FNAME = "hardwareSettings.json"; public static final String NET_SET_FNAME = "networkSettings.json"; + public static final String ATFL_SET_FNAME = "apriltagFieldLayout.json"; private PhotonConfiguration config; private final File hardwareConfigFile; private final File hardwareSettingsFile; private final File networkConfigFile; + private final File apriltagFieldLayoutFile; private final File camerasFolder; final File configDirectoryFile; @@ -95,6 +101,8 @@ private static Path getRootFolder() { new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri()); this.networkConfigFile = new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri()); + this.apriltagFieldLayoutFile = + new File(Path.of(configDirectoryFile.toString(), ATFL_SET_FNAME).toUri()); this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri()); settingsSaveThread = new Thread(this::saveAndWriteTask); @@ -124,6 +132,7 @@ public void load() { HardwareConfig hardwareConfig; HardwareSettings hardwareSettings; NetworkConfig networkConfig; + AprilTagFieldLayout atfl = null; if (hardwareConfigFile.exists()) { try { @@ -175,6 +184,34 @@ public void load() { networkConfig = new NetworkConfig(); } + if (apriltagFieldLayoutFile.exists()) { + try { + atfl = JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class); + if (atfl == null) { + logger.error("Could not deserialize apriltag field layout!"); + } + } catch (IOException e) { + logger.error("Could not deserialize apriltag field layout!"); + atfl = null; // not required, nice to be explicit + } + } else { + logger.info("Apriltag layout file not saved!"); + atfl = null; // not required, nice to be explicit + } + if (atfl == null) { + logger.info("Loading default for 2023 field..."); + try { + atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField(); + } catch (IOException e) { + logger.error("Error loading WPILib field", e); + atfl = null; + } + if (atfl == null) { + // what do we even do here lmao -- wpilib should always work + logger.error("Field layout is *still* null??????"); + } + } + if (!camerasFolder.exists()) { if (camerasFolder.mkdirs()) { logger.debug("Cameras config folder did not exist. Created!"); @@ -187,7 +224,7 @@ public void load() { this.config = new PhotonConfiguration( - hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations); + hardwareConfig, hardwareSettings, networkConfig, atfl, cameraConfigurations); } public void saveToDisk() { @@ -199,12 +236,19 @@ public void saveToDisk() { } catch (IOException e) { logger.error("Could not save network config!", e); } + try { JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings()); } catch (IOException e) { logger.error("Could not save hardware config!", e); } + try { + JacksonUtils.serialize(apriltagFieldLayoutFile.toPath(), config.getApriltagFieldLayout()); + } catch (IOException e) { + logger.error("Could not save AprilTag Field Layout!", e); + } + // save all of our cameras var cameraConfigMap = config.getCameraConfigurations(); for (var subdirName : cameraConfigMap.keySet()) { @@ -421,6 +465,11 @@ public void saveUploadedNetworkConfig(Path uploadPath) { FileUtils.copyFile(uploadPath, this.getNetworkConfigFile()); } + public void saveUploadedApriltagLayout(Path uploadPath) { + FileUtils.deleteFile(this.apriltagFieldLayoutFile.toPath()); + FileUtils.copyFile(uploadPath, this.apriltagFieldLayoutFile.toPath()); + } + public void requestSave() { logger.trace("Requesting save..."); saveRequestTimestamp = System.currentTimeMillis(); diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java index ba3e751815..ab637ff85f 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java @@ -30,29 +30,35 @@ import org.photonvision.vision.processes.VisionModuleManager; import org.photonvision.vision.processes.VisionSource; +import edu.wpi.first.apriltag.AprilTagFieldLayout; + // TODO rename this class public class PhotonConfiguration { private HardwareConfig hardwareConfig; private HardwareSettings hardwareSettings; private NetworkConfig networkConfig; + private AprilTagFieldLayout atfl; private HashMap cameraConfigurations; public PhotonConfiguration( HardwareConfig hardwareConfig, HardwareSettings hardwareSettings, - NetworkConfig networkConfig) { - this(hardwareConfig, hardwareSettings, networkConfig, new HashMap<>()); + NetworkConfig networkConfig, + AprilTagFieldLayout atfl) { + this(hardwareConfig, hardwareSettings, networkConfig, atfl, new HashMap<>()); } public PhotonConfiguration( HardwareConfig hardwareConfig, HardwareSettings hardwareSettings, NetworkConfig networkConfig, + AprilTagFieldLayout atfl, HashMap cameraConfigurations) { this.hardwareConfig = hardwareConfig; this.hardwareSettings = hardwareSettings; this.networkConfig = networkConfig; this.cameraConfigurations = cameraConfigurations; + this.atfl = atfl; } public HardwareConfig getHardwareConfig() { @@ -67,6 +73,10 @@ public HardwareSettings getHardwareSettings() { return hardwareSettings; } + public AprilTagFieldLayout getApriltagFieldLayout() { + return atfl; + } + public void setNetworkConfig(NetworkConfig networkConfig) { this.networkConfig = networkConfig; } @@ -140,4 +150,5 @@ public static class UICameraConfiguration { public List> calibrations; public boolean isFovConfigurable = true; } + } diff --git a/photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java b/photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java similarity index 100% rename from photon-lib/src/main/java/org/photonvision/estimation/CameraTargetRelation.java rename to photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java similarity index 96% rename from photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java rename to photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 4b6429319d..e9bf0bb13c 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -396,8 +396,8 @@ public static double getContourAreaPx(List corners) { * ambiguity if an alternate solution is available. */ public static PNPResults solvePNP_SQUARE( - Matrix cameraMatrix, - Matrix distCoeffs, + Mat cameraMatrix, + Mat distCoeffs, List modelTrls, List imageCorners) { // IPPE_SQUARE expects our corners in a specific order @@ -406,8 +406,6 @@ public static PNPResults solvePNP_SQUARE( // translate to opencv classes var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); - var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -417,8 +415,8 @@ public static PNPResults solvePNP_SQUARE( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrixMat, - distCoeffsMat, + cameraMatrix, + distCoeffs, rvecs, tvecs, false, @@ -440,8 +438,6 @@ public static PNPResults solvePNP_SQUARE( // release our Mats from native memory objectPoints.release(); imagePoints.release(); - cameraMatrixMat.release(); - distCoeffsMat.release(); for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); @@ -469,15 +465,13 @@ public static PNPResults solvePNP_SQUARE( * the origin. */ public static PNPResults solvePNP_SQPNP( - Matrix cameraMatrix, - Matrix distCoeffs, + Mat cameraMatrix, + Mat distCoeffs, List objectTrls, List imageCorners) { // translate to opencv classes var objectPoints = translationToTvec(objectTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); - var cameraMatrixMat = matrixToMat(cameraMatrix.getStorage()); - var distCoeffsMat = matrixToMat(distCoeffs.getStorage()); var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -487,8 +481,8 @@ public static PNPResults solvePNP_SQPNP( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrixMat, - distCoeffsMat, + cameraMatrix, + distCoeffs, rvecs, tvecs, false, @@ -505,8 +499,6 @@ public static PNPResults solvePNP_SQPNP( // release our Mats from native memory objectPoints.release(); imagePoints.release(); - cameraMatrixMat.release(); - distCoeffsMat.release(); for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java similarity index 97% rename from photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java rename to photon-core/src/main/java/org/photonvision/estimation/PNPResults.java index 4359b20c22..8f0edbd4f6 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java +++ b/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java @@ -50,7 +50,7 @@ public class PNPResults { public final double ambiguity; public PNPResults() { - this(new Transform3d(), new Transform3d(), 0, 0, 0); + this(new Transform3d(), new Transform3d(), -1, 0, 0); } public PNPResults(Transform3d best, double bestReprojErr) { diff --git a/photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java similarity index 100% rename from photon-lib/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java rename to photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java diff --git a/photon-lib/src/main/java/org/photonvision/estimation/TargetModel.java b/photon-core/src/main/java/org/photonvision/estimation/TargetModel.java similarity index 100% rename from photon-lib/src/main/java/org/photonvision/estimation/TargetModel.java rename to photon-core/src/main/java/org/photonvision/estimation/TargetModel.java diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java similarity index 98% rename from photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java rename to photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java index 0618b8ed82..0999c2503f 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -34,6 +34,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; + +import org.opencv.core.Mat; +import org.opencv.core.Point; import org.photonvision.targeting.TargetCorner; public class VisionEstimation { @@ -53,8 +56,8 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - Matrix cameraMatrix, - Matrix distCoeffs, + Mat cameraMatrix, + Mat distCoeffs, List corners, List knownTags) { if (knownTags == null diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java index 4b4ae5a8cc..8c7521ca66 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java @@ -22,6 +22,10 @@ import com.fasterxml.jackson.annotation.JsonIgnore; import com.fasterxml.jackson.annotation.JsonProperty; import com.fasterxml.jackson.databind.JsonNode; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N3; + import org.opencv.core.Mat; import org.opencv.core.MatOfDouble; import org.opencv.core.Size; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java new file mode 100644 index 0000000000..5495f9582b --- /dev/null +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java @@ -0,0 +1,112 @@ +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +package org.photonvision.vision.pipe.impl; + +import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; + +import java.util.ArrayList; +import java.util.List; +import org.opencv.calib3d.Calib3d; +import org.opencv.core.Core; +import org.opencv.core.Mat; +import org.opencv.core.MatOfPoint2f; +import org.opencv.core.Point; +import org.opencv.core.Scalar; +import org.photonvision.common.logging.LogGroup; +import org.photonvision.common.logging.Logger; +import org.photonvision.common.util.math.MathUtils; +import org.photonvision.estimation.PNPResults; +import org.photonvision.estimation.VisionEstimation; +import org.photonvision.targeting.TargetCorner; +import org.photonvision.vision.calibration.CameraCalibrationCoefficients; +import org.photonvision.vision.pipe.CVPipe; +import org.photonvision.vision.target.TargetModel; +import org.photonvision.vision.target.TrackedTarget; + +public class MultiTargetPNPPipe + extends CVPipe, PNPResults, MultiTargetPNPPipe.MultiTargetPNPPipeParams> { + private static final Logger logger = new Logger(MultiTargetPNPPipe.class, LogGroup.VisionModule); + + private final MatOfPoint2f imagePoints = new MatOfPoint2f(); + + private boolean hasWarned = false; + + @Override + protected PNPResults process(List targetList) { + if (params.cameraCoefficients == null + || params.cameraCoefficients.getCameraIntrinsicsMat() == null + || params.cameraCoefficients.getDistCoeffsMat() == null) { + if (!hasWarned) { + logger.warn( + "Cannot perform solvePNP an uncalibrated camera! Please calibrate this resolution..."); + hasWarned = true; + } + return new PNPResults(); + } + + return calculateTargetPose(targetList); + } + + private PNPResults calculateTargetPose(List targetList) { + if (params.cameraCoefficients == null + || params.cameraCoefficients.getCameraIntrinsicsMat() == null + || params.cameraCoefficients.getDistCoeffsMat() == null) { + return new PNPResults(); + } + + var visCorners = new ArrayList(); + var knownVisTags = new ArrayList(); + for (var target : targetList) { + for (var corner : target.getTargetCorners()) { + visCorners.add(new TargetCorner(corner.x, corner.y)); + } + Pose3d tagPose = params.atfl.getTagPose(target.getFiducialId()).get(); + + // actual layout poses of visible tags -- not exposed, so have to recreate + knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); + } + var pnpResults = VisionEstimation.estimateCamPosePNP(params.cameraCoefficients.getCameraIntrinsicsMat(), params.cameraCoefficients.getDistCoeffsMat(), visCorners, knownVisTags); + + return pnpResults; + } + + Mat rotationMatrix = new Mat(); + Mat inverseRotationMatrix = new Mat(); + Mat pzeroWorld = new Mat(); + Mat kMat = new Mat(); + Mat scaledTvec; + + public static class MultiTargetPNPPipeParams { + private final CameraCalibrationCoefficients cameraCoefficients; + private final TargetModel targetModel; + private final AprilTagFieldLayout atfl; + + public MultiTargetPNPPipeParams( + CameraCalibrationCoefficients cameraCoefficients, TargetModel targetModel, AprilTagFieldLayout atfl) { + this.cameraCoefficients = cameraCoefficients; + this.targetModel = targetModel; + this.atfl = atfl; + } + } +} diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java index 4e773605f4..b51d135b62 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java @@ -25,12 +25,16 @@ import edu.wpi.first.math.util.Units; import java.util.ArrayList; import java.util.List; + +import org.photonvision.common.configuration.ConfigManager; import org.photonvision.common.util.math.MathUtils; +import org.photonvision.estimation.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.pipe.CVPipe.CVPipeResult; import org.photonvision.vision.pipe.impl.*; import org.photonvision.vision.pipe.impl.AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams; +import org.photonvision.vision.pipe.impl.MultiTargetPNPPipe.MultiTargetPNPPipeParams; import org.photonvision.vision.pipeline.result.CVPipelineResult; import org.photonvision.vision.target.TrackedTarget; import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters; @@ -38,7 +42,8 @@ @SuppressWarnings("DuplicatedCode") public class AprilTagPipeline extends CVPipeline { private final AprilTagDetectionPipe aprilTagDetectionPipe = new AprilTagDetectionPipe(); - private final AprilTagPoseEstimatorPipe poseEstimatorPipe = new AprilTagPoseEstimatorPipe(); + private final AprilTagPoseEstimatorPipe singleTagPoseEstimatorPipe = new AprilTagPoseEstimatorPipe(); + private final MultiTargetPNPPipe multiTagPNPPipe = new MultiTargetPNPPipe(); private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe(); private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.GREYSCALE; @@ -95,11 +100,15 @@ protected void setPipeParamsImpl() { var fx = cameraMatrix.get(0, 0)[0]; var fy = cameraMatrix.get(1, 1)[0]; - poseEstimatorPipe.setParams( + singleTagPoseEstimatorPipe.setParams( new AprilTagPoseEstimatorPipeParams( new Config(tagWidth, fx, fy, cx, cy), frameStaticProperties.cameraCalibration, settings.numIterations)); + + // TODO global state ew + var atfl = ConfigManager.getInstance().getConfig().getApriltagFieldLayout(); + multiTagPNPPipe.setParams(new MultiTargetPNPPipeParams(frameStaticProperties.cameraCalibration, settings.targetModel, atfl)); } } } @@ -130,7 +139,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting AprilTagPoseEstimate tagPoseEstimate = null; if (settings.solvePNPEnabled) { - var poseResult = poseEstimatorPipe.run(detection); + var poseResult = singleTagPoseEstimatorPipe.run(detection); sumPipeNanosElapsed += poseResult.nanosElapsed; tagPoseEstimate = poseResult.output; } @@ -155,6 +164,13 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting targetList.add(target); } + PNPResults multiTagResult = new PNPResults(); + if (settings.solvePNPEnabled && settings.doMultiTarget) { + var multiTagOutput = multiTagPNPPipe.run(targetList); + sumPipeNanosElapsed += multiTagOutput.nanosElapsed; + multiTagResult = multiTagOutput.output; + } + var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java index 4821c7b759..ed1ec76704 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java @@ -33,6 +33,7 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings { public int numIterations = 40; public int hammingDist = 0; public int decisionMargin = 35; + public boolean doMultiTarget = true; // 3d settings @@ -47,16 +48,55 @@ public AprilTagPipelineSettings() { } @Override - public boolean equals(Object o) { - if (this == o) return true; - if (o == null || getClass() != o.getClass()) return false; - if (!super.equals(o)) return false; - AprilTagPipelineSettings that = (AprilTagPipelineSettings) o; - return Objects.equals(tagFamily, that.tagFamily) - && Double.compare(decimate, that.decimate) == 0 - && Double.compare(blur, that.blur) == 0 - && threads == that.threads - && debug == that.debug - && refineEdges == that.refineEdges; + public int hashCode() { + final int prime = 31; + int result = super.hashCode(); + result = prime * result + ((tagFamily == null) ? 0 : tagFamily.hashCode()); + result = prime * result + decimate; + long temp; + temp = Double.doubleToLongBits(blur); + result = prime * result + (int) (temp ^ (temp >>> 32)); + result = prime * result + threads; + result = prime * result + (debug ? 1231 : 1237); + result = prime * result + (refineEdges ? 1231 : 1237); + result = prime * result + numIterations; + result = prime * result + hammingDist; + result = prime * result + decisionMargin; + result = prime * result + (doMultiTarget ? 1231 : 1237); + return result; } + + @Override + public boolean equals(Object obj) { + if (this == obj) + return true; + if (!super.equals(obj)) + return false; + if (getClass() != obj.getClass()) + return false; + AprilTagPipelineSettings other = (AprilTagPipelineSettings) obj; + if (tagFamily != other.tagFamily) + return false; + if (decimate != other.decimate) + return false; + if (Double.doubleToLongBits(blur) != Double.doubleToLongBits(other.blur)) + return false; + if (threads != other.threads) + return false; + if (debug != other.debug) + return false; + if (refineEdges != other.refineEdges) + return false; + if (numIterations != other.numIterations) + return false; + if (hammingDist != other.hammingDist) + return false; + if (decisionMargin != other.decisionMargin) + return false; + if (doMultiTarget != other.doMultiTarget) + return false; + return true; + } + + } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java index aa9fd800ab..3c7c414d79 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java @@ -20,6 +20,7 @@ import java.util.Collections; import java.util.List; import org.photonvision.common.util.math.MathUtils; +import org.photonvision.estimation.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.opencv.Releasable; import org.photonvision.vision.target.TrackedTarget; @@ -32,7 +33,7 @@ public class CVPipelineResult implements Releasable { public final Frame inputAndOutputFrame; public CVPipelineResult( - double processingNanos, double fps, List targets, Frame inputFrame) { + double processingNanos, double fps, List targets, PNPResults multiTagResults, Frame inputFrame) { this.processingNanos = processingNanos; this.fps = fps; this.targets = targets != null ? targets : Collections.emptyList(); @@ -40,8 +41,8 @@ public CVPipelineResult( this.inputAndOutputFrame = inputFrame; } - public CVPipelineResult(double processingNanos, double fps, List targets) { - this(processingNanos, fps, targets, null); + public CVPipelineResult(double processingNanos, double fps, List targets, PNPResults multiTagResults) { + this(processingNanos, fps, targets, multiTagResults, null); } public boolean hasTargets() { diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index ec04982876..1757d09459 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -38,7 +38,6 @@ import java.util.List; import java.util.Optional; import java.util.Set; -import org.photonvision.estimation.VisionEstimation; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -65,14 +64,10 @@ public enum PoseStrategy { /** Choose the Pose with the lowest ambiguity. */ AVERAGE_BEST_TARGETS, - - /** Use all visible tags to compute a single pose estimate.. */ - MULTI_TAG_PNP } private AprilTagFieldLayout fieldTags; private PoseStrategy primaryStrategy; - private PoseStrategy multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY; private final PhotonCamera camera; private Transform3d robotToCamera; @@ -141,21 +136,6 @@ public void setPrimaryStrategy(PoseStrategy strategy) { this.primaryStrategy = strategy; } - /** - * Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen. Must - * NOT be MULTI_TAG_PNP - * - * @param strategy the strategy to set - */ - public void setMultiTagFallbackStrategy(PoseStrategy strategy) { - if (strategy == PoseStrategy.MULTI_TAG_PNP) { - DriverStation.reportWarning( - "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", null); - strategy = PoseStrategy.LOWEST_AMBIGUITY; - } - this.multiTagFallbackStrategy = strategy; - } - /** * Return the reference position that is being used by the estimator. * @@ -272,9 +252,6 @@ private Optional update( case AVERAGE_BEST_TARGETS: estimatedPose = averageBestTargetsStrategy(cameraResult); break; - case MULTI_TAG_PNP: - estimatedPose = multiTagPNPStrategy(cameraResult); - break; default: DriverStation.reportError( "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", false); @@ -288,55 +265,6 @@ private Optional update( return estimatedPose; } - private Optional multiTagPNPStrategy(PhotonPipelineResult result) { - // Arrays we need declared up front - var visCorners = new ArrayList(); - var knownVisTags = new ArrayList(); - var fieldToCams = new ArrayList(); - var fieldToCamsAlt = new ArrayList(); - - if (result.getTargets().size() < 2) { - // Run fallback strategy instead - update(result, this.multiTagFallbackStrategy); - } - - for (var target : result.getTargets()) { - visCorners.addAll(target.getDetectedCorners()); - Pose3d tagPose = fieldTags.getTagPose(target.getFiducialId()).get(); - - // actual layout poses of visible tags -- not exposed, so have to recreate - knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); - - fieldToCams.add(tagPose.transformBy(target.getBestCameraToTarget().inverse())); - fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); - } - - var cameraMatrixOpt = camera.getCameraMatrix(); - var distCoeffsOpt = camera.getDistCoeffs(); - boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); - - // multi-target solvePNP - if (hasCalibData) { - var cameraMatrix = cameraMatrixOpt.get(); - var distCoeffs = distCoeffsOpt.get(); - var pnpResults = - VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); - var best = - new Pose3d() - .plus(pnpResults.best) // field-to-camera - .plus(robotToCamera.inverse()); // field-to-robot - // var alt = new Pose3d() - // .plus(pnpResults.alt) // field-to-camera - // .plus(robotToCamera.inverse()); // field-to-robot - - return Optional.of( - new EstimatedRobotPose(best, result.getTimestampSeconds(), result.getTargets())); - } else { - // TODO fallback strategy? Should we just always do solvePNP? - return Optional.empty(); - } - } - /** * Return the estimated position of the robot with the lowest position ambiguity from a List of * pipeline results. 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 61e1d060b7..3ed625b95c 100644 --- a/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java +++ b/photon-lib/src/test/java/org/photonvision/estimation/ApriltagWorkbenchTest.java @@ -84,7 +84,7 @@ public void testMeme() throws IOException, InterruptedException { var pe = new PhotonPoseEstimator( - tagLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP, cam, robotToCamera); + tagLayout, PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY, cam, robotToCamera); var field = new Field2d(); SmartDashboard.putData(field); diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 2f5d8f3d05..f4410cd27f 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -284,10 +284,10 @@ private static void addTestModeSources() { var fvs2023 = new FileVisionSource(camConf2023); collectedSources.add(fvs2023); - collectedSources.add(fvs2022); - collectedSources.add(fvsShape); - collectedSources.add(fvs2020); - collectedSources.add(fvs2019); + // collectedSources.add(fvs2022); + // collectedSources.add(fvsShape); + // collectedSources.add(fvs2020); + // collectedSources.add(fvs2019); ConfigManager.getInstance().unloadCameraConfigs(); VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start); @@ -295,6 +295,8 @@ private static void addTestModeSources() { } public static void main(String[] args) { + isTestMode = true; + try { TestUtils.loadLibraries(); logger.info("Native libraries loaded."); diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java index b611fc3082..907af35eae 100644 --- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java +++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java @@ -88,6 +88,12 @@ public static void onSettingUpload(Context ctx) { logger.debug("Processing uploaded hardware settings" + file.getFilename()); ConfigManager.getInstance().saveUploadedHardwareSettings(tempFilePath.toPath()); + } else if (file.getFilename().equals(ConfigManager.ATFL_SET_FNAME)) { + // Filenames matching the tag layout .json file are assumed to be + // network config .json's + logger.debug("Processing uploaded tag layout " + file.getFilename()); + ConfigManager.getInstance().saveUploadedApriltagLayout(tempFilePath.toPath()); + } else if (file.getFilename().equals(ConfigManager.NET_SET_FNAME)) { // Filenames matching the network config .json file are assumed to be // network config .json's From 6c78e6633226304b2f460f8c810760cdf47772b0 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Tue, 28 Feb 2023 13:31:53 -0500 Subject: [PATCH 027/115] Force flush on shutdown? idk --- .../common/configuration/ConfigManager.java | 202 +++++++++--------- .../common/hardware/HardwareManager.java | 3 + 2 files changed, 107 insertions(+), 98 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java index 94aab34bf1..43a265f9b5 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java @@ -58,6 +58,8 @@ public class ConfigManager { private long saveRequestTimestamp = -1; private Thread settingsSaveThread; + private static final Object m_settingsMutex = new Object(); + public static ConfigManager getInstance() { if (INSTANCE == null) { INSTANCE = new ConfigManager(getRootFolder()); @@ -102,149 +104,153 @@ private static Path getRootFolder() { } public void load() { - logger.info("Loading settings..."); - if (!configDirectoryFile.exists()) { - if (configDirectoryFile.mkdirs()) { - logger.debug("Root config folder did not exist. Created!"); - } else { - logger.error("Failed to create root config folder!"); + synchronized (m_settingsMutex) { + logger.info("Loading settings..."); + if (!configDirectoryFile.exists()) { + if (configDirectoryFile.mkdirs()) { + logger.debug("Root config folder did not exist. Created!"); + } else { + logger.error("Failed to create root config folder!"); + } } - } - if (!configDirectoryFile.canWrite()) { - logger.debug("Making root dir writeable..."); - try { - var success = configDirectoryFile.setWritable(true); - if (success) logger.debug("Set root dir writeable!"); - else logger.error("Could not make root dir writeable!"); - } catch (SecurityException e) { - logger.error("Could not make root dir writeable!", e); + if (!configDirectoryFile.canWrite()) { + logger.debug("Making root dir writeable..."); + try { + var success = configDirectoryFile.setWritable(true); + if (success) logger.debug("Set root dir writeable!"); + else logger.error("Could not make root dir writeable!"); + } catch (SecurityException e) { + logger.error("Could not make root dir writeable!", e); + } } - } - HardwareConfig hardwareConfig; - HardwareSettings hardwareSettings; - NetworkConfig networkConfig; + HardwareConfig hardwareConfig; + HardwareSettings hardwareSettings; + NetworkConfig networkConfig; - if (hardwareConfigFile.exists()) { - try { - hardwareConfig = - JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class); - if (hardwareConfig == null) { + if (hardwareConfigFile.exists()) { + try { + hardwareConfig = + JacksonUtils.deserialize(hardwareConfigFile.toPath(), HardwareConfig.class); + if (hardwareConfig == null) { + logger.error("Could not deserialize hardware config! Loading defaults"); + hardwareConfig = new HardwareConfig(); + } + } catch (IOException e) { logger.error("Could not deserialize hardware config! Loading defaults"); hardwareConfig = new HardwareConfig(); } - } catch (IOException e) { - logger.error("Could not deserialize hardware config! Loading defaults"); + } else { + logger.info("Hardware config does not exist! Loading defaults"); hardwareConfig = new HardwareConfig(); } - } else { - logger.info("Hardware config does not exist! Loading defaults"); - hardwareConfig = new HardwareConfig(); - } - if (hardwareSettingsFile.exists()) { - try { - hardwareSettings = - JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class); - if (hardwareSettings == null) { + if (hardwareSettingsFile.exists()) { + try { + hardwareSettings = + JacksonUtils.deserialize(hardwareSettingsFile.toPath(), HardwareSettings.class); + if (hardwareSettings == null) { + logger.error("Could not deserialize hardware settings! Loading defaults"); + hardwareSettings = new HardwareSettings(); + } + } catch (IOException e) { logger.error("Could not deserialize hardware settings! Loading defaults"); hardwareSettings = new HardwareSettings(); } - } catch (IOException e) { - logger.error("Could not deserialize hardware settings! Loading defaults"); + } else { + logger.info("Hardware settings does not exist! Loading defaults"); hardwareSettings = new HardwareSettings(); } - } else { - logger.info("Hardware settings does not exist! Loading defaults"); - hardwareSettings = new HardwareSettings(); - } - if (networkConfigFile.exists()) { - try { - networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class); - if (networkConfig == null) { + if (networkConfigFile.exists()) { + try { + networkConfig = JacksonUtils.deserialize(networkConfigFile.toPath(), NetworkConfig.class); + if (networkConfig == null) { + logger.error("Could not deserialize network config! Loading defaults"); + networkConfig = new NetworkConfig(); + } + } catch (IOException e) { logger.error("Could not deserialize network config! Loading defaults"); networkConfig = new NetworkConfig(); } - } catch (IOException e) { - logger.error("Could not deserialize network config! Loading defaults"); + } else { + logger.info("Network config file does not exist! Loading defaults"); networkConfig = new NetworkConfig(); } - } else { - logger.info("Network config file does not exist! Loading defaults"); - networkConfig = new NetworkConfig(); - } - if (!camerasFolder.exists()) { - if (camerasFolder.mkdirs()) { - logger.debug("Cameras config folder did not exist. Created!"); - } else { - logger.error("Failed to create cameras config folder!"); + if (!camerasFolder.exists()) { + if (camerasFolder.mkdirs()) { + logger.debug("Cameras config folder did not exist. Created!"); + } else { + logger.error("Failed to create cameras config folder!"); + } } - } - HashMap cameraConfigurations = loadCameraConfigs(); + HashMap cameraConfigurations = loadCameraConfigs(); - this.config = - new PhotonConfiguration( - hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations); + this.config = + new PhotonConfiguration( + hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations); + } } public void saveToDisk() { - // Delete old configs - FileUtils.deleteDirectory(camerasFolder.toPath()); - - try { - JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig()); - } catch (IOException e) { - logger.error("Could not save network config!", e); - } - try { - JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings()); - } catch (IOException e) { - logger.error("Could not save hardware config!", e); - } - - // save all of our cameras - var cameraConfigMap = config.getCameraConfigurations(); - for (var subdirName : cameraConfigMap.keySet()) { - var camConfig = cameraConfigMap.get(subdirName); - var subdir = Path.of(camerasFolder.toPath().toString(), subdirName); - - if (!subdir.toFile().exists()) { - // TODO: check for error - subdir.toFile().mkdirs(); - } + synchronized (m_settingsMutex) { + // Delete old configs + FileUtils.deleteDirectory(camerasFolder.toPath()); try { - JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig); + JacksonUtils.serialize(networkConfigFile.toPath(), config.getNetworkConfig()); } catch (IOException e) { - logger.error("Could not save config.json for " + subdir, e); + logger.error("Could not save network config!", e); } - try { - JacksonUtils.serialize( - Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings); + JacksonUtils.serialize(hardwareSettingsFile.toPath(), config.getHardwareSettings()); } catch (IOException e) { - logger.error("Could not save drivermode.json for " + subdir, e); + logger.error("Could not save hardware config!", e); } - for (var pipe : camConfig.pipelineSettings) { - var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json"); + // save all of our cameras + var cameraConfigMap = config.getCameraConfigurations(); + for (var subdirName : cameraConfigMap.keySet()) { + var camConfig = cameraConfigMap.get(subdirName); + var subdir = Path.of(camerasFolder.toPath().toString(), subdirName); - if (!pipePath.getParent().toFile().exists()) { + if (!subdir.toFile().exists()) { // TODO: check for error - pipePath.getParent().toFile().mkdirs(); + subdir.toFile().mkdirs(); + } + + try { + JacksonUtils.serialize(Path.of(subdir.toString(), "config.json"), camConfig); + } catch (IOException e) { + logger.error("Could not save config.json for " + subdir, e); } try { - JacksonUtils.serialize(pipePath, pipe); + JacksonUtils.serialize( + Path.of(subdir.toString(), "drivermode.json"), camConfig.driveModeSettings); } catch (IOException e) { - logger.error("Could not save " + pipe.pipelineNickname + ".json!", e); + logger.error("Could not save drivermode.json for " + subdir, e); + } + + for (var pipe : camConfig.pipelineSettings) { + var pipePath = Path.of(subdir.toString(), "pipelines", pipe.pipelineNickname + ".json"); + + if (!pipePath.getParent().toFile().exists()) { + // TODO: check for error + pipePath.getParent().toFile().mkdirs(); + } + + try { + JacksonUtils.serialize(pipePath, pipe); + } catch (IOException e) { + logger.error("Could not save " + pipe.pipelineNickname + ".json!", e); + } } } + logger.info("Settings saved!"); } - logger.info("Settings saved!"); } private HashMap loadCameraConfigs() { diff --git a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java index 24e06cc7cd..5801ee75f9 100644 --- a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java +++ b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java @@ -138,6 +138,9 @@ public void setBrightnessPercent(int percent) { private void onJvmExit() { logger.info("Shutting down LEDs..."); if (visionLED != null) visionLED.setState(false); + + logger.info("Force-flushing settings..."); + ConfigManager.getInstance().saveToDisk(); } public boolean restartDevice() { From 0c282f808e07f3cf860a26f03d311b7367ebcf5a Mon Sep 17 00:00:00 2001 From: Murad Date: Tue, 11 Apr 2023 23:48:08 -0500 Subject: [PATCH 028/115] Added ability to construct PhotonPoseEstimator without a PhotonCamera instance - Made alternate constructor for ```PhotonPoseEstimator``` that doesn't need ```PhotonCamera``` - Changed ```update``` function to take in missing cameraMatrixData and coeffsData that were previously received from PhotonCamera. - Changed the internal ```update``` and ```multiTagPNP``` function to take in cameraMatrixData & coeffsData - If not needed for the specified strategy then the parameters are simply not used. Also if PhotonCamera is used in constructor it instead backs up to that. --- .../org/photonvision/PhotonPoseEstimator.java | 76 +++++++++++++++---- .../src/main/resources/web/index.html | 2 +- 2 files changed, 64 insertions(+), 14 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 2b94f3d261..4cab556f7c 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -26,12 +26,18 @@ import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.MatBuilder; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; import edu.wpi.first.wpilibj.DriverStation; import java.util.ArrayList; import java.util.HashSet; @@ -85,14 +91,14 @@ public enum PoseStrategy { * Create a new PhotonPoseEstimator. * * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects - * with respect to the FIRST field using the Field + * with respect to the FIRST field using the Field * Coordinate System. * @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 + * robot ➔ camera) in the Robot * Coordinate System. */ public PhotonPoseEstimator( @@ -106,6 +112,14 @@ public PhotonPoseEstimator( this.robotToCamera = robotToCamera; } + public PhotonPoseEstimator( + AprilTagFieldLayout fieldTags, PoseStrategy strategy, Transform3d robotToCamera) { + this.fieldTags = fieldTags; + this.primaryStrategy = strategy; + this.camera = null; + this.robotToCamera = robotToCamera; + } + /** Invalidates the pose cache. */ private void invalidatePoseCache() { poseCacheTimestampSeconds = -1; @@ -251,7 +265,7 @@ public Optional update() { PhotonPipelineResult cameraResult = camera.getLatestResult(); - return update(cameraResult); + return update(cameraResult, null, null); } /** @@ -263,12 +277,30 @@ public Optional update() { * pipeline results used to create the estimate */ public Optional update(PhotonPipelineResult cameraResult) { + return update(cameraResult, null, null); + } + + /** + * Updates the estimated position of the robot. Returns empty if there are no cameras set or no + * targets were found from the cameras. + * + * @param cameraResult The latest pipeline result from the camera + * @param cameraMatrixData Camera calibration data that can be used in the case of no assigned + * PhotonCamera. + * @param coeffsData Camera calibration data that can be used in the case of no assigned + * PhotonCamera + * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and + * pipeline results used to create the estimate + */ + public Optional update( + PhotonPipelineResult cameraResult, double[] cameraMatrixData, double[] coeffsData) { // Time in the past -- give up, since the following if expects times > 0 if (cameraResult.getTimestampSeconds() < 0) { return Optional.empty(); } - // If the pose cache timestamp was set, and the result is from the same timestamp, return an + // If the pose cache timestamp was set, and the result is from the same + // timestamp, return an // empty result if (poseCacheTimestampSeconds > 0 && Math.abs(poseCacheTimestampSeconds - cameraResult.getTimestampSeconds()) < 1e-6) { @@ -283,11 +315,14 @@ public Optional update(PhotonPipelineResult cameraResult) { return Optional.empty(); } - return update(cameraResult, this.primaryStrategy); + return update(cameraResult, cameraMatrixData, coeffsData, this.primaryStrategy); } private Optional update( - PhotonPipelineResult cameraResult, PoseStrategy strat) { + PhotonPipelineResult cameraResult, + double[] cameraMatrixData, + double[] coeffsData, + PoseStrategy strat) { Optional estimatedPose; switch (strat) { case LOWEST_AMBIGUITY: @@ -307,7 +342,7 @@ private Optional update( estimatedPose = averageBestTargetsStrategy(cameraResult); break; case MULTI_TAG_PNP: - estimatedPose = multiTagPNPStrategy(cameraResult); + estimatedPose = multiTagPNPStrategy(cameraResult, cameraMatrixData, coeffsData); break; default: DriverStation.reportError( @@ -322,7 +357,8 @@ private Optional update( return estimatedPose; } - private Optional multiTagPNPStrategy(PhotonPipelineResult result) { + private Optional multiTagPNPStrategy( + PhotonPipelineResult result, double[] cameraMatrixData, double[] coeffsData) { // Arrays we need declared up front var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); @@ -331,7 +367,7 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re if (result.getTargets().size() < 2) { // Run fallback strategy instead - return update(result, this.multiTagFallbackStrategy); + return update(result, cameraMatrixData, coeffsData, this.multiTagFallbackStrategy); } for (var target : result.getTargets()) { @@ -352,8 +388,22 @@ private Optional multiTagPNPStrategy(PhotonPipelineResult re fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } - var cameraMatrixOpt = camera.getCameraMatrix(); - var distCoeffsOpt = camera.getDistCoeffs(); + Optional> cameraMatrixOpt = Optional.empty(); + Optional> distCoeffsOpt = Optional.empty(); + + if (camera != null) { + cameraMatrixOpt = camera.getCameraMatrix(); + distCoeffsOpt = camera.getDistCoeffs(); + } + + if (cameraMatrixData != null && cameraMatrixData.length == 9) { + cameraMatrixOpt = Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrixData)); + } + + if (coeffsData != null && coeffsData.length == 5) { + distCoeffsOpt = Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(coeffsData)); + } + boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); // multi-target solvePNP diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html index 988f55e6a3..b3134ff8d5 100644 --- a/photon-server/src/main/resources/web/index.html +++ b/photon-server/src/main/resources/web/index.html @@ -1 +1 @@ -

    UI has not been copied!

    +PhotonVision
    \ No newline at end of file From 2921ca926ba94aa8239685a32a0d65db35c18b54 Mon Sep 17 00:00:00 2001 From: Murad Date: Tue, 11 Apr 2023 23:51:02 -0500 Subject: [PATCH 029/115] Fixed accidental file change --- photon-server/src/main/resources/web/index.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/photon-server/src/main/resources/web/index.html b/photon-server/src/main/resources/web/index.html index b3134ff8d5..988f55e6a3 100644 --- a/photon-server/src/main/resources/web/index.html +++ b/photon-server/src/main/resources/web/index.html @@ -1 +1 @@ -PhotonVision
    \ No newline at end of file +

    UI has not been copied!

    From dd58ce861c577eba3416f8a98dbd83d62ebb084b Mon Sep 17 00:00:00 2001 From: Murad Date: Wed, 12 Apr 2023 14:09:54 -0500 Subject: [PATCH 030/115] Changed raw double arrays to use optional matrices Changed every use of double[] to optionals to make code more understandable. --- .../org/photonvision/PhotonPoseEstimator.java | 33 +++++++------------ 1 file changed, 12 insertions(+), 21 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 4cab556f7c..62f9785cf4 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -26,9 +26,7 @@ import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.MatBuilder; import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; @@ -265,7 +263,7 @@ public Optional update() { PhotonPipelineResult cameraResult = camera.getLatestResult(); - return update(cameraResult, null, null); + return update(cameraResult, Optional.empty(), Optional.empty()); } /** @@ -277,7 +275,7 @@ public Optional update() { * pipeline results used to create the estimate */ public Optional update(PhotonPipelineResult cameraResult) { - return update(cameraResult, null, null); + return update(cameraResult, Optional.empty(), Optional.empty()); } /** @@ -293,7 +291,9 @@ public Optional update(PhotonPipelineResult cameraResult) { * pipeline results used to create the estimate */ public Optional update( - PhotonPipelineResult cameraResult, double[] cameraMatrixData, double[] coeffsData) { + PhotonPipelineResult cameraResult, + Optional> cameraMatrixData, + Optional> coeffsData) { // Time in the past -- give up, since the following if expects times > 0 if (cameraResult.getTimestampSeconds() < 0) { return Optional.empty(); @@ -320,8 +320,8 @@ public Optional update( private Optional update( PhotonPipelineResult cameraResult, - double[] cameraMatrixData, - double[] coeffsData, + Optional> cameraMatrixData, + Optional> coeffsData, PoseStrategy strat) { Optional estimatedPose; switch (strat) { @@ -358,7 +358,9 @@ private Optional update( } private Optional multiTagPNPStrategy( - PhotonPipelineResult result, double[] cameraMatrixData, double[] coeffsData) { + PhotonPipelineResult result, + Optional> cameraMatrixOpt, + Optional> distCoeffsOpt) { // Arrays we need declared up front var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); @@ -367,7 +369,7 @@ private Optional multiTagPNPStrategy( if (result.getTargets().size() < 2) { // Run fallback strategy instead - return update(result, cameraMatrixData, coeffsData, this.multiTagFallbackStrategy); + return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy); } for (var target : result.getTargets()) { @@ -388,22 +390,11 @@ private Optional multiTagPNPStrategy( fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } - Optional> cameraMatrixOpt = Optional.empty(); - Optional> distCoeffsOpt = Optional.empty(); - - if (camera != null) { + if (camera != null && cameraMatrixOpt.isEmpty() && distCoeffsOpt.isEmpty()) { cameraMatrixOpt = camera.getCameraMatrix(); distCoeffsOpt = camera.getDistCoeffs(); } - if (cameraMatrixData != null && cameraMatrixData.length == 9) { - cameraMatrixOpt = Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrixData)); - } - - if (coeffsData != null && coeffsData.length == 5) { - distCoeffsOpt = Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(coeffsData)); - } - boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); // multi-target solvePNP From 7ef9a70ce663939eb05193726531a2d71a65669e Mon Sep 17 00:00:00 2001 From: Murad Date: Thu, 13 Apr 2023 22:03:18 -0500 Subject: [PATCH 031/115] Implemented PhotonPoseEstimator changes in C++ & removed camera default * Added all changes from Java into C++ * Removed check for camera in multiPNP to default if optional was null. --- .gitignore | 2 + .../org/photonvision/PhotonPoseEstimator.java | 244 ++++++++++-------- .../cpp/photonlib/PhotonPoseEstimator.cpp | 55 +++- 3 files changed, 183 insertions(+), 118 deletions(-) diff --git a/.gitignore b/.gitignore index e0aad645cb..bf87286f86 100644 --- a/.gitignore +++ b/.gitignore @@ -10,6 +10,8 @@ Python/app/handlers/__pycache__/ \.vscode/ +/.vs + backend/settings/ /.vscode/ # Compiled class file diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 62f9785cf4..14ccac71bd 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -48,12 +48,17 @@ import org.photonvision.targeting.TargetCorner; /** - * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a - * given timestamp on the field to produce a single robot in field pose, using the strategy set + * The PhotonPoseEstimator class filters or combines readings from all the + * AprilTags visible at a + * given timestamp on the field to produce a single robot in field pose, using + * the strategy set * below. Example usage can be found in our apriltagExample example project. */ public class PhotonPoseEstimator { - /** Position estimation strategies that can be used by the {@link PhotonPoseEstimator} class. */ + /** + * Position estimation strategies that can be used by the + * {@link PhotonPoseEstimator} class. + */ public enum PoseStrategy { /** Choose the Pose with the lowest ambiguity. */ LOWEST_AMBIGUITY, @@ -88,16 +93,18 @@ public enum PoseStrategy { /** * Create a new PhotonPoseEstimator. * - * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects - * with respect to the FIRST field using the Field - * Coordinate System. - * @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. + * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag + * IDs to Pose3d objects + * with respect to the FIRST field using the Field + * Coordinate System. + * @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, @@ -168,7 +175,8 @@ public void setPrimaryStrategy(PoseStrategy strategy) { } /** - * Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen. Must + * Set the Position Estimation Strategy used in multi-tag mode when only one tag + * can be seen. Must * NOT be MULTI_TAG_PNP * * @param strategy the strategy to set @@ -193,7 +201,8 @@ public Pose3d getReferencePose() { } /** - * Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE + * Update the stored reference pose for use when using the + * CLOSEST_TO_REFERENCE_POSE * strategy. * * @param referencePose the referencePose to set @@ -204,7 +213,8 @@ public void setReferencePose(Pose3d referencePose) { } /** - * Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE + * Update the stored reference pose for use when using the + * CLOSEST_TO_REFERENCE_POSE * strategy. * * @param referencePose the referencePose to set @@ -214,7 +224,8 @@ public void setReferencePose(Pose2d referencePose) { } /** - * Update the stored last pose. Useful for setting the initial estimate when using the + * Update the stored last pose. Useful for setting the initial estimate when + * using the * CLOSEST_TO_LAST_POSE strategy. * * @param lastPose the lastPose to set @@ -224,7 +235,8 @@ public void setLastPose(Pose3d lastPose) { } /** - * Update the stored last pose. Useful for setting the initial estimate when using the + * Update the stored last pose. Useful for setting the initial estimate when + * using the * CLOSEST_TO_LAST_POSE strategy. * * @param lastPose the lastPose to set @@ -233,7 +245,10 @@ public void setLastPose(Pose2d lastPose) { setLastPose(new Pose3d(lastPose)); } - /** @return The current transform from the center of the robot to the camera mount position */ + /** + * @return The current transform from the center of the robot to the camera + * mount position + */ public Transform3d getRobotToCameraTransform() { return robotToCamera; } @@ -241,19 +256,22 @@ public Transform3d getRobotToCameraTransform() { /** * Useful for pan and tilt mechanisms and such. * - * @param robotToCamera The current transform from the center of the robot to the camera mount - * position + * @param robotToCamera The current transform from the center of the robot to + * the camera mount + * position */ public void setRobotToCameraTransform(Transform3d robotToCamera) { this.robotToCamera = robotToCamera; } /** - * Poll data from the configured cameras and update the estimated position of the robot. Returns + * Poll data from the configured cameras and update the estimated position of + * the robot. Returns * empty if there are no cameras set or no targets were found from the cameras. * - * @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create - * the estimate + * @return an EstimatedRobotPose with an estimated pose, the timestamp, and + * targets used to create + * the estimate */ public Optional update() { if (camera == null) { @@ -263,32 +281,38 @@ public Optional update() { PhotonPipelineResult cameraResult = camera.getLatestResult(); - return update(cameraResult, Optional.empty(), Optional.empty()); + return update(cameraResult, camera.getCameraMatrix(), camera.getDistCoeffs()); } /** - * Updates the estimated position of the robot. Returns empty if there are no cameras set or no + * Updates the estimated position of the robot. Returns empty if there are no + * cameras set or no * targets were found from the cameras. * * @param cameraResult The latest pipeline result from the camera - * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and - * pipeline results used to create the estimate + * @return an EstimatedRobotPose with an estimated pose, and information about + * the camera(s) and + * pipeline results used to create the estimate */ public Optional update(PhotonPipelineResult cameraResult) { return update(cameraResult, Optional.empty(), Optional.empty()); } /** - * Updates the estimated position of the robot. Returns empty if there are no cameras set or no + * Updates the estimated position of the robot. Returns empty if there are no + * cameras set or no * targets were found from the cameras. * - * @param cameraResult The latest pipeline result from the camera - * @param cameraMatrixData Camera calibration data that can be used in the case of no assigned - * PhotonCamera. - * @param coeffsData Camera calibration data that can be used in the case of no assigned - * PhotonCamera - * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and - * pipeline results used to create the estimate + * @param cameraResult The latest pipeline result from the camera + * @param cameraMatrixData Camera calibration data that can be used in the case + * of no assigned + * PhotonCamera. + * @param coeffsData Camera calibration data that can be used in the case + * of no assigned + * PhotonCamera + * @return an EstimatedRobotPose with an estimated pose, and information about + * the camera(s) and + * pipeline results used to create the estimate */ public Optional update( PhotonPipelineResult cameraResult, @@ -390,23 +414,16 @@ private Optional multiTagPNPStrategy( fieldToCamsAlt.add(tagPose.transformBy(target.getAlternateCameraToTarget().inverse())); } - if (camera != null && cameraMatrixOpt.isEmpty() && distCoeffsOpt.isEmpty()) { - cameraMatrixOpt = camera.getCameraMatrix(); - distCoeffsOpt = camera.getDistCoeffs(); - } - boolean hasCalibData = cameraMatrixOpt.isPresent() && distCoeffsOpt.isPresent(); // multi-target solvePNP if (hasCalibData) { var cameraMatrix = cameraMatrixOpt.get(); var distCoeffs = distCoeffsOpt.get(); - var pnpResults = - VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); - var best = - new Pose3d() - .plus(pnpResults.best) // field-to-camera - .plus(robotToCamera.inverse()); // field-to-robot + var pnpResults = VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); + var best = new Pose3d() + .plus(pnpResults.best) // field-to-camera + .plus(robotToCamera.inverse()); // field-to-robot // var alt = new Pose3d() // .plus(pnpResults.alt) // field-to-camera // .plus(robotToCamera.inverse()); // field-to-robot @@ -420,12 +437,14 @@ private Optional multiTagPNPStrategy( } /** - * Return the estimated position of the robot with the lowest position ambiguity from a List of + * Return the estimated position of the robot with the lowest position ambiguity + * from a List of * pipeline results. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated + * timestamp of this + * estimation. */ private Optional lowestAmbiguityStrategy(PhotonPipelineResult result) { PhotonTrackedTarget lowestAmbiguityTarget = null; @@ -443,7 +462,8 @@ private Optional lowestAmbiguityStrategy(PhotonPipelineResul // Although there are confirmed to be targets, none of them may be fiducial // targets. - if (lowestAmbiguityTarget == null) return Optional.empty(); + if (lowestAmbiguityTarget == null) + return Optional.empty(); int targetFiducialId = lowestAmbiguityTarget.getFiducialId(); @@ -465,12 +485,14 @@ private Optional lowestAmbiguityStrategy(PhotonPipelineResul } /** - * Return the estimated position of the robot using the target with the lowest delta height + * Return the estimated position of the robot using the target with the lowest + * delta height * difference between the estimated and actual height of the camera. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated + * timestamp of this + * estimation. */ private Optional closestToCameraHeightStrategy(PhotonPipelineResult result) { double smallestHeightDifference = 10e9; @@ -482,7 +504,8 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) continue; + if (targetFiducialId == -1) + continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -491,43 +514,39 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin continue; } - double alternateTransformDelta = - Math.abs( - robotToCamera.getZ() - - targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .getZ()); - double bestTransformDelta = - Math.abs( - robotToCamera.getZ() - - targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .getZ()); + double alternateTransformDelta = Math.abs( + robotToCamera.getZ() + - targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .getZ()); + double bestTransformDelta = Math.abs( + robotToCamera.getZ() + - targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .getZ()); if (alternateTransformDelta < smallestHeightDifference) { smallestHeightDifference = alternateTransformDelta; - closestHeightTarget = - new EstimatedRobotPose( - targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds(), - result.getTargets()); + closestHeightTarget = new EstimatedRobotPose( + targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()), + result.getTimestampSeconds(), + result.getTargets()); } if (bestTransformDelta < smallestHeightDifference) { smallestHeightDifference = bestTransformDelta; - closestHeightTarget = - new EstimatedRobotPose( - targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds(), - result.getTargets()); + closestHeightTarget = new EstimatedRobotPose( + targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()), + result.getTimestampSeconds(), + result.getTargets()); } } @@ -536,13 +555,16 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin } /** - * Return the estimated position of the robot using the target with the lowest delta in the vector + * Return the estimated position of the robot using the target with the lowest + * delta in the vector * magnitude between it and the reference pose. * - * @param result pipeline result - * @param referencePose reference pose to check vector magnitude difference against. - * @return the estimated position of the robot in the FCS and the estimated timestamp of this - * estimation. + * @param result pipeline result + * @param referencePose reference pose to check vector magnitude difference + * against. + * @return the estimated position of the robot in the FCS and the estimated + * timestamp of this + * estimation. */ private Optional closestToReferencePoseStrategy( PhotonPipelineResult result, Pose3d referencePose) { @@ -562,7 +584,8 @@ private Optional closestToReferencePoseStrategy( // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) continue; + if (targetFiducialId == -1) + continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -571,31 +594,27 @@ private Optional closestToReferencePoseStrategy( continue; } - Pose3d altTransformPosition = - targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()); - Pose3d bestTransformPosition = - targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()); + Pose3d altTransformPosition = targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()); + Pose3d bestTransformPosition = targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()); double altDifference = Math.abs(calculateDifference(referencePose, altTransformPosition)); double bestDifference = Math.abs(calculateDifference(referencePose, bestTransformPosition)); if (altDifference < smallestPoseDelta) { smallestPoseDelta = altDifference; - lowestDeltaPose = - new EstimatedRobotPose( - altTransformPosition, result.getTimestampSeconds(), result.getTargets()); + lowestDeltaPose = new EstimatedRobotPose( + altTransformPosition, result.getTimestampSeconds(), result.getTargets()); } if (bestDifference < smallestPoseDelta) { smallestPoseDelta = bestDifference; - lowestDeltaPose = - new EstimatedRobotPose( - bestTransformPosition, result.getTimestampSeconds(), result.getTargets()); + lowestDeltaPose = new EstimatedRobotPose( + bestTransformPosition, result.getTimestampSeconds(), result.getTargets()); } } return Optional.ofNullable(lowestDeltaPose); @@ -605,8 +624,9 @@ private Optional closestToReferencePoseStrategy( * Return the average of the best target poses using ambiguity as weight. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated + * timestamp of this + * estimation. */ private Optional averageBestTargetsStrategy(PhotonPipelineResult result) { List> estimatedRobotPoses = new ArrayList<>(); @@ -618,7 +638,8 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) continue; + if (targetFiducialId == -1) + continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -657,7 +678,8 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe Translation3d transform = new Translation3d(); Rotation3d rotation = new Rotation3d(); - if (estimatedRobotPoses.isEmpty()) return Optional.empty(); + if (estimatedRobotPoses.isEmpty()) + return Optional.empty(); for (Pair pair : estimatedRobotPoses) { // Total ambiguity is non-zero confirmed because if it was zero, that pose was diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 5b7ff54853..b40326e3b6 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -58,6 +58,17 @@ cv::Point3d TagCornerToObjectPoint(units::meter_t cornerX, units::meter_t cornerY, frc::Pose3d tagPose); } // namespace detail +PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, + PoseStrategy strat, + frc::Transform3d robotToCamera) + : aprilTags(tags), + strategy(strat), + nullptr, + m_robotToCamera(robotToCamera), + lastPose(frc::Pose3d()), + referencePose(frc::Pose3d()), + poseCacheTimestamp(-1_s) {} + PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, PoseStrategy strat, PhotonCamera&& cam, frc::Transform3d robotToCamera) @@ -84,8 +95,12 @@ void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { } std::optional PhotonPoseEstimator::Update() { + if (camera == nullptr) { + FRC_ReportError(frc::warn::Warning, "[PhotonPoseEstimator] Missing camera!", ""); + return std::nullopt; + } auto result = camera.GetLatestResult(); - return Update(result); + return Update(result, camera.GetCameraMatrix(), camera.GetDistCoeffs()); } std::optional PhotonPoseEstimator::Update( @@ -110,11 +125,38 @@ std::optional PhotonPoseEstimator::Update( return std::nullopt; } - return Update(result, this->strategy); + return Update(result, std::nullopt, std::nullopt, this->strategy); } std::optional PhotonPoseEstimator::Update( - PhotonPipelineResult result, PoseStrategy strategy) { + const PhotonPipelineResult& result, optional cameraMatrixData, + optional coeffsData, ) { + // Time in the past -- give up, since the following if expects times > 0 + if (result.GetTimestamp() < 0_s) { + return std::nullopt; + } + + // If the pose cache timestamp was set, and the result is from the same + // timestamp, return an empty result + if (poseCacheTimestamp > 0_s && + units::math::abs(poseCacheTimestamp - result.GetTimestamp()) < 0.001_ms) { + return std::nullopt; + } + + // Remember the timestamp of the current result used + poseCacheTimestamp = result.GetTimestamp(); + + // If no targets seen, trivial case -- return empty result + if (!result.HasTargets()) { + return std::nullopt; + } + + return Update(result, cameraMatrixData, coeffsData, this->strategy); +} + +std::optional PhotonPoseEstimator::Update( + PhotonPipelineResult result, optional cameraMatrixData, + optional coeffsData, PoseStrategy strategy) { std::optional ret = std::nullopt; switch (strategy) { @@ -135,7 +177,7 @@ std::optional PhotonPoseEstimator::Update( ret = AverageBestTargetsStrategy(result); break; case ::photonlib::MULTI_TAG_PNP: - ret = MultiTagPnpStrategy(result); + ret = MultiTagPnpStrategy(result, coeffsData, cameraMatrixData); break; default: FRC_ReportError(frc::warn::Warning, "Invalid Pose Strategy selected!", @@ -328,7 +370,8 @@ frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { } std::optional PhotonPoseEstimator::MultiTagPnpStrategy( - PhotonPipelineResult result) { + PhotonPipelineResult result, optional camMat, + optional distCoeffs) { using namespace frc; if (!result.HasTargets() || result.GetTargets().size() < 2) { @@ -364,8 +407,6 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( cv::Mat const rvec(3, 1, cv::DataType::type); cv::Mat const tvec(3, 1, cv::DataType::type); - auto const camMat = camera.GetCameraMatrix(); - auto const distCoeffs = camera.GetDistCoeffs(); if (!camMat || !distCoeffs) { return std::nullopt; } From 6c91ba11b6fd21d2a8c2a34578ab828e55248028 Mon Sep 17 00:00:00 2001 From: Murad Date: Thu, 13 Apr 2023 22:06:24 -0500 Subject: [PATCH 032/115] Fixed formatting --- .../org/photonvision/PhotonPoseEstimator.java | 237 ++++++++---------- 1 file changed, 105 insertions(+), 132 deletions(-) diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index 14ccac71bd..3adb56fdd3 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -48,17 +48,12 @@ import org.photonvision.targeting.TargetCorner; /** - * The PhotonPoseEstimator class filters or combines readings from all the - * AprilTags visible at a - * given timestamp on the field to produce a single robot in field pose, using - * the strategy set + * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a + * given timestamp on the field to produce a single robot in field pose, using the strategy set * below. Example usage can be found in our apriltagExample example project. */ public class PhotonPoseEstimator { - /** - * Position estimation strategies that can be used by the - * {@link PhotonPoseEstimator} class. - */ + /** Position estimation strategies that can be used by the {@link PhotonPoseEstimator} class. */ public enum PoseStrategy { /** Choose the Pose with the lowest ambiguity. */ LOWEST_AMBIGUITY, @@ -93,18 +88,16 @@ public enum PoseStrategy { /** * Create a new PhotonPoseEstimator. * - * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag - * IDs to Pose3d objects - * with respect to the FIRST field using the Field - * Coordinate System. - * @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. + * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects + * with respect to the FIRST field using the Field + * Coordinate System. + * @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, @@ -175,8 +168,7 @@ public void setPrimaryStrategy(PoseStrategy strategy) { } /** - * Set the Position Estimation Strategy used in multi-tag mode when only one tag - * can be seen. Must + * Set the Position Estimation Strategy used in multi-tag mode when only one tag can be seen. Must * NOT be MULTI_TAG_PNP * * @param strategy the strategy to set @@ -201,8 +193,7 @@ public Pose3d getReferencePose() { } /** - * Update the stored reference pose for use when using the - * CLOSEST_TO_REFERENCE_POSE + * Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE * strategy. * * @param referencePose the referencePose to set @@ -213,8 +204,7 @@ public void setReferencePose(Pose3d referencePose) { } /** - * Update the stored reference pose for use when using the - * CLOSEST_TO_REFERENCE_POSE + * Update the stored reference pose for use when using the CLOSEST_TO_REFERENCE_POSE * strategy. * * @param referencePose the referencePose to set @@ -224,8 +214,7 @@ public void setReferencePose(Pose2d referencePose) { } /** - * Update the stored last pose. Useful for setting the initial estimate when - * using the + * Update the stored last pose. Useful for setting the initial estimate when using the * CLOSEST_TO_LAST_POSE strategy. * * @param lastPose the lastPose to set @@ -235,8 +224,7 @@ public void setLastPose(Pose3d lastPose) { } /** - * Update the stored last pose. Useful for setting the initial estimate when - * using the + * Update the stored last pose. Useful for setting the initial estimate when using the * CLOSEST_TO_LAST_POSE strategy. * * @param lastPose the lastPose to set @@ -245,10 +233,7 @@ public void setLastPose(Pose2d lastPose) { setLastPose(new Pose3d(lastPose)); } - /** - * @return The current transform from the center of the robot to the camera - * mount position - */ + /** @return The current transform from the center of the robot to the camera mount position */ public Transform3d getRobotToCameraTransform() { return robotToCamera; } @@ -256,22 +241,19 @@ public Transform3d getRobotToCameraTransform() { /** * Useful for pan and tilt mechanisms and such. * - * @param robotToCamera The current transform from the center of the robot to - * the camera mount - * position + * @param robotToCamera The current transform from the center of the robot to the camera mount + * position */ public void setRobotToCameraTransform(Transform3d robotToCamera) { this.robotToCamera = robotToCamera; } /** - * Poll data from the configured cameras and update the estimated position of - * the robot. Returns + * Poll data from the configured cameras and update the estimated position of the robot. Returns * empty if there are no cameras set or no targets were found from the cameras. * - * @return an EstimatedRobotPose with an estimated pose, the timestamp, and - * targets used to create - * the estimate + * @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create + * the estimate */ public Optional update() { if (camera == null) { @@ -285,34 +267,28 @@ public Optional update() { } /** - * Updates the estimated position of the robot. Returns empty if there are no - * cameras set or no + * Updates the estimated position of the robot. Returns empty if there are no cameras set or no * targets were found from the cameras. * * @param cameraResult The latest pipeline result from the camera - * @return an EstimatedRobotPose with an estimated pose, and information about - * the camera(s) and - * pipeline results used to create the estimate + * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and + * pipeline results used to create the estimate */ public Optional update(PhotonPipelineResult cameraResult) { return update(cameraResult, Optional.empty(), Optional.empty()); } /** - * Updates the estimated position of the robot. Returns empty if there are no - * cameras set or no + * Updates the estimated position of the robot. Returns empty if there are no cameras set or no * targets were found from the cameras. * - * @param cameraResult The latest pipeline result from the camera - * @param cameraMatrixData Camera calibration data that can be used in the case - * of no assigned - * PhotonCamera. - * @param coeffsData Camera calibration data that can be used in the case - * of no assigned - * PhotonCamera - * @return an EstimatedRobotPose with an estimated pose, and information about - * the camera(s) and - * pipeline results used to create the estimate + * @param cameraResult The latest pipeline result from the camera + * @param cameraMatrixData Camera calibration data that can be used in the case of no assigned + * PhotonCamera. + * @param coeffsData Camera calibration data that can be used in the case of no assigned + * PhotonCamera + * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and + * pipeline results used to create the estimate */ public Optional update( PhotonPipelineResult cameraResult, @@ -420,10 +396,12 @@ private Optional multiTagPNPStrategy( if (hasCalibData) { var cameraMatrix = cameraMatrixOpt.get(); var distCoeffs = distCoeffsOpt.get(); - var pnpResults = VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); - var best = new Pose3d() - .plus(pnpResults.best) // field-to-camera - .plus(robotToCamera.inverse()); // field-to-robot + var pnpResults = + VisionEstimation.estimateCamPosePNP(cameraMatrix, distCoeffs, visCorners, knownVisTags); + var best = + new Pose3d() + .plus(pnpResults.best) // field-to-camera + .plus(robotToCamera.inverse()); // field-to-robot // var alt = new Pose3d() // .plus(pnpResults.alt) // field-to-camera // .plus(robotToCamera.inverse()); // field-to-robot @@ -437,14 +415,12 @@ private Optional multiTagPNPStrategy( } /** - * Return the estimated position of the robot with the lowest position ambiguity - * from a List of + * Return the estimated position of the robot with the lowest position ambiguity from a List of * pipeline results. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated - * timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated timestamp of this + * estimation. */ private Optional lowestAmbiguityStrategy(PhotonPipelineResult result) { PhotonTrackedTarget lowestAmbiguityTarget = null; @@ -462,8 +438,7 @@ private Optional lowestAmbiguityStrategy(PhotonPipelineResul // Although there are confirmed to be targets, none of them may be fiducial // targets. - if (lowestAmbiguityTarget == null) - return Optional.empty(); + if (lowestAmbiguityTarget == null) return Optional.empty(); int targetFiducialId = lowestAmbiguityTarget.getFiducialId(); @@ -485,14 +460,12 @@ private Optional lowestAmbiguityStrategy(PhotonPipelineResul } /** - * Return the estimated position of the robot using the target with the lowest - * delta height + * Return the estimated position of the robot using the target with the lowest delta height * difference between the estimated and actual height of the camera. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated - * timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated timestamp of this + * estimation. */ private Optional closestToCameraHeightStrategy(PhotonPipelineResult result) { double smallestHeightDifference = 10e9; @@ -504,8 +477,7 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) - continue; + if (targetFiducialId == -1) continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -514,39 +486,43 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin continue; } - double alternateTransformDelta = Math.abs( - robotToCamera.getZ() - - targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .getZ()); - double bestTransformDelta = Math.abs( - robotToCamera.getZ() - - targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .getZ()); + double alternateTransformDelta = + Math.abs( + robotToCamera.getZ() + - targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .getZ()); + double bestTransformDelta = + Math.abs( + robotToCamera.getZ() + - targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .getZ()); if (alternateTransformDelta < smallestHeightDifference) { smallestHeightDifference = alternateTransformDelta; - closestHeightTarget = new EstimatedRobotPose( - targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds(), - result.getTargets()); + closestHeightTarget = + new EstimatedRobotPose( + targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()), + result.getTimestampSeconds(), + result.getTargets()); } if (bestTransformDelta < smallestHeightDifference) { smallestHeightDifference = bestTransformDelta; - closestHeightTarget = new EstimatedRobotPose( - targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()), - result.getTimestampSeconds(), - result.getTargets()); + closestHeightTarget = + new EstimatedRobotPose( + targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()), + result.getTimestampSeconds(), + result.getTargets()); } } @@ -555,16 +531,13 @@ private Optional closestToCameraHeightStrategy(PhotonPipelin } /** - * Return the estimated position of the robot using the target with the lowest - * delta in the vector + * Return the estimated position of the robot using the target with the lowest delta in the vector * magnitude between it and the reference pose. * - * @param result pipeline result - * @param referencePose reference pose to check vector magnitude difference - * against. - * @return the estimated position of the robot in the FCS and the estimated - * timestamp of this - * estimation. + * @param result pipeline result + * @param referencePose reference pose to check vector magnitude difference against. + * @return the estimated position of the robot in the FCS and the estimated timestamp of this + * estimation. */ private Optional closestToReferencePoseStrategy( PhotonPipelineResult result, Pose3d referencePose) { @@ -584,8 +557,7 @@ private Optional closestToReferencePoseStrategy( // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) - continue; + if (targetFiducialId == -1) continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -594,27 +566,31 @@ private Optional closestToReferencePoseStrategy( continue; } - Pose3d altTransformPosition = targetPosition - .get() - .transformBy(target.getAlternateCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()); - Pose3d bestTransformPosition = targetPosition - .get() - .transformBy(target.getBestCameraToTarget().inverse()) - .transformBy(robotToCamera.inverse()); + Pose3d altTransformPosition = + targetPosition + .get() + .transformBy(target.getAlternateCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()); + Pose3d bestTransformPosition = + targetPosition + .get() + .transformBy(target.getBestCameraToTarget().inverse()) + .transformBy(robotToCamera.inverse()); double altDifference = Math.abs(calculateDifference(referencePose, altTransformPosition)); double bestDifference = Math.abs(calculateDifference(referencePose, bestTransformPosition)); if (altDifference < smallestPoseDelta) { smallestPoseDelta = altDifference; - lowestDeltaPose = new EstimatedRobotPose( - altTransformPosition, result.getTimestampSeconds(), result.getTargets()); + lowestDeltaPose = + new EstimatedRobotPose( + altTransformPosition, result.getTimestampSeconds(), result.getTargets()); } if (bestDifference < smallestPoseDelta) { smallestPoseDelta = bestDifference; - lowestDeltaPose = new EstimatedRobotPose( - bestTransformPosition, result.getTimestampSeconds(), result.getTargets()); + lowestDeltaPose = + new EstimatedRobotPose( + bestTransformPosition, result.getTimestampSeconds(), result.getTargets()); } } return Optional.ofNullable(lowestDeltaPose); @@ -624,9 +600,8 @@ private Optional closestToReferencePoseStrategy( * Return the average of the best target poses using ambiguity as weight. * * @param result pipeline result - * @return the estimated position of the robot in the FCS and the estimated - * timestamp of this - * estimation. + * @return the estimated position of the robot in the FCS and the estimated timestamp of this + * estimation. */ private Optional averageBestTargetsStrategy(PhotonPipelineResult result) { List> estimatedRobotPoses = new ArrayList<>(); @@ -638,8 +613,7 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe // Don't report errors for non-fiducial targets. This could also be resolved by // adding -1 to // the initial HashSet. - if (targetFiducialId == -1) - continue; + if (targetFiducialId == -1) continue; Optional targetPosition = fieldTags.getTagPose(target.getFiducialId()); @@ -678,8 +652,7 @@ private Optional averageBestTargetsStrategy(PhotonPipelineRe Translation3d transform = new Translation3d(); Rotation3d rotation = new Rotation3d(); - if (estimatedRobotPoses.isEmpty()) - return Optional.empty(); + if (estimatedRobotPoses.isEmpty()) return Optional.empty(); for (Pair pair : estimatedRobotPoses) { // Total ambiguity is non-zero confirmed because if it was zero, that pose was From fc8bd6c33eb87726e7727d5e76a875fde1491130 Mon Sep 17 00:00:00 2001 From: Murad Date: Thu, 13 Apr 2023 23:08:52 -0500 Subject: [PATCH 033/115] Fixed minor issues * Forgot std:: in some places * incorrect constructor --- .../cpp/photonlib/PhotonPoseEstimator.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index b40326e3b6..d537ad3d42 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -63,7 +63,7 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, frc::Transform3d robotToCamera) : aprilTags(tags), strategy(strat), - nullptr, + camera(nullptr), m_robotToCamera(robotToCamera), lastPose(frc::Pose3d()), referencePose(frc::Pose3d()), @@ -129,8 +129,8 @@ std::optional PhotonPoseEstimator::Update( } std::optional PhotonPoseEstimator::Update( - const PhotonPipelineResult& result, optional cameraMatrixData, - optional coeffsData, ) { + const PhotonPipelineResult& result, std::optional cameraMatrixData, + std::optional coeffsData) { // Time in the past -- give up, since the following if expects times > 0 if (result.GetTimestamp() < 0_s) { return std::nullopt; @@ -155,8 +155,8 @@ std::optional PhotonPoseEstimator::Update( } std::optional PhotonPoseEstimator::Update( - PhotonPipelineResult result, optional cameraMatrixData, - optional coeffsData, PoseStrategy strategy) { + PhotonPipelineResult result, std::optional cameraMatrixData, + std::optional coeffsData, PoseStrategy strategy) { std::optional ret = std::nullopt; switch (strategy) { @@ -370,12 +370,13 @@ frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) { } std::optional PhotonPoseEstimator::MultiTagPnpStrategy( - PhotonPipelineResult result, optional camMat, - optional distCoeffs) { + PhotonPipelineResult result, std::optional camMat, + std::optional distCoeffs) { using namespace frc; if (!result.HasTargets() || result.GetTargets().size() < 2) { - return Update(result, this->multiTagFallbackStrategy); + return Update(result, std::nullopt, std::nullopt, + this->multiTagFallbackStrategy); } auto const targets = result.GetTargets(); From b9f65f7484356f67430e0f3dcccc834816db1704 Mon Sep 17 00:00:00 2001 From: Murad Date: Sun, 16 Apr 2023 07:50:28 -0500 Subject: [PATCH 034/115] Declared C++ methods - Still need to fix null camera issues. Currently says can not compare null to photonCamera. --- .../cpp/photonlib/PhotonPoseEstimator.cpp | 3 +- .../include/photonlib/PhotonPoseEstimator.h | 33 +++++++++++++++++-- 2 files changed, 32 insertions(+), 4 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index d537ad3d42..f8f339e03c 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -96,7 +96,8 @@ void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { std::optional PhotonPoseEstimator::Update() { if (camera == nullptr) { - FRC_ReportError(frc::warn::Warning, "[PhotonPoseEstimator] Missing camera!", ""); + FRC_ReportError(frc::warn::Warning, "[PhotonPoseEstimator] Missing camera!", + ""); return std::nullopt; } auto result = camera.GetLatestResult(); diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index 5d76a851e6..ee41a6eb5e 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -90,6 +90,23 @@ class PhotonPoseEstimator { 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. + * @param robotToCamera Transform3d from the center of the robot to the camera + * mount positions (ie, robot ➔ camera). + */ + explicit PhotonPoseEstimator(frc::AprilTagFieldLayout aprilTags, + PoseStrategy strategy, + frc::Transform3d robotToCamera); + /** * Get the AprilTagFieldLayout being used by the PositionEstimator. * @@ -181,6 +198,14 @@ class PhotonPoseEstimator { */ std::optional Update(const PhotonPipelineResult& result); + /** + * Update the pose estimator. + */ + std::optional Update( + const PhotonPipelineResult& result, + std::optional cameraMatrixData, + std::optional coeffsData); + inline PhotonCamera& GetCamera() { return camera; } private: @@ -198,8 +223,9 @@ class PhotonPoseEstimator { inline void InvalidatePoseCache() { poseCacheTimestamp = -1_s; } - std::optional Update(PhotonPipelineResult result, - PoseStrategy strategy); + std::optional Update( + PhotonPipelineResult result, std::optional cameraMatrixData, + std::optional coeffsData, PoseStrategy strategy); /** * Return the estimated position of the robot with the lowest position @@ -242,7 +268,8 @@ class PhotonPoseEstimator { timestamp of this estimation. */ std::optional MultiTagPnpStrategy( - PhotonPipelineResult result); + PhotonPipelineResult result, std::optional camMat, + std::optional distCoeffs); /** * Return the average of the best target poses using ambiguity as weight. From 9061e1a5e33c4bc971994fd949ce2adb226176f0 Mon Sep 17 00:00:00 2001 From: Matt Date: Mon, 17 Apr 2023 11:42:28 -0400 Subject: [PATCH 035/115] Make PhotonCamera a shared-ptr --- .../src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp | 6 +++--- .../src/main/native/include/photonlib/PhotonPoseEstimator.h | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index f8f339e03c..3c2b30c494 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -74,7 +74,7 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, frc::Transform3d robotToCamera) : aprilTags(tags), strategy(strat), - camera(std::move(cam)), + camera(std::make_shared(std::move(cam))), m_robotToCamera(robotToCamera), lastPose(frc::Pose3d()), referencePose(frc::Pose3d()), @@ -100,8 +100,8 @@ std::optional PhotonPoseEstimator::Update() { ""); return std::nullopt; } - auto result = camera.GetLatestResult(); - return Update(result, camera.GetCameraMatrix(), camera.GetDistCoeffs()); + auto result = camera->GetLatestResult(); + return Update(result, camera->GetCameraMatrix(), camera->GetDistCoeffs()); } std::optional PhotonPoseEstimator::Update( diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index ee41a6eb5e..4ed2120839 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -206,14 +206,14 @@ class PhotonPoseEstimator { std::optional cameraMatrixData, std::optional coeffsData); - inline PhotonCamera& GetCamera() { return camera; } + inline std::shared_ptr GetCamera() { return camera; } private: frc::AprilTagFieldLayout aprilTags; PoseStrategy strategy; PoseStrategy multiTagFallbackStrategy = LOWEST_AMBIGUITY; - PhotonCamera camera; + std::shared_ptr camera; frc::Transform3d m_robotToCamera; frc::Pose3d lastPose; From c4af7e62e653f093ae2a4d67a94521870631ecea Mon Sep 17 00:00:00 2001 From: Matt Date: Mon, 17 Apr 2023 11:57:12 -0400 Subject: [PATCH 036/115] Whoops --- .../src/test/native/cpp/PhotonPoseEstimatorTest.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp index 7c67f02d1f..42a6abf7df 100644 --- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp +++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp @@ -257,8 +257,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) { frc::Rotation3d(0_rad, 0_rad, 0_rad)), 0.4, corners, detectedCorners}}; - estimator.GetCamera().testResult = {2_ms, targetsThree}; - estimator.GetCamera().testResult.SetTimestamp(units::second_t(21)); + estimator.GetCamera()->testResult = {2_ms, targetsThree}; + estimator.GetCamera()->testResult.SetTimestamp(units::second_t(21)); estimatedPose = estimator.Update(); ASSERT_TRUE(estimatedPose); @@ -345,14 +345,14 @@ TEST(PhotonPoseEstimatorTest, PoseCache) { aprilTags, photonlib::AVERAGE_BEST_TARGETS, std::move(cameraOne), {}); // empty input, expect empty out - estimator.GetCamera().testResult = {2_ms, {}}; - estimator.GetCamera().testResult.SetTimestamp(units::second_t(1)); + estimator.GetCamera()->testResult = {2_ms, {}}; + estimator.GetCamera()->testResult.SetTimestamp(units::second_t(1)); auto estimatedPose = estimator.Update(); EXPECT_FALSE(estimatedPose); // Set result, and update -- expect present and timestamp to be 15 - estimator.GetCamera().testResult = {3_ms, targets}; - estimator.GetCamera().testResult.SetTimestamp(units::second_t(15)); + estimator.GetCamera()->testResult = {3_ms, targets}; + estimator.GetCamera()->testResult.SetTimestamp(units::second_t(15)); estimatedPose = estimator.Update(); EXPECT_TRUE(estimatedPose); EXPECT_NEAR(15, estimatedPose.value().timestamp.to(), 1e-6); From 087547dded28cc635f565b3ddfb565c9cd5a47da Mon Sep 17 00:00:00 2001 From: Matt Date: Sat, 10 Jun 2023 19:20:26 -0700 Subject: [PATCH 037/115] Run linters --- .../common/configuration/ConfigManager.java | 5 +-- .../configuration/PhotonConfiguration.java | 4 +- .../estimation/CameraTargetRelation.java | 29 +++++-------- .../photonvision/estimation/OpenCVHelp.java | 29 +++++-------- .../photonvision/estimation/PNPResults.java | 29 +++++-------- .../estimation/RotTrlTransform3d.java | 29 +++++-------- .../photonvision/estimation/TargetModel.java | 29 +++++-------- .../estimation/VisionEstimation.java | 37 ++++++---------- .../CameraCalibrationCoefficients.java | 4 -- .../vision/pipe/impl/MultiTargetPNPPipe.java | 23 +++++----- .../vision/pipeline/AprilTagPipeline.java | 8 ++-- .../pipeline/AprilTagPipelineSettings.java | 42 ++++++------------- .../pipeline/result/CVPipelineResult.java | 9 +++- .../cpp/photonlib/PhotonPoseEstimator.cpp | 8 ++-- 14 files changed, 109 insertions(+), 176 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java index cd22e6aea9..2690ef0859 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java @@ -18,10 +18,8 @@ package org.photonvision.common.configuration; import com.fasterxml.jackson.core.JsonProcessingException; - import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; - import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -189,7 +187,8 @@ public void load() { if (apriltagFieldLayoutFile.exists()) { try { - atfl = JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class); + atfl = + JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class); if (atfl == null) { logger.error("Could not deserialize apriltag field layout!"); } diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java index ab637ff85f..dcfb401a6b 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java @@ -17,6 +17,7 @@ package org.photonvision.common.configuration; +import edu.wpi.first.apriltag.AprilTagFieldLayout; import java.util.Collection; import java.util.HashMap; import java.util.List; @@ -30,8 +31,6 @@ import org.photonvision.vision.processes.VisionModuleManager; import org.photonvision.vision.processes.VisionSource; -import edu.wpi.first.apriltag.AprilTagFieldLayout; - // TODO rename this class public class PhotonConfiguration { private HardwareConfig hardwareConfig; @@ -150,5 +149,4 @@ public static class UICameraConfiguration { public List> calibrations; public boolean isFovConfigurable = true; } - } diff --git a/photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java b/photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java index afcc43b0ce..0cc7239869 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/CameraTargetRelation.java @@ -1,25 +1,18 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; diff --git a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java index e9bf0bb13c..1f9863a6d9 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -1,25 +1,18 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; diff --git a/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java index 8f0edbd4f6..a71a21e890 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java +++ b/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java @@ -1,25 +1,18 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; diff --git a/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java index 5d5c8474f3..bd3ed717e4 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java +++ b/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java @@ -1,25 +1,18 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; diff --git a/photon-core/src/main/java/org/photonvision/estimation/TargetModel.java b/photon-core/src/main/java/org/photonvision/estimation/TargetModel.java index 7cbd8291ed..28550f990a 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/TargetModel.java +++ b/photon-core/src/main/java/org/photonvision/estimation/TargetModel.java @@ -1,25 +1,18 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; diff --git a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java index 0999c2503f..01b8c96624 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -1,31 +1,23 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) 2022 PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ package org.photonvision.estimation; import edu.wpi.first.apriltag.AprilTag; -import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; @@ -34,9 +26,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; - import org.opencv.core.Mat; -import org.opencv.core.Point; import org.photonvision.targeting.TargetCorner; public class VisionEstimation { @@ -56,10 +46,7 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - Mat cameraMatrix, - Mat distCoeffs, - List corners, - List knownTags) { + Mat cameraMatrix, Mat distCoeffs, List corners, List knownTags) { if (knownTags == null || corners == null || corners.size() != knownTags.size() * 4 diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java index 8c7521ca66..4b4ae5a8cc 100644 --- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java +++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java @@ -22,10 +22,6 @@ import com.fasterxml.jackson.annotation.JsonIgnore; import com.fasterxml.jackson.annotation.JsonProperty; import com.fasterxml.jackson.databind.JsonNode; - -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.numbers.N3; - import org.opencv.core.Mat; import org.opencv.core.MatOfDouble; import org.opencv.core.Size; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java index 5495f9582b..717df08be0 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java @@ -19,23 +19,13 @@ import edu.wpi.first.apriltag.AprilTag; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; - import java.util.ArrayList; import java.util.List; -import org.opencv.calib3d.Calib3d; -import org.opencv.core.Core; import org.opencv.core.Mat; import org.opencv.core.MatOfPoint2f; -import org.opencv.core.Point; -import org.opencv.core.Scalar; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; -import org.photonvision.common.util.math.MathUtils; import org.photonvision.estimation.PNPResults; import org.photonvision.estimation.VisionEstimation; import org.photonvision.targeting.TargetCorner; @@ -74,7 +64,7 @@ private PNPResults calculateTargetPose(List targetList) { || params.cameraCoefficients.getDistCoeffsMat() == null) { return new PNPResults(); } - + var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); for (var target : targetList) { @@ -86,7 +76,12 @@ private PNPResults calculateTargetPose(List targetList) { // actual layout poses of visible tags -- not exposed, so have to recreate knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); } - var pnpResults = VisionEstimation.estimateCamPosePNP(params.cameraCoefficients.getCameraIntrinsicsMat(), params.cameraCoefficients.getDistCoeffsMat(), visCorners, knownVisTags); + var pnpResults = + VisionEstimation.estimateCamPosePNP( + params.cameraCoefficients.getCameraIntrinsicsMat(), + params.cameraCoefficients.getDistCoeffsMat(), + visCorners, + knownVisTags); return pnpResults; } @@ -103,7 +98,9 @@ public static class MultiTargetPNPPipeParams { private final AprilTagFieldLayout atfl; public MultiTargetPNPPipeParams( - CameraCalibrationCoefficients cameraCoefficients, TargetModel targetModel, AprilTagFieldLayout atfl) { + CameraCalibrationCoefficients cameraCoefficients, + TargetModel targetModel, + AprilTagFieldLayout atfl) { this.cameraCoefficients = cameraCoefficients; this.targetModel = targetModel; this.atfl = atfl; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java index b51d135b62..aed2d8c911 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java @@ -25,7 +25,6 @@ import edu.wpi.first.math.util.Units; import java.util.ArrayList; import java.util.List; - import org.photonvision.common.configuration.ConfigManager; import org.photonvision.common.util.math.MathUtils; import org.photonvision.estimation.PNPResults; @@ -42,7 +41,8 @@ @SuppressWarnings("DuplicatedCode") public class AprilTagPipeline extends CVPipeline { private final AprilTagDetectionPipe aprilTagDetectionPipe = new AprilTagDetectionPipe(); - private final AprilTagPoseEstimatorPipe singleTagPoseEstimatorPipe = new AprilTagPoseEstimatorPipe(); + private final AprilTagPoseEstimatorPipe singleTagPoseEstimatorPipe = + new AprilTagPoseEstimatorPipe(); private final MultiTargetPNPPipe multiTagPNPPipe = new MultiTargetPNPPipe(); private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe(); @@ -108,7 +108,9 @@ protected void setPipeParamsImpl() { // TODO global state ew var atfl = ConfigManager.getInstance().getConfig().getApriltagFieldLayout(); - multiTagPNPPipe.setParams(new MultiTargetPNPPipeParams(frameStaticProperties.cameraCalibration, settings.targetModel, atfl)); + multiTagPNPPipe.setParams( + new MultiTargetPNPPipeParams( + frameStaticProperties.cameraCalibration, settings.targetModel, atfl)); } } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java index ed1ec76704..5a6b6a342b 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java @@ -18,7 +18,6 @@ package org.photonvision.vision.pipeline; import com.fasterxml.jackson.annotation.JsonTypeName; -import java.util.Objects; import org.photonvision.vision.apriltag.AprilTagFamily; import org.photonvision.vision.target.TargetModel; @@ -68,35 +67,20 @@ public int hashCode() { @Override public boolean equals(Object obj) { - if (this == obj) - return true; - if (!super.equals(obj)) - return false; - if (getClass() != obj.getClass()) - return false; + if (this == obj) return true; + if (!super.equals(obj)) return false; + if (getClass() != obj.getClass()) return false; AprilTagPipelineSettings other = (AprilTagPipelineSettings) obj; - if (tagFamily != other.tagFamily) - return false; - if (decimate != other.decimate) - return false; - if (Double.doubleToLongBits(blur) != Double.doubleToLongBits(other.blur)) - return false; - if (threads != other.threads) - return false; - if (debug != other.debug) - return false; - if (refineEdges != other.refineEdges) - return false; - if (numIterations != other.numIterations) - return false; - if (hammingDist != other.hammingDist) - return false; - if (decisionMargin != other.decisionMargin) - return false; - if (doMultiTarget != other.doMultiTarget) - return false; + if (tagFamily != other.tagFamily) return false; + if (decimate != other.decimate) return false; + if (Double.doubleToLongBits(blur) != Double.doubleToLongBits(other.blur)) return false; + if (threads != other.threads) return false; + if (debug != other.debug) return false; + if (refineEdges != other.refineEdges) return false; + if (numIterations != other.numIterations) return false; + if (hammingDist != other.hammingDist) return false; + if (decisionMargin != other.decisionMargin) return false; + if (doMultiTarget != other.doMultiTarget) return false; return true; } - - } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java index 3c7c414d79..3a68ff5372 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java @@ -33,7 +33,11 @@ public class CVPipelineResult implements Releasable { public final Frame inputAndOutputFrame; public CVPipelineResult( - double processingNanos, double fps, List targets, PNPResults multiTagResults, Frame inputFrame) { + double processingNanos, + double fps, + List targets, + PNPResults multiTagResults, + Frame inputFrame) { this.processingNanos = processingNanos; this.fps = fps; this.targets = targets != null ? targets : Collections.emptyList(); @@ -41,7 +45,8 @@ public CVPipelineResult( this.inputAndOutputFrame = inputFrame; } - public CVPipelineResult(double processingNanos, double fps, List targets, PNPResults multiTagResults) { + public CVPipelineResult( + double processingNanos, double fps, List targets, PNPResults multiTagResults) { this(processingNanos, fps, targets, multiTagResults, null); } diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 59c6a56058..596c2fb039 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -47,7 +47,6 @@ #include "photonlib/PhotonPipelineResult.h" #include "photonlib/PhotonTrackedTarget.h" - namespace photonlib { namespace detail { @@ -410,8 +409,8 @@ cv::Point3d detail::ToPoint3d(const frc::Translation3d& translation) { } cv::Point3d detail::TagCornerToObjectPoint(units::meter_t cornerX, - units::meter_t cornerY, - frc::Pose3d tagPose) { + units::meter_t cornerY, + frc::Pose3d tagPose) { frc::Translation3d cornerTrans = tagPose.Translation() + frc::Translation3d(0.0_m, cornerX, cornerY).RotateBy(tagPose.Rotation()); @@ -463,7 +462,8 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( // Add all target corners to main list of corners for (auto target : targets) { int id = target.GetFiducialId(); - if (auto const tagCorners = detail::CalcTagCorners(id, aprilTags); tagCorners.has_value()) { + if (auto const tagCorners = detail::CalcTagCorners(id, aprilTags); + tagCorners.has_value()) { auto const targetCorners = target.GetDetectedCorners(); for (size_t cornerIdx = 0; cornerIdx < 4; ++cornerIdx) { imagePoints.emplace_back(targetCorners[cornerIdx].first, From 25f1fda5fada646ccc8a39b8fff91da2037fd2df Mon Sep 17 00:00:00 2001 From: Matt Date: Sat, 10 Jun 2023 20:08:10 -0700 Subject: [PATCH 038/115] Add multiTagResult to CVPipelineResult --- photon-client/package-lock.json | 524 +++++++++--------- .../networktables/NTDataPublisher.java | 2 +- .../photonvision/estimation/OpenCVHelp.java | 26 +- .../estimation/VisionEstimation.java | 8 +- .../vision/pipe/impl/MultiTargetPNPPipe.java | 7 +- .../vision/pipeline/AprilTagPipeline.java | 11 +- .../vision/pipeline/ArucoPipeline.java | 5 +- .../vision/pipeline/Calibrate3dPipeline.java | 4 +- .../vision/pipeline/ColoredShapePipeline.java | 3 +- .../vision/pipeline/OutputStreamPipeline.java | 2 + .../vision/pipeline/ReflectivePipeline.java | 4 +- .../pipeline/result/CVPipelineResult.java | 4 +- .../result/DriverModePipelineResult.java | 4 +- .../org/photonvision/SimPhotonCamera.java | 3 +- .../photonvision/estimation/OpenCVHelp.java | 1 + .../photonvision/estimation/PNPResults.java | 72 --- .../estimation/VisionEstimation.java | 2 + .../photonvision/targeting}/PNPResults.java | 61 +- .../targeting/PhotonPipelineResult.java | 49 +- .../targeting/PhotonTrackedTarget.java | 32 +- .../org/photonvision/utils/PacketUtils.java | 34 ++ 21 files changed, 434 insertions(+), 424 deletions(-) delete mode 100644 photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java rename {photon-core/src/main/java/org/photonvision/estimation => photon-targeting/src/main/java/org/photonvision/targeting}/PNPResults.java (51%) create mode 100644 photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json index 0f9b71fa09..08b40527bb 100644 --- a/photon-client/package-lock.json +++ b/photon-client/package-lock.json @@ -3261,7 +3261,7 @@ "alphanum-sort": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/alphanum-sort/-/alphanum-sort-1.0.2.tgz", - "integrity": "sha1-l6ERlkmyEa0zaR2fn0hqjsn74KM=", + "integrity": "sha512-0FcBfdcmaumGPQ0qPn7Q5qTgz/ooXgIyp1rf8ik5bGX8mpE2YHjC0P/eyQvxu1GURYQgq9ozf2mteQ5ZD9YiyQ==", "dev": true }, "ansi-colors": { @@ -3300,7 +3300,7 @@ "any-promise": { "version": "1.3.0", "resolved": "https://registry.npmjs.org/any-promise/-/any-promise-1.3.0.tgz", - "integrity": "sha1-q8av7tzqUugJzcA3au0845Y10X8=", + "integrity": "sha512-7UvmKalWRt1wgjL1RrGxoSJW/0QZFIegpeGvZG9kjp8vrRu55XTHbwnqq2GpXm9uLbcuhxm3IqX9OB4MZR1b2A==", "dev": true }, "anymatch": { @@ -3337,7 +3337,7 @@ "arr-diff": { "version": "4.0.0", "resolved": "https://registry.npmjs.org/arr-diff/-/arr-diff-4.0.0.tgz", - "integrity": "sha1-1kYQdP6/7HHn4VI1dhoyml3HxSA=", + "integrity": "sha512-YVIQ82gZPGBebQV/a8dar4AitzCQs0jjXwMPZllpXMaGjXPYVUawSxQrRsjhjupyVxEvbHgUmIhKVlND+j02kA==", "dev": true }, "arr-flatten": { @@ -3349,19 +3349,19 @@ "arr-union": { "version": "3.1.0", "resolved": "https://registry.npmjs.org/arr-union/-/arr-union-3.1.0.tgz", - "integrity": "sha1-45sJrqne+Gao8gbiiK9jkZuuOcQ=", + "integrity": "sha512-sKpyeERZ02v1FeCZT8lrfJq5u6goHCtpTAzPwJYe7c8SPFOboNjNg1vz2L4VTn9T4PQxEx13TbXLmYUcS6Ug7Q==", "dev": true }, "array-flatten": { "version": "1.1.1", "resolved": "https://registry.npmjs.org/array-flatten/-/array-flatten-1.1.1.tgz", - 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"integrity": "sha1-khi5srkoojixPcT7a21XbyMUU+o=", + "integrity": "sha512-JmXMZ6wuvDmLiHEml9ykzqO6lwFbof0GG4IkcGaENdCRDDmMVnny7s5HsIgHCbaq0w2MyPhDqkhTUgS2LU2PHA==", "dev": true }, "indent-string": { @@ -7654,7 +7654,7 @@ "indexes-of": { "version": "1.0.1", "resolved": "https://registry.npmjs.org/indexes-of/-/indexes-of-1.0.1.tgz", - "integrity": "sha1-8w9xbI4r00bHtn0985FVZqfAVgc=", + "integrity": "sha512-bup+4tap3Hympa+JBJUG7XuOsdNQ6fxt0MHyXMKuLBKn0OqsTfvUxkUrroEX1+B2VsSHvCjiIcZVxRtYa4nllA==", "dev": true }, "infer-owner": { @@ -7666,7 +7666,7 @@ "inflight": { "version": "1.0.6", "resolved": "https://registry.npmjs.org/inflight/-/inflight-1.0.6.tgz", - "integrity": "sha1-Sb1jMdfQLQwJvJEKEHW6gWW1bfk=", + "integrity": "sha512-k92I/b08q4wvFscXCLvqfsHCrjrF7yiXsQuIVvVE7N82W3+aqpzuUdBbfhWcy/FZR3/4IgflMgKLOsvPDrGCJA==", "dev": true, "requires": { "once": "^1.3.0", @@ -7920,7 +7920,7 @@ "ip-regex": { "version": "2.1.0", "resolved": "https://registry.npmjs.org/ip-regex/-/ip-regex-2.1.0.tgz", - "integrity": "sha1-+ni/XS5pE8kRzp+BnuUUa7bYROk=", + "integrity": "sha512-58yWmlHpp7VYfcdTwMTvwMmqx/Elfxjd9RXTDyMsbL7lLWmhMylLEqiYVLKuLzOZqVgiWXD9MfR62Vv89VRxkw==", "dev": true }, "ipaddr.js": { @@ -7932,13 +7932,13 @@ "is-absolute-url": { "version": "2.1.0", "resolved": "https://registry.npmjs.org/is-absolute-url/-/is-absolute-url-2.1.0.tgz", - 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"integrity": "sha1-u0P/VZim6wXYm1n80SnJgzE2Br8=", + "integrity": "sha512-7FCwGGmx8mD5xQd3RPUvnSpUXHM3BWuzjtpD4TXsfcZ9EL4azvVVUscFYwD9nx8Kh+uCBC00XBtAykoMHwTh8Q==", "dev": true }, "strip-final-newline": { @@ -11995,13 +11995,13 @@ "strip-indent": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/strip-indent/-/strip-indent-2.0.0.tgz", - "integrity": "sha1-XvjbKV0B5u1sv3qrlpmNeCJSe2g=", + "integrity": "sha512-RsSNPLpq6YUL7QYy44RnPVTn/lcVZtb48Uof3X5JLbF4zD/Gs7ZFDv2HWol+leoQN2mT86LAzSshGfkTlSOpsA==", "dev": true }, "strip-json-comments": { "version": "2.0.1", "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-2.0.1.tgz", - "integrity": "sha1-PFMZQukIwml8DsNEhYwobHygpgo=", + "integrity": "sha512-4gB8na07fecVVkOI6Rs4e7T6NOTki5EmL7TUduTs6bu3EdnSycntVJ4re8kgZA+wx9IueI2Y11bfbgwtzuE0KQ==", "dev": true }, "stylehacks": { @@ -12141,7 +12141,7 @@ "text-table": { "version": "0.2.0", "resolved": "https://registry.npmjs.org/text-table/-/text-table-0.2.0.tgz", - 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"integrity": "sha1-llOgNvt8HuQjQvIyXM7v6jkmxI0=", + "integrity": "sha512-RofWgt/7fL5wP1Y7fxE7/EmTLzQVnB0ycyibJ0OOHIlJqTNzglYFxVwETOcIoJqJmpDXJ9xImDv+Fq34F/d4Dw==", "dev": true } } @@ -12645,7 +12645,7 @@ "inherits": { "version": "2.0.3", "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.3.tgz", - "integrity": "sha1-Yzwsg+PaQqUC9SRmAiSA9CCCYd4=", + "integrity": "sha512-x00IRNXNy63jwGkJmzPigoySHbaqpNuzKbBOmzK+g2OdZpQ9w+sxCN+VSB3ja7IAge2OP2qpfxTjeNcyjmW1uw==", "dev": true } } @@ -12653,7 +12653,7 @@ "util-deprecate": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz", - "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=" + "integrity": "sha512-EPD5q1uXyFxJpCrLnCc1nHnq3gOa6DZBocAIiI2TaSCA7VCJ1UJDMagCzIkXNsUYfD1daK//LTEQ8xiIbrHtcw==" }, "util.promisify": { "version": "1.0.1", @@ -12706,13 +12706,13 @@ "utila": { "version": "0.4.0", "resolved": "https://registry.npmjs.org/utila/-/utila-0.4.0.tgz", - "integrity": "sha1-ihagXURWV6Oupe7MWxKk+lN5dyw=", + "integrity": "sha512-Z0DbgELS9/L/75wZbro8xAnT50pBVFQZ+hUEueGDU5FN51YSCYM+jdxsfCiHjwNP/4LCDD0i/graKpeBnOXKRA==", "dev": true }, "utils-merge": { "version": "1.0.1", "resolved": "https://registry.npmjs.org/utils-merge/-/utils-merge-1.0.1.tgz", - "integrity": "sha1-n5VxD1CiZ5R7LMwSR0HBAoQn5xM=", + "integrity": "sha512-pMZTvIkT1d+TFGvDOqodOclx0QWkkgi6Tdoa8gC8ffGAAqz9pzPTZWAybbsHHoED/ztMtkv/VoYTYyShUn81hA==", "dev": true }, "utrie": { @@ -12751,7 +12751,7 @@ "vary": { "version": "1.1.2", "resolved": "https://registry.npmjs.org/vary/-/vary-1.1.2.tgz", - "integrity": "sha1-IpnwLG3tMNSllhsLn3RSShj2NPw=", + "integrity": "sha512-BNGbWLfd0eUPabhkXUVm0j8uuvREyTh5ovRa/dyow/BqAbZJyC+5fU+IzQOzmAKzYqYRAISoRhdQr3eIZ/PXqg==", "dev": true }, "vendors": { @@ -12763,7 +12763,7 @@ "verror": { "version": "1.10.0", "resolved": "https://registry.npmjs.org/verror/-/verror-1.10.0.tgz", - "integrity": "sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA=", + "integrity": "sha512-ZZKSmDAEFOijERBLkmYfJ+vmk3w+7hOLYDNkRCuRuMJGEmqYNCNLyBBFwWKVMhfwaEF3WOd0Zlw86U/WC/+nYw==", "dev": true, "requires": { "assert-plus": "^1.0.0", @@ -13105,7 +13105,7 @@ "wcwidth": { "version": "1.0.1", "resolved": "https://registry.npmjs.org/wcwidth/-/wcwidth-1.0.1.tgz", - "integrity": "sha1-8LDc+RW8X/FSivrbLA4XtTLaL+g=", + "integrity": "sha512-XHPEwS0q6TaxcvG85+8EYkbiCux2XtWG2mkc47Ng2A77BQu9+DqIOJldST4HgPkuea7dvKSj5VgX3P1d4rW8Tg==", "dev": true, "requires": { "defaults": "^1.0.3" @@ -13635,7 +13635,7 @@ "wrappy": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", - "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=", + "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==", "dev": true }, "ws": { @@ -13798,7 +13798,7 @@ "cross-spawn": { "version": "5.1.0", "resolved": "https://registry.npmjs.org/cross-spawn/-/cross-spawn-5.1.0.tgz", - "integrity": "sha1-6L0O/uWPz/b4+UUQoKVUu/ojVEk=", + "integrity": "sha512-pTgQJ5KC0d2hcY8eyL1IzlBPYjTkyH72XRZPnLyKus2mBfNjQs3klqbJU2VILqZryAZUt9JOb3h/mWMy23/f5A==", "dev": true, "requires": { "lru-cache": "^4.0.1", @@ -13809,7 +13809,7 @@ "execa": { "version": "0.8.0", "resolved": "https://registry.npmjs.org/execa/-/execa-0.8.0.tgz", - "integrity": "sha1-2NdrvBtVIX7RkP1t1J08d07PyNo=", + "integrity": "sha512-zDWS+Rb1E8BlqqhALSt9kUhss8Qq4nN3iof3gsOdyINksElaPyNBtKUMTR62qhvgVWR0CqCX7sdnKe4MnUbFEA==", "dev": true, "requires": { "cross-spawn": "^5.0.1", @@ -13824,7 +13824,7 @@ "get-stream": { "version": "3.0.0", "resolved": "https://registry.npmjs.org/get-stream/-/get-stream-3.0.0.tgz", - "integrity": "sha1-jpQ9E1jcN1VQVOy+LtsFqhdO3hQ=", + "integrity": "sha512-GlhdIUuVakc8SJ6kK0zAFbiGzRFzNnY4jUuEbV9UROo4Y+0Ny4fjvcZFVTeDA4odpFyOQzaw6hXukJSq/f28sQ==", "dev": true }, "lru-cache": { @@ -13840,13 +13840,13 @@ "normalize-path": { "version": "1.0.0", "resolved": "https://registry.npmjs.org/normalize-path/-/normalize-path-1.0.0.tgz", - "integrity": "sha1-MtDkcvkf80VwHBWoMRAY07CpA3k=", + "integrity": "sha512-7WyT0w8jhpDStXRq5836AMmihQwq2nrUVQrgjvUo/p/NZf9uy/MeJ246lBJVmWuYXMlJuG9BNZHF0hWjfTbQUA==", "dev": true }, "yallist": { "version": "2.1.2", "resolved": "https://registry.npmjs.org/yallist/-/yallist-2.1.2.tgz", - "integrity": "sha1-HBH5IY8HYImkfdUS+TxmmaaoHVI=", + "integrity": "sha512-ncTzHV7NvsQZkYe1DW7cbDLm0YpzHmZF5r/iyP3ZnQtMiJ+pjzisCiMNI+Sj+xQF5pXhSHxSB3uDbsBTzY/c2A==", "dev": true } } diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 3823ab6d7f..306c9e9d69 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -136,7 +136,7 @@ public void updateCameraNickname(String newCameraNickname) { public void accept(CVPipelineResult result) { var simplified = new PhotonPipelineResult( - result.getLatencyMillis(), simpleFromTrackedTargets(result.targets)); + result.getLatencyMillis(), simpleFromTrackedTargets(result.targets), result.multiTagResult); Packet packet = new Packet(simplified.getPacketSize()); simplified.populatePacket(packet); diff --git a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 1f9863a6d9..21b895a67f 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -46,6 +46,7 @@ import org.opencv.core.Rect; import org.opencv.core.RotatedRect; import org.opencv.imgproc.Imgproc; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; public final class OpenCVHelp { @@ -399,6 +400,8 @@ public static PNPResults solvePNP_SQUARE( // translate to opencv classes var objectPoints = translationToTvec(modelTrls.toArray(new Translation3d[0])); var imagePoints = targetCornersToMat(imageCorners); + var cameraMatrixMat = cameraMatrix; + var distCoeffsMat = distCoeffs; var rvecs = new ArrayList(); var tvecs = new ArrayList(); var rvec = Mat.zeros(3, 1, CvType.CV_32F); @@ -408,8 +411,8 @@ public static PNPResults solvePNP_SQUARE( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrix, - distCoeffs, + cameraMatrixMat, + distCoeffsMat, rvecs, tvecs, false, @@ -431,6 +434,8 @@ public static PNPResults solvePNP_SQUARE( // release our Mats from native memory objectPoints.release(); imagePoints.release(); + cameraMatrixMat.release(); + distCoeffsMat.release(); for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); @@ -448,8 +453,8 @@ public static PNPResults solvePNP_SQUARE( *

    This method is intended for use with multiple targets and has no alternate solutions. There * must be at least 3 points. * - * @param cameraMatrix the camera intrinsics matrix in standard opencv form - * @param distCoeffs the camera distortion matrix in standard opencv form + * @param cameraMatrix the camera intrinsics matrix in standard opencv form. Caller has to release this mat! + * @param distCoeffs the camera distortion matrix in standard opencv form. Caller has to release this mat! * @param objectTrls The translations of the object corners, relative to the field. * @param imageCorners The projection of these 3d object points into the 2d camera image. The * order should match the given object point translations. @@ -458,8 +463,8 @@ public static PNPResults solvePNP_SQUARE( * the origin. */ public static PNPResults solvePNP_SQPNP( - Mat cameraMatrix, - Mat distCoeffs, + Mat cameraMatrixMat, + Mat distCoeffsMat, List objectTrls, List imageCorners) { // translate to opencv classes @@ -474,8 +479,8 @@ public static PNPResults solvePNP_SQPNP( Calib3d.solvePnPGeneric( objectPoints, imagePoints, - cameraMatrix, - distCoeffs, + cameraMatrixMat, + distCoeffsMat, rvecs, tvecs, false, @@ -492,6 +497,11 @@ public static PNPResults solvePNP_SQPNP( // release our Mats from native memory objectPoints.release(); imagePoints.release(); + + // Caller deals with releasing these + // cameraMatrixMat.release(); + // distCoeffsMat.release(); + for (var v : rvecs) v.release(); for (var v : tvecs) v.release(); rvec.release(); diff --git a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java index 01b8c96624..6daaaabf96 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -18,6 +18,7 @@ package org.photonvision.estimation; import edu.wpi.first.apriltag.AprilTag; +import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; @@ -26,7 +27,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; + import org.opencv.core.Mat; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; public class VisionEstimation { @@ -46,7 +49,10 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - Mat cameraMatrix, Mat distCoeffs, List corners, List knownTags) { + Mat cameraMatrix, + Mat distCoeffs, + List corners, + List knownTags) { if (knownTags == null || corners == null || corners.size() != knownTags.size() * 4 diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java index 717df08be0..a401c3ccf1 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java @@ -26,20 +26,21 @@ import org.opencv.core.MatOfPoint2f; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; -import org.photonvision.estimation.PNPResults; import org.photonvision.estimation.VisionEstimation; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.pipe.CVPipe; import org.photonvision.vision.target.TargetModel; import org.photonvision.vision.target.TrackedTarget; +/** + * Estimate the camera pose given multiple Apriltag observations + */ public class MultiTargetPNPPipe extends CVPipe, PNPResults, MultiTargetPNPPipe.MultiTargetPNPPipeParams> { private static final Logger logger = new Logger(MultiTargetPNPPipe.class, LogGroup.VisionModule); - private final MatOfPoint2f imagePoints = new MatOfPoint2f(); - private boolean hasWarned = false; @Override diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java index aed2d8c911..80852142e8 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java @@ -27,7 +27,7 @@ import java.util.List; import org.photonvision.common.configuration.ConfigManager; import org.photonvision.common.util.math.MathUtils; -import org.photonvision.estimation.PNPResults; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.pipe.CVPipe.CVPipeResult; @@ -94,7 +94,7 @@ protected void setPipeParamsImpl() { if (frameStaticProperties.cameraCalibration != null) { var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat(); - if (cameraMatrix != null) { + if (cameraMatrix != null && cameraMatrix.rows() > 0) { var cx = cameraMatrix.get(0, 2)[0]; var cy = cameraMatrix.get(1, 2)[0]; var fx = cameraMatrix.get(0, 0)[0]; @@ -125,8 +125,9 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting aprilTagDetectionPipe.setNativePoseEstimationEnabled(settings.solvePNPEnabled); if (frame.type != FrameThresholdType.GREYSCALE) { - // TODO so all cameras should give us ADAPTIVE_THRESH -- how should we handle if not? - return new CVPipelineResult(0, 0, List.of()); + // TODO so all cameras should give us GREYSCALE -- how should we handle if not? + // Right now, we just return nothing + return new CVPipelineResult(0, 0, List.of(), new PNPResults(), frame); } CVPipeResult> tagDetectionPipeResult; @@ -176,6 +177,6 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame); + return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, multiTagResult, frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java index 69ca5f9341..09b35c92e2 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java @@ -38,6 +38,7 @@ import java.util.ArrayList; import java.util.List; import org.opencv.core.Mat; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.aruco.ArucoDetectionResult; import org.photonvision.vision.aruco.ArucoDetectorParams; import org.photonvision.vision.frame.Frame; @@ -96,7 +97,7 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings) CVPipeResult> tagDetectionPipeResult; if (rawInputMat.empty()) { - return new CVPipelineResult(sumPipeNanosElapsed, 0, List.of(), frame); + return new CVPipelineResult(sumPipeNanosElapsed, 0, List.of(), new PNPResults(), frame); } tagDetectionPipeResult = arucoDetectionPipe.run(rawInputMat); @@ -123,6 +124,6 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings) var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame); + return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java index fecb36d071..0984202a10 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java @@ -34,6 +34,7 @@ import org.photonvision.common.logging.Logger; import org.photonvision.common.util.SerializationUtils; import org.photonvision.common.util.file.FileUtils; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; @@ -110,7 +111,7 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se Mat inputColorMat = frame.colorImage.getMat(); if (this.calibrating || inputColorMat.empty()) { - return new CVPipelineResult(0, 0, null, frame); + return new CVPipelineResult(0, 0, null, new PNPResults(), frame); } long sumPipeNanosElapsed = 0L; @@ -146,6 +147,7 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se sumPipeNanosElapsed, fps, // Unused but here in case Collections.emptyList(), + new PNPResults(), new Frame( new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties)); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java index dd42278248..70f1811ad0 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java @@ -22,6 +22,7 @@ import java.util.stream.Collectors; import org.apache.commons.lang3.tuple.Pair; import org.opencv.core.Point; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.opencv.*; @@ -238,6 +239,6 @@ protected CVPipelineResult process(Frame frame, ColoredShapePipelineSettings set var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame); + return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java index 666ecd8ce2..248b393297 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java @@ -19,6 +19,7 @@ import java.util.List; import org.apache.commons.lang3.tuple.Pair; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.DualOffsetValues; @@ -224,6 +225,7 @@ public CVPipelineResult process( sumPipeNanosElapsed, fps, // Unused but here just in case targetsToDraw, + new PNPResults(), inputAndOutputFrame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java index cea2e31422..136feb85d2 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java @@ -18,6 +18,8 @@ package org.photonvision.vision.pipeline; import java.util.List; + +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.opencv.Contour; @@ -193,6 +195,6 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings PipelineProfiler.printReflectiveProfile(pipeProfileNanos); - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame); + return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java index 3a68ff5372..d77b50a0aa 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java @@ -20,7 +20,7 @@ import java.util.Collections; import java.util.List; import org.photonvision.common.util.math.MathUtils; -import org.photonvision.estimation.PNPResults; +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.opencv.Releasable; import org.photonvision.vision.target.TrackedTarget; @@ -31,6 +31,7 @@ public class CVPipelineResult implements Releasable { public final double fps; public final List targets; public final Frame inputAndOutputFrame; + public PNPResults multiTagResult; public CVPipelineResult( double processingNanos, @@ -41,6 +42,7 @@ public CVPipelineResult( this.processingNanos = processingNanos; this.fps = fps; this.targets = targets != null ? targets : Collections.emptyList(); + this.multiTagResult = multiTagResults; this.inputAndOutputFrame = inputFrame; } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java index 609a3f4483..1861ff36a4 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java @@ -18,10 +18,12 @@ package org.photonvision.vision.pipeline.result; import java.util.List; + +import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; public class DriverModePipelineResult extends CVPipelineResult { public DriverModePipelineResult(double latencyNanos, double fps, Frame outputFrame) { - super(latencyNanos, fps, List.of(), outputFrame); + super(latencyNanos, fps, List.of(), new PNPResults(), outputFrame); } } diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 5289bbf68b..42ecd597ec 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -33,6 +33,7 @@ import java.util.List; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.networktables.NTTopicSet; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -134,7 +135,7 @@ public void submitProcessedFrame( targetList.sort(sortMode.getComparator()); } - PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList); + PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList, new PNPResults()); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 4b6429319d..d5a99af04b 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -53,6 +53,7 @@ import org.opencv.core.Rect; import org.opencv.core.RotatedRect; import org.opencv.imgproc.Imgproc; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; public final class OpenCVHelp { diff --git a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java deleted file mode 100644 index 4359b20c22..0000000000 --- a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java +++ /dev/null @@ -1,72 +0,0 @@ -/* - * MIT License - * - * Copyright (c) 2022 PhotonVision - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -package org.photonvision.estimation; - -import edu.wpi.first.math.geometry.Transform3d; - -/** - * The best estimated transformation from solvePnP, and possibly an alternate transformation - * depending on the solvePNP method. If an alternate solution is present, the ambiguity value - * represents the ratio of reprojection error in the best solution to the alternate (best / - * alternate). - * - *

    Note that the coordinate frame of these transforms depends on the implementing solvePnP - * method. - */ -public class PNPResults { - public final Transform3d best; - public final double bestReprojErr; - - /** - * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal - * to the best solution. - */ - public final Transform3d alt; - /** If no alternate solution is found, this is bestReprojErr */ - public final double altReprojErr; - /** If no alternate solution is found, this is 0 */ - public final double ambiguity; - - public PNPResults() { - this(new Transform3d(), new Transform3d(), 0, 0, 0); - } - - public PNPResults(Transform3d best, double bestReprojErr) { - this(best, best, 0, bestReprojErr, bestReprojErr); - } - - public PNPResults( - Transform3d best, - Transform3d alt, - double ambiguity, - double bestReprojErr, - double altReprojErr) { - this.best = best; - this.alt = alt; - this.ambiguity = ambiguity; - this.bestReprojErr = bestReprojErr; - this.altReprojErr = altReprojErr; - } -} diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 0618b8ed82..8ad28a83f5 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -34,6 +34,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; + +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; public class VisionEstimation { diff --git a/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java similarity index 51% rename from photon-core/src/main/java/org/photonvision/estimation/PNPResults.java rename to photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index a71a21e890..7f70a4681b 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -15,25 +15,39 @@ * along with this program. If not, see . */ -package org.photonvision.estimation; +package org.photonvision.targeting; + +import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.utils.PacketUtils; import edu.wpi.first.math.geometry.Transform3d; /** - * The best estimated transformation from solvePnP, and possibly an alternate transformation - * depending on the solvePNP method. If an alternate solution is present, the ambiguity value - * represents the ratio of reprojection error in the best solution to the alternate (best / + * The best estimated transformation from solvePnP, and possibly an alternate + * transformation + * depending on the solvePNP method. If an alternate solution is present, the + * ambiguity value + * represents the ratio of reprojection error in the best solution to the + * alternate (best / * alternate). * - *

    Note that the coordinate frame of these transforms depends on the implementing solvePnP + *

    + * Note that the coordinate frame of these transforms depends on the + * implementing solvePnP * method. */ public class PNPResults { + // Imitate optional by having a valid check + public final boolean isPresent; + + // Best transform. Coordinate frame depends on where this result comes from public final Transform3d best; + // Reprojection error of this solution, in pixels public final double bestReprojErr; /** - * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal + * Alternate, ambiguous solution from solvepnp. If no alternate solution is + * found, this is equal * to the best solution. */ public final Transform3d alt; @@ -43,7 +57,7 @@ public class PNPResults { public final double ambiguity; public PNPResults() { - this(new Transform3d(), new Transform3d(), -1, 0, 0); + this(false, new Transform3d(), new Transform3d(), -1, 0, 0); } public PNPResults(Transform3d best, double bestReprojErr) { @@ -56,10 +70,43 @@ public PNPResults( double ambiguity, double bestReprojErr, double altReprojErr) { + this(true, best, alt, ambiguity, bestReprojErr, altReprojErr); + } + + public PNPResults( + boolean isPresent, + Transform3d best, + Transform3d alt, + double ambiguity, + double bestReprojErr, + double altReprojErr) { + this.isPresent = isPresent; this.best = best; this.alt = alt; this.ambiguity = ambiguity; this.bestReprojErr = bestReprojErr; this.altReprojErr = altReprojErr; } + + public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3); + + public static PNPResults createFromPacket(Packet packet) { + var present = packet.decodeBoolean(); + var best = PacketUtils.decodeTransform(packet); + var alt = PacketUtils.decodeTransform(packet); + var bestEr = packet.decodeDouble(); + var altEr = packet.decodeDouble(); + var ambiguity = packet.decodeDouble(); + return new PNPResults(present, best, alt, ambiguity, bestEr, altEr); + } + + public Packet populatePacket(Packet packet) { + packet.encode(isPresent); + PacketUtils.encodeTransform(packet, best); + PacketUtils.encodeTransform(packet, alt); + packet.encode(bestReprojErr); + packet.encode(altReprojErr); + packet.encode(ambiguity); + return packet; + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index f2a5292454..05842afa26 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -34,6 +34,9 @@ public class PhotonPipelineResult { // Timestamp in milliseconds. private double timestampSeconds = -1; + // Multi-tag result + PNPResults multiTagResult = new PNPResults(); + /** Constructs an empty pipeline result. */ public PhotonPipelineResult() {} @@ -48,13 +51,26 @@ public PhotonPipelineResult(double latencyMillis, List targ this.targets.addAll(targets); } + /** + * Constructs a pipeline result. + * + * @param latencyMillis The latency in the pipeline. + * @param targets The list of targets identified by the pipeline. + * @param multiTagResult Result from multi-target PNP. + */ + public PhotonPipelineResult(double latencyMillis, List targets, PNPResults results) { + this.latencyMillis = latencyMillis; + this.targets.addAll(targets); + this.multiTagResult = results; + } + /** * Returns the size of the packet needed to store this pipeline result. * * @return The size of the packet needed to store this pipeline result. */ public int getPacketSize() { - return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2; + return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2 + PNPResults.PACK_SIZE_BYTES; } /** @@ -131,6 +147,7 @@ public List getTargets() { public Packet createFromPacket(Packet packet) { // Decode latency, existence of targets, and number of targets. latencyMillis = packet.decodeDouble(); + this.multiTagResult = PNPResults.createFromPacket(packet); byte targetCount = packet.decodeByte(); targets.clear(); @@ -154,6 +171,7 @@ public Packet createFromPacket(Packet packet) { public Packet populatePacket(Packet packet) { // Encode latency, existence of targets, and number of targets. packet.encode(latencyMillis); + multiTagResult.populatePacket(packet); packet.encode((byte) targets.size()); // Encode the information of each target. @@ -162,33 +180,4 @@ public Packet populatePacket(Packet packet) { // Return the packet. return packet; } - - @Override - public int hashCode() { - final int prime = 31; - int result = 1; - result = prime * result + ((targets == null) ? 0 : targets.hashCode()); - long temp; - temp = Double.doubleToLongBits(latencyMillis); - result = prime * result + (int) (temp ^ (temp >>> 32)); - temp = Double.doubleToLongBits(timestampSeconds); - result = prime * result + (int) (temp ^ (temp >>> 32)); - return result; - } - - @Override - public boolean equals(Object obj) { - if (this == obj) return true; - if (obj == null) return false; - if (getClass() != obj.getClass()) return false; - PhotonPipelineResult other = (PhotonPipelineResult) obj; - if (targets == null) { - if (other.targets != null) return false; - } else if (!targets.equals(other.targets)) return false; - if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) - return false; - if (Double.doubleToLongBits(timestampSeconds) - != Double.doubleToLongBits(other.timestampSeconds)) return false; - return true; - } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java index 908ca24e60..dbcd0ae47e 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java @@ -24,6 +24,7 @@ import java.util.ArrayList; import java.util.List; import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.utils.PacketUtils; public class PhotonTrackedTarget { private static final int MAX_CORNERS = 8; @@ -198,29 +199,6 @@ public boolean equals(Object obj) { return true; } - private static Transform3d decodeTransform(Packet packet) { - double x = packet.decodeDouble(); - double y = packet.decodeDouble(); - double z = packet.decodeDouble(); - var translation = new Translation3d(x, y, z); - double w = packet.decodeDouble(); - x = packet.decodeDouble(); - y = packet.decodeDouble(); - z = packet.decodeDouble(); - var rotation = new Rotation3d(new Quaternion(w, x, y, z)); - return new Transform3d(translation, rotation); - } - - private static void encodeTransform(Packet packet, Transform3d transform) { - packet.encode(transform.getTranslation().getX()); - packet.encode(transform.getTranslation().getY()); - packet.encode(transform.getTranslation().getZ()); - packet.encode(transform.getRotation().getQuaternion().getW()); - packet.encode(transform.getRotation().getQuaternion().getX()); - packet.encode(transform.getRotation().getQuaternion().getY()); - packet.encode(transform.getRotation().getQuaternion().getZ()); - } - private static void encodeList(Packet packet, List list) { packet.encode((byte) Math.min(list.size(), Byte.MAX_VALUE)); for (int i = 0; i < list.size(); i++) { @@ -253,8 +231,8 @@ public Packet createFromPacket(Packet packet) { this.skew = packet.decodeDouble(); this.fiducialId = packet.decodeInt(); - this.bestCameraToTarget = decodeTransform(packet); - this.altCameraToTarget = decodeTransform(packet); + this.bestCameraToTarget = PacketUtils.decodeTransform(packet); + this.altCameraToTarget = PacketUtils.decodeTransform(packet); this.poseAmbiguity = packet.decodeDouble(); @@ -282,8 +260,8 @@ public Packet populatePacket(Packet packet) { packet.encode(area); packet.encode(skew); packet.encode(fiducialId); - encodeTransform(packet, bestCameraToTarget); - encodeTransform(packet, altCameraToTarget); + PacketUtils.encodeTransform(packet, bestCameraToTarget); + PacketUtils.encodeTransform(packet, altCameraToTarget); packet.encode(poseAmbiguity); for (int i = 0; i < 4; i++) { diff --git a/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java b/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java new file mode 100644 index 0000000000..3dc83f4d43 --- /dev/null +++ b/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java @@ -0,0 +1,34 @@ +package org.photonvision.utils; + +import org.photonvision.common.dataflow.structures.Packet; + +import edu.wpi.first.math.geometry.Quaternion; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; + +public class PacketUtils { + public static Transform3d decodeTransform(Packet packet) { + double x = packet.decodeDouble(); + double y = packet.decodeDouble(); + double z = packet.decodeDouble(); + var translation = new Translation3d(x, y, z); + double w = packet.decodeDouble(); + x = packet.decodeDouble(); + y = packet.decodeDouble(); + z = packet.decodeDouble(); + var rotation = new Rotation3d(new Quaternion(w, x, y, z)); + return new Transform3d(translation, rotation); + } + + public static void encodeTransform(Packet packet, Transform3d transform) { + packet.encode(transform.getTranslation().getX()); + packet.encode(transform.getTranslation().getY()); + packet.encode(transform.getTranslation().getZ()); + packet.encode(transform.getRotation().getQuaternion().getW()); + packet.encode(transform.getRotation().getQuaternion().getX()); + packet.encode(transform.getRotation().getQuaternion().getY()); + packet.encode(transform.getRotation().getQuaternion().getZ()); + } + +} From 3b5c4f2e75b8723b4987e745e5653ce3f476b338 Mon Sep 17 00:00:00 2001 From: Matt Date: Sat, 10 Jun 2023 20:13:11 -0700 Subject: [PATCH 039/115] Run lint --- .../networktables/NTDataPublisher.java | 4 +++- .../photonvision/estimation/OpenCVHelp.java | 6 ++++-- .../estimation/VisionEstimation.java | 7 +------ .../vision/pipe/impl/MultiTargetPNPPipe.java | 5 +---- .../vision/pipeline/Calibrate3dPipeline.java | 2 +- .../vision/pipeline/OutputStreamPipeline.java | 2 +- .../vision/pipeline/ReflectivePipeline.java | 1 - .../result/DriverModePipelineResult.java | 3 +-- .../org/photonvision/SimPhotonCamera.java | 3 ++- .../estimation/VisionEstimation.java | 1 - .../photonvision/targeting/PNPResults.java | 21 +++++++------------ .../targeting/PhotonPipelineResult.java | 18 +++++++++++++--- .../targeting/PhotonTrackedTarget.java | 3 --- .../org/photonvision/utils/PacketUtils.java | 21 ++++++++++++++++--- 14 files changed, 54 insertions(+), 43 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java index 306c9e9d69..096418d795 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java @@ -136,7 +136,9 @@ public void updateCameraNickname(String newCameraNickname) { public void accept(CVPipelineResult result) { var simplified = new PhotonPipelineResult( - result.getLatencyMillis(), simpleFromTrackedTargets(result.targets), result.multiTagResult); + result.getLatencyMillis(), + simpleFromTrackedTargets(result.targets), + result.multiTagResult); Packet packet = new Packet(simplified.getPacketSize()); simplified.populatePacket(packet); diff --git a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java index 21b895a67f..64cbdd8eaf 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java +++ b/photon-core/src/main/java/org/photonvision/estimation/OpenCVHelp.java @@ -453,8 +453,10 @@ public static PNPResults solvePNP_SQUARE( *

    This method is intended for use with multiple targets and has no alternate solutions. There * must be at least 3 points. * - * @param cameraMatrix the camera intrinsics matrix in standard opencv form. Caller has to release this mat! - * @param distCoeffs the camera distortion matrix in standard opencv form. Caller has to release this mat! + * @param cameraMatrix the camera intrinsics matrix in standard opencv form. Caller has to release + * this mat! + * @param distCoeffs the camera distortion matrix in standard opencv form. Caller has to release + * this mat! * @param objectTrls The translations of the object corners, relative to the field. * @param imageCorners The projection of these 3d object points into the 2d camera image. The * order should match the given object point translations. diff --git a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java index 6daaaabf96..b71f1eeaca 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -18,7 +18,6 @@ package org.photonvision.estimation; import edu.wpi.first.apriltag.AprilTag; -import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; @@ -27,7 +26,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; - import org.opencv.core.Mat; import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; @@ -49,10 +47,7 @@ public class VisionEstimation { * @return The transformation that maps the field origin to the camera pose */ public static PNPResults estimateCamPosePNP( - Mat cameraMatrix, - Mat distCoeffs, - List corners, - List knownTags) { + Mat cameraMatrix, Mat distCoeffs, List corners, List knownTags) { if (knownTags == null || corners == null || corners.size() != knownTags.size() * 4 diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java index a401c3ccf1..eb052b03de 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java @@ -23,7 +23,6 @@ import java.util.ArrayList; import java.util.List; import org.opencv.core.Mat; -import org.opencv.core.MatOfPoint2f; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; import org.photonvision.estimation.VisionEstimation; @@ -34,9 +33,7 @@ import org.photonvision.vision.target.TargetModel; import org.photonvision.vision.target.TrackedTarget; -/** - * Estimate the camera pose given multiple Apriltag observations - */ +/** Estimate the camera pose given multiple Apriltag observations */ public class MultiTargetPNPPipe extends CVPipe, PNPResults, MultiTargetPNPPipe.MultiTargetPNPPipeParams> { private static final Logger logger = new Logger(MultiTargetPNPPipe.class, LogGroup.VisionModule); diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java index 0984202a10..7e0cca3ebd 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java @@ -147,7 +147,7 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se sumPipeNanosElapsed, fps, // Unused but here in case Collections.emptyList(), - new PNPResults(), + new PNPResults(), new Frame( new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties)); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java index 248b393297..1ca74444eb 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java @@ -225,7 +225,7 @@ public CVPipelineResult process( sumPipeNanosElapsed, fps, // Unused but here just in case targetsToDraw, - new PNPResults(), + new PNPResults(), inputAndOutputFrame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java index 136feb85d2..2f71c8e87b 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java @@ -18,7 +18,6 @@ package org.photonvision.vision.pipeline; import java.util.List; - import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java index 1861ff36a4..98340d266a 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java @@ -18,12 +18,11 @@ package org.photonvision.vision.pipeline.result; import java.util.List; - import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; public class DriverModePipelineResult extends CVPipelineResult { public DriverModePipelineResult(double latencyNanos, double fps, Frame outputFrame) { - super(latencyNanos, fps, List.of(), new PNPResults(), outputFrame); + super(latencyNanos, fps, List.of(), new PNPResults(), outputFrame); } } diff --git a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java index 42ecd597ec..ec7560e016 100644 --- a/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java @@ -135,7 +135,8 @@ public void submitProcessedFrame( targetList.sort(sortMode.getComparator()); } - PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList, new PNPResults()); + PhotonPipelineResult newResult = + new PhotonPipelineResult(latencyMillis, targetList, new PNPResults()); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 8ad28a83f5..4a55d5682a 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -34,7 +34,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.List; - import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.TargetCorner; diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index 7f70a4681b..d0ebb1cf97 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -17,37 +17,30 @@ package org.photonvision.targeting; +import edu.wpi.first.math.geometry.Transform3d; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.utils.PacketUtils; -import edu.wpi.first.math.geometry.Transform3d; - /** - * The best estimated transformation from solvePnP, and possibly an alternate - * transformation - * depending on the solvePNP method. If an alternate solution is present, the - * ambiguity value - * represents the ratio of reprojection error in the best solution to the - * alternate (best / + * The best estimated transformation from solvePnP, and possibly an alternate transformation + * depending on the solvePNP method. If an alternate solution is present, the ambiguity value + * represents the ratio of reprojection error in the best solution to the alternate (best / * alternate). * - *

    - * Note that the coordinate frame of these transforms depends on the - * implementing solvePnP + *

    Note that the coordinate frame of these transforms depends on the implementing solvePnP * method. */ public class PNPResults { // Imitate optional by having a valid check public final boolean isPresent; - + // Best transform. Coordinate frame depends on where this result comes from public final Transform3d best; // Reprojection error of this solution, in pixels public final double bestReprojErr; /** - * Alternate, ambiguous solution from solvepnp. If no alternate solution is - * found, this is equal + * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal * to the best solution. */ public final Transform3d alt; diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 05842afa26..366a7002d0 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -35,7 +35,7 @@ public class PhotonPipelineResult { private double timestampSeconds = -1; // Multi-tag result - PNPResults multiTagResult = new PNPResults(); + private PNPResults multiTagResult = new PNPResults(); /** Constructs an empty pipeline result. */ public PhotonPipelineResult() {} @@ -58,7 +58,8 @@ public PhotonPipelineResult(double latencyMillis, List targ * @param targets The list of targets identified by the pipeline. * @param multiTagResult Result from multi-target PNP. */ - public PhotonPipelineResult(double latencyMillis, List targets, PNPResults results) { + public PhotonPipelineResult( + double latencyMillis, List targets, PNPResults results) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); this.multiTagResult = results; @@ -70,7 +71,10 @@ public PhotonPipelineResult(double latencyMillis, List targ * @return The size of the packet needed to store this pipeline result. */ public int getPacketSize() { - return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2 + PNPResults.PACK_SIZE_BYTES; + return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + + 8 + + 2 + + PNPResults.PACK_SIZE_BYTES; } /** @@ -138,6 +142,14 @@ public List getTargets() { return new ArrayList<>(targets); } + /** + * Return the latest mulit-target result. Be sure to check PNPResults::isPresent before using the + * pose estimate! + */ + public PNPResults getMultiTagPnpResults() { + return multiTagResult; + } + /** * Populates the fields of the pipeline result from the packet. * diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java index dbcd0ae47e..f077f26611 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java @@ -17,10 +17,7 @@ package org.photonvision.targeting; -import edu.wpi.first.math.geometry.Quaternion; -import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation3d; import java.util.ArrayList; import java.util.List; import org.photonvision.common.dataflow.structures.Packet; diff --git a/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java b/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java index 3dc83f4d43..43a0dd4cf6 100644 --- a/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java +++ b/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java @@ -1,11 +1,27 @@ -package org.photonvision.utils; +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ -import org.photonvision.common.dataflow.structures.Packet; +package org.photonvision.utils; import edu.wpi.first.math.geometry.Quaternion; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; +import org.photonvision.common.dataflow.structures.Packet; public class PacketUtils { public static Transform3d decodeTransform(Packet packet) { @@ -30,5 +46,4 @@ public static void encodeTransform(Packet packet, Transform3d transform) { packet.encode(transform.getRotation().getQuaternion().getY()); packet.encode(transform.getRotation().getQuaternion().getZ()); } - } From 0af485599d8ba5dead6e836c0694c2d9a3f5b1af Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Fri, 16 Jun 2023 12:30:32 -0400 Subject: [PATCH 040/115] Revert changed to package-lock --- photon-client/package-lock.json | 37928 +++++++++++++++++++++--------- 1 file changed, 26825 insertions(+), 11103 deletions(-) diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json index 08b40527bb..905f12f9f8 100644 --- a/photon-client/package-lock.json +++ b/photon-client/package-lock.json @@ -1,3913 +1,2041 @@ { "name": "photon-client", "version": "3.0.0", - 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The opencv tvec is a vector with three * elements representing {x, y, z} in the EDN coordinate system. @@ -122,6 +123,7 @@ public static MatOfPoint3f rotationToRvec(Rotation3d rotation) { rotation = rotationNWUtoEDN(rotation); return new MatOfPoint3f(new Point3(rotation.getQuaternion().toRotationVector().getData())); } + /** * Returns a 3d rotation from this {@link Mat}. The opencv rvec Mat is a vector with three * elements representing the axis scaled by the angle in the EDN coordinate system. (angle = norm, @@ -222,6 +224,7 @@ private static Rotation3d rotationEDNtoNWU(Rotation3d rot) { new Rotation3d(), CoordinateSystem.NWU(), CoordinateSystem.EDN()) .plus(CoordinateSystem.convert(rot, CoordinateSystem.EDN(), CoordinateSystem.NWU())); } + /** * Convert a rotation from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0} in EDN, * this would be XYZ {0, -1, 0} in NWU. @@ -318,6 +321,7 @@ public static Rect getBoundingRect(List corners) { corn.release(); return rect; } + /** * Gets the rotated rectangle with minimum area which bounds this contour. * @@ -332,6 +336,7 @@ public static RotatedRect getMinAreaRect(List corners) { corn.release(); return rect; } + /** * Get the area in pixels of this target's contour. It's important to note that this may be * different from the area of the bounding rectangle around the contour. @@ -445,6 +450,7 @@ public static PNPResults solvePNP_SQUARE( if (alt != null) return new PNPResults(best, alt, errors[0] / errors[1], errors[0], errors[1]); else return new PNPResults(best, errors[0]); } + /** * Finds the transformation that maps the camera's pose to the target pose. The camera's pose * relative to the target is determined by the supplied 3d points of the target's model and their diff --git a/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java index bd3ed717e4..a8be3cfc54 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java +++ b/photon-core/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java @@ -34,6 +34,7 @@ public class RotTrlTransform3d { public RotTrlTransform3d() { this(new Rotation3d(), new Translation3d()); } + /** * Creates a rotation-translation transformation from a Transform3d. * @@ -45,6 +46,7 @@ public RotTrlTransform3d() { public RotTrlTransform3d(Transform3d trf) { this(trf.getRotation(), trf.getTranslation()); } + /** * A rotation-translation transformation. * @@ -58,6 +60,7 @@ public RotTrlTransform3d(Rotation3d rot, Translation3d trl) { this.rot = rot; this.trl = trl; } + /** * The rotation-translation transformation that makes poses in the world consider this pose as the * new origin, or change the basis to this pose. @@ -79,10 +82,12 @@ public RotTrlTransform3d inverse() { public Transform3d getTransform() { return new Transform3d(trl, rot); } + /** The translation component of this transformation */ public Translation3d getTranslation() { return trl; } + /** The rotation component of this transformation */ public Rotation3d getRotation() { return rot; diff --git a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java index b71f1eeaca..137efc71ac 100644 --- a/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-core/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -144,6 +144,7 @@ public static PNPResults estimateCamPosePNP( */ public static class SVDResults { public final RotTrlTransform3d trf; + /** If the result is invalid, this value is -1 */ public final double rmse; diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index d0ebb1cf97..3cf8da1a3e 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -44,8 +44,10 @@ public class PNPResults { * to the best solution. */ public final Transform3d alt; + /** If no alternate solution is found, this is bestReprojErr */ public final double altReprojErr; + /** If no alternate solution is found, this is 0 */ public final double ambiguity; From 7907b90d973d7805bd90631fd211e3b0a047df6f Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 13:47:04 -0700 Subject: [PATCH 043/115] Fix accidental changes --- .../native/cpp/photonlib/PhotonPoseEstimator.cpp | 14 ++------------ .../native/include/photonlib/PhotonPoseEstimator.h | 8 -------- .../src/main/java/org/photonvision/Main.java | 10 ++++------ 3 files changed, 6 insertions(+), 26 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp index 61a6654e18..3a06ca9a71 100644 --- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp @@ -94,17 +94,6 @@ void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { multiTagFallbackStrategy = strategy; } -void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { - if (strategy == MULTI_TAG_PNP) { - FRC_ReportError( - frc::warn::Warning, - "Fallback cannot be set to MULTI_TAG_PNP! Setting to lowest ambiguity", - ""); - strategy = LOWEST_AMBIGUITY; - } - multiTagFallbackStrategy = strategy; -} - std::optional PhotonPoseEstimator::Update() { if (!camera) { FRC_ReportError(frc::warn::Warning, "[PhotonPoseEstimator] Missing camera!", @@ -414,7 +403,8 @@ std::optional PhotonPoseEstimator::MultiTagPnpStrategy( Pose3d const pose = detail::ToPose3d(tvec, rvec); return photonlib::EstimatedRobotPose( - pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp()); + pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp(), + result.GetTargets()); } std::optional diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h index 99458b5b87..21f6a343cb 100644 --- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h @@ -141,14 +141,6 @@ class PhotonPoseEstimator { */ void SetMultiTagFallbackStrategy(PoseStrategy strategy); - /** - * Set the Position Estimation Strategy used in multi-tag mode when - * only one tag can be seen. Must NOT be MULTI_TAG_PNP - * - * @param strategy the strategy to set - */ - void SetMultiTagFallbackStrategy(PoseStrategy strategy); - /** * Return the reference position that is being used by the estimator. * diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 762076094e..175ee27037 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -294,10 +294,10 @@ private static void addTestModeSources() { var fvs2023 = new FileVisionSource(camConf2023); collectedSources.add(fvs2023); - // collectedSources.add(fvs2022); - // collectedSources.add(fvsShape); - // collectedSources.add(fvs2020); - // collectedSources.add(fvs2019); + collectedSources.add(fvs2022); + collectedSources.add(fvsShape); + collectedSources.add(fvs2020); + collectedSources.add(fvs2019); ConfigManager.getInstance().unloadCameraConfigs(); VisionModuleManager.getInstance().addSources(collectedSources).forEach(VisionModule::start); @@ -305,8 +305,6 @@ private static void addTestModeSources() { } public static void main(String[] args) { - isTestMode = true; - try { TestUtils.loadLibraries(); logger.info("Native libraries loaded."); From b5007f75939d541e2b240917cc85647bfa6bd6b8 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 13:50:18 -0700 Subject: [PATCH 044/115] Generate hash/equals --- .../targeting/PhotonPipelineResult.java | 40 +++++++++++++++++++ 1 file changed, 40 insertions(+) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 366a7002d0..7237beba7f 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -192,4 +192,44 @@ public Packet populatePacket(Packet packet) { // Return the packet. return packet; } + + @Override + public int hashCode() { + final int prime = 31; + int result = 1; + result = prime * result + ((targets == null) ? 0 : targets.hashCode()); + long temp; + temp = Double.doubleToLongBits(latencyMillis); + result = prime * result + (int) (temp ^ (temp >>> 32)); + temp = Double.doubleToLongBits(timestampSeconds); + result = prime * result + (int) (temp ^ (temp >>> 32)); + result = prime * result + ((multiTagResult == null) ? 0 : multiTagResult.hashCode()); + return result; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) + return true; + if (obj == null) + return false; + if (getClass() != obj.getClass()) + return false; + PhotonPipelineResult other = (PhotonPipelineResult) obj; + if (targets == null) { + if (other.targets != null) + return false; + } else if (!targets.equals(other.targets)) + return false; + if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) + return false; + if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds)) + return false; + if (multiTagResult == null) { + if (other.multiTagResult != null) + return false; + } else if (!multiTagResult.equals(other.multiTagResult)) + return false; + return true; + } } From 2ed6ca691140f2056ae1f4c75d6dfedb08085e3d Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 13:57:33 -0700 Subject: [PATCH 045/115] Update PNPResults.java --- .../photonvision/targeting/PNPResults.java | 88 ++++++++----------- 1 file changed, 37 insertions(+), 51 deletions(-) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index 3cf8da1a3e..89adf94bcf 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -1,25 +1,30 @@ /* - * Copyright (C) Photon Vision. + * MIT License * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. + * Copyright (c) PhotonVision * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. + * 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: * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. */ -package org.photonvision.targeting; +package org.photonvision.estimation; import edu.wpi.first.math.geometry.Transform3d; -import org.photonvision.common.dataflow.structures.Packet; -import org.photonvision.utils.PacketUtils; /** * The best estimated transformation from solvePnP, and possibly an alternate transformation @@ -31,12 +36,19 @@ * method. */ public class PNPResults { - // Imitate optional by having a valid check + /** + * If this result is valid. A false value indicates there was an error in estimation, and this + * result should not be used. + */ public final boolean isPresent; - // Best transform. Coordinate frame depends on where this result comes from + /** + * The best-fit transform. The coordinate frame of this transform depends on the method which gave + * this result. + */ public final Transform3d best; - // Reprojection error of this solution, in pixels + + /** Reprojection error of the best solution, in pixels */ public final double bestReprojErr; /** @@ -51,8 +63,14 @@ public class PNPResults { /** If no alternate solution is found, this is 0 */ public final double ambiguity; + /** An empty (invalid) result. */ public PNPResults() { - this(false, new Transform3d(), new Transform3d(), -1, 0, 0); + this.isPresent = false; + this.best = new Transform3d(); + this.alt = new Transform3d(); + this.ambiguity = 0; + this.bestReprojErr = 0; + this.altReprojErr = 0; } public PNPResults(Transform3d best, double bestReprojErr) { @@ -65,43 +83,11 @@ public PNPResults( double ambiguity, double bestReprojErr, double altReprojErr) { - this(true, best, alt, ambiguity, bestReprojErr, altReprojErr); - } - - public PNPResults( - boolean isPresent, - Transform3d best, - Transform3d alt, - double ambiguity, - double bestReprojErr, - double altReprojErr) { - this.isPresent = isPresent; + this.isPresent = true; this.best = best; this.alt = alt; this.ambiguity = ambiguity; this.bestReprojErr = bestReprojErr; this.altReprojErr = altReprojErr; } - - public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3); - - public static PNPResults createFromPacket(Packet packet) { - var present = packet.decodeBoolean(); - var best = PacketUtils.decodeTransform(packet); - var alt = PacketUtils.decodeTransform(packet); - var bestEr = packet.decodeDouble(); - var altEr = packet.decodeDouble(); - var ambiguity = packet.decodeDouble(); - return new PNPResults(present, best, alt, ambiguity, bestEr, altEr); - } - - public Packet populatePacket(Packet packet) { - packet.encode(isPresent); - PacketUtils.encodeTransform(packet, best); - PacketUtils.encodeTransform(packet, alt); - packet.encode(bestReprojErr); - packet.encode(altReprojErr); - packet.encode(ambiguity); - return packet; - } } From f3193f4154dcc49d97353ccebeeb6f67f3416810 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 14:05:04 -0700 Subject: [PATCH 046/115] Fix most of the merge conflicts --- .../configuration/LegacyConfigProvider.java | 38 +++++++- .../configuration/SqlConfigProvider.java | 26 +++++- .../photonvision/estimation/PNPResults.java | 93 ------------------- .../estimation/VisionEstimation.java | 2 +- .../simulation/PhotonCameraSim.java | 2 +- .../photonvision/targeting/PNPResults.java | 59 ++++++++---- .../targeting/PhotonPipelineResult.java | 25 ++--- 7 files changed, 113 insertions(+), 132 deletions(-) delete mode 100644 photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java index 7051ab7ef9..f3576e5a9a 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java @@ -18,6 +18,8 @@ package org.photonvision.common.configuration; import com.fasterxml.jackson.core.JsonProcessingException; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -45,12 +47,14 @@ class LegacyConfigProvider extends ConfigProvider { public static final String HW_CFG_FNAME = "hardwareConfig.json"; public static final String HW_SET_FNAME = "hardwareSettings.json"; public static final String NET_SET_FNAME = "networkSettings.json"; + public static final String ATFL_SET_FNAME = "apriltagFieldLayout.json"; private PhotonConfiguration config; private final File hardwareConfigFile; private final File hardwareSettingsFile; private final File networkConfigFile; private final File camerasFolder; + private final File apriltagFieldLayoutFile; final File configDirectoryFile; @@ -87,6 +91,8 @@ protected LegacyConfigProvider(Path configDirectoryFile) { new File(Path.of(configDirectoryFile.toString(), HW_SET_FNAME).toUri()); this.networkConfigFile = new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri()); + this.apriltagFieldLayoutFile = + new File(Path.of(configDirectoryFile.toString(), ATFL_SET_FNAME).toUri()); this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri()); settingsSaveThread = new Thread(this::saveAndWriteTask); @@ -117,6 +123,7 @@ public void load() { HardwareConfig hardwareConfig; HardwareSettings hardwareSettings; NetworkConfig networkConfig; + AprilTagFieldLayout atfl = null; if (hardwareConfigFile.exists()) { try { @@ -176,11 +183,40 @@ public void load() { } } + if (apriltagFieldLayoutFile.exists()) { + try { + atfl = + JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class); + if (atfl == null) { + logger.error("Could not deserialize apriltag field layout!"); + } + } catch (IOException e) { + logger.error("Could not deserialize apriltag field layout!"); + atfl = null; // not required, nice to be explicit + } + logger.info("Apriltag layout file not saved!"); + atfl = null; // not required, nice to be explicit + } + if (atfl == null) { + logger.info("Loading default apriltags for 2023 field..."); + try { + atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField(); + } catch (IOException e) { + logger.error("Error loading WPILib field", e); + atfl = null; + } + if (atfl == null) { + // what do we even do here lmao -- wpilib should always work + logger.error("Field layout is *still* null??????"); + atfl = new AprilTagFieldLayout(List.of(), 1, 1); + } + } + HashMap cameraConfigurations = loadCameraConfigs(); this.config = new PhotonConfiguration( - hardwareConfig, hardwareSettings, networkConfig, cameraConfigurations); + hardwareConfig, hardwareSettings, networkConfig, atfl, cameraConfigurations); } @Override diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java index cad4325c4b..53e31e41f0 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java @@ -17,6 +17,8 @@ package org.photonvision.common.configuration; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -57,6 +59,7 @@ static class TableKeys { static final String NETWORK_CONFIG = "networkConfig"; static final String HARDWARE_CONFIG = "hardwareConfig"; static final String HARDWARE_SETTINGS = "hardwareSettings"; + static final String ATFL_CONFIG_FILE = "apriltagFieldLayout"; } private static final String dbName = "photon.sqlite"; @@ -206,6 +209,7 @@ public void load() { HardwareConfig hardwareConfig; HardwareSettings hardwareSettings; NetworkConfig networkConfig; + AprilTagFieldLayout atfl; try { hardwareConfig = @@ -234,6 +238,25 @@ public void load() { networkConfig = new NetworkConfig(); } + try { + atfl = + JacksonUtils.deserialize( + getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class); + } catch (IOException e) { + logger.error("Could not deserialize network config! Loading defaults"); + try { + atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField(); + } catch (IOException e2) { + logger.error("Error loading WPILib field", e); + atfl = null; + } + if (atfl == null) { + // what do we even do here lmao -- wpilib should always work + logger.error("Field layout is *still* null??????"); + atfl = new AprilTagFieldLayout(List.of(), 1, 1); + } + } + var cams = loadCameraConfigs(conn); try { @@ -242,7 +265,8 @@ public void load() { logger.error("SQL Err closing connection while loading: ", e); } - this.config = new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, cams); + this.config = + new PhotonConfiguration(hardwareConfig, hardwareSettings, networkConfig, atfl, cams); } } diff --git a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java b/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java deleted file mode 100644 index 89adf94bcf..0000000000 --- a/photon-lib/src/main/java/org/photonvision/estimation/PNPResults.java +++ /dev/null @@ -1,93 +0,0 @@ -/* - * MIT License - * - * Copyright (c) PhotonVision - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -package org.photonvision.estimation; - -import edu.wpi.first.math.geometry.Transform3d; - -/** - * The best estimated transformation from solvePnP, and possibly an alternate transformation - * depending on the solvePNP method. If an alternate solution is present, the ambiguity value - * represents the ratio of reprojection error in the best solution to the alternate (best / - * alternate). - * - *

    Note that the coordinate frame of these transforms depends on the implementing solvePnP - * method. - */ -public class PNPResults { - /** - * If this result is valid. A false value indicates there was an error in estimation, and this - * result should not be used. - */ - public final boolean isPresent; - - /** - * The best-fit transform. The coordinate frame of this transform depends on the method which gave - * this result. - */ - public final Transform3d best; - - /** Reprojection error of the best solution, in pixels */ - public final double bestReprojErr; - - /** - * Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal - * to the best solution. - */ - public final Transform3d alt; - - /** If no alternate solution is found, this is bestReprojErr */ - public final double altReprojErr; - - /** If no alternate solution is found, this is 0 */ - public final double ambiguity; - - /** An empty (invalid) result. */ - public PNPResults() { - this.isPresent = false; - this.best = new Transform3d(); - this.alt = new Transform3d(); - this.ambiguity = 0; - this.bestReprojErr = 0; - this.altReprojErr = 0; - } - - public PNPResults(Transform3d best, double bestReprojErr) { - this(best, best, 0, bestReprojErr, bestReprojErr); - } - - public PNPResults( - Transform3d best, - Transform3d alt, - double ambiguity, - double bestReprojErr, - double altReprojErr) { - this.isPresent = true; - this.best = best; - this.alt = alt; - this.ambiguity = ambiguity; - this.bestReprojErr = bestReprojErr; - this.altReprojErr = altReprojErr; - } -} diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java index 1acf65743a..caeda4fcda 100644 --- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java +++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java @@ -33,9 +33,9 @@ import edu.wpi.first.math.numbers.*; import java.util.ArrayList; import java.util.List; -import org.photonvision.targeting.PNPResults; import java.util.Objects; import java.util.stream.Collectors; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; 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 81a20d0d36..0c1fd875eb 100644 --- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java +++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java @@ -48,7 +48,7 @@ import org.photonvision.common.networktables.NTTopicSet; import org.photonvision.estimation.CameraTargetRelation; import org.photonvision.estimation.OpenCVHelp; -import org.photonvision.estimation.PNPResults; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index 89adf94bcf..da42406711 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -1,30 +1,25 @@ /* - * MIT License + * Copyright (C) Photon Vision. * - * Copyright (c) PhotonVision + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. * - * 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: + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. * - * 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. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . */ -package org.photonvision.estimation; +package org.photonvision.targeting; import edu.wpi.first.math.geometry.Transform3d; +import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.utils.PacketUtils; /** * The best estimated transformation from solvePnP, and possibly an alternate transformation @@ -90,4 +85,30 @@ public PNPResults( this.bestReprojErr = bestReprojErr; this.altReprojErr = altReprojErr; } + + public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3); + + public static PNPResults createFromPacket(Packet packet) { + var present = packet.decodeBoolean(); + var best = PacketUtils.decodeTransform(packet); + var alt = PacketUtils.decodeTransform(packet); + var bestEr = packet.decodeDouble(); + var altEr = packet.decodeDouble(); + var ambiguity = packet.decodeDouble(); + if (present) { + return new PNPResults(best, alt, ambiguity, bestEr, altEr); + } else { + return new PNPResults(); + } + } + + public Packet populatePacket(Packet packet) { + packet.encode(isPresent); + PacketUtils.encodeTransform(packet, best); + PacketUtils.encodeTransform(packet, alt); + packet.encode(bestReprojErr); + packet.encode(altReprojErr); + packet.encode(ambiguity); + return packet; + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 7237beba7f..e7aee05c9b 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -209,27 +209,20 @@ public int hashCode() { @Override public boolean equals(Object obj) { - if (this == obj) - return true; - if (obj == null) - return false; - if (getClass() != obj.getClass()) - return false; + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; PhotonPipelineResult other = (PhotonPipelineResult) obj; if (targets == null) { - if (other.targets != null) - return false; - } else if (!targets.equals(other.targets)) - return false; + if (other.targets != null) return false; + } else if (!targets.equals(other.targets)) return false; if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) return false; - if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds)) - return false; + if (Double.doubleToLongBits(timestampSeconds) + != Double.doubleToLongBits(other.timestampSeconds)) return false; if (multiTagResult == null) { - if (other.multiTagResult != null) - return false; - } else if (!multiTagResult.equals(other.multiTagResult)) - return false; + if (other.multiTagResult != null) return false; + } else if (!multiTagResult.equals(other.multiTagResult)) return false; return true; } } From 92eae4165b562da4dc1fe22469b24ce55d70c16e Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 14:16:01 -0700 Subject: [PATCH 047/115] Update SqlConfigProvider.java --- .../photonvision/common/configuration/SqlConfigProvider.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java index 53e31e41f0..ef0423e377 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java @@ -243,7 +243,7 @@ public void load() { JacksonUtils.deserialize( getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class); } catch (IOException e) { - logger.error("Could not deserialize network config! Loading defaults"); + logger.error("Could not deserialize apriltag layout! Loading defaults"); try { atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField(); } catch (IOException e2) { From 2ebd4af3de5300913d62a22a855e67b95c058aca Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 14:19:29 -0700 Subject: [PATCH 048/115] Add equals --- .../photonvision/targeting/PNPResults.java | 49 +++++++++++++++++++ .../targeting/PhotonPipelineResult.java | 29 +++++++---- 2 files changed, 68 insertions(+), 10 deletions(-) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index da42406711..df430936f6 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -111,4 +111,53 @@ public Packet populatePacket(Packet packet) { packet.encode(ambiguity); return packet; } + + @Override + public int hashCode() { + final int prime = 31; + int result = 1; + result = prime * result + (isPresent ? 1231 : 1237); + result = prime * result + ((best == null) ? 0 : best.hashCode()); + long temp; + temp = Double.doubleToLongBits(bestReprojErr); + result = prime * result + (int) (temp ^ (temp >>> 32)); + result = prime * result + ((alt == null) ? 0 : alt.hashCode()); + temp = Double.doubleToLongBits(altReprojErr); + result = prime * result + (int) (temp ^ (temp >>> 32)); + temp = Double.doubleToLongBits(ambiguity); + result = prime * result + (int) (temp ^ (temp >>> 32)); + return result; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) + return true; + if (obj == null) + return false; + if (getClass() != obj.getClass()) + return false; + PNPResults other = (PNPResults) obj; + if (isPresent != other.isPresent) + return false; + if (best == null) { + if (other.best != null) + return false; + } else if (!best.equals(other.best)) + return false; + if (Double.doubleToLongBits(bestReprojErr) != Double.doubleToLongBits(other.bestReprojErr)) + return false; + if (alt == null) { + if (other.alt != null) + return false; + } else if (!alt.equals(other.alt)) + return false; + if (Double.doubleToLongBits(altReprojErr) != Double.doubleToLongBits(other.altReprojErr)) + return false; + if (Double.doubleToLongBits(ambiguity) != Double.doubleToLongBits(other.ambiguity)) + return false; + return true; + } + + } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index e7aee05c9b..a78e297639 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -56,7 +56,7 @@ public PhotonPipelineResult(double latencyMillis, List targ * * @param latencyMillis The latency in the pipeline. * @param targets The list of targets identified by the pipeline. - * @param multiTagResult Result from multi-target PNP. + * @param result Result from multi-target PNP. */ public PhotonPipelineResult( double latencyMillis, List targets, PNPResults results) { @@ -209,20 +209,29 @@ public int hashCode() { @Override public boolean equals(Object obj) { - if (this == obj) return true; - if (obj == null) return false; - if (getClass() != obj.getClass()) return false; + if (this == obj) + return true; + if (obj == null) + return false; + if (getClass() != obj.getClass()) + return false; PhotonPipelineResult other = (PhotonPipelineResult) obj; if (targets == null) { - if (other.targets != null) return false; - } else if (!targets.equals(other.targets)) return false; + if (other.targets != null) + return false; + } else if (!targets.equals(other.targets)) + return false; if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) return false; - if (Double.doubleToLongBits(timestampSeconds) - != Double.doubleToLongBits(other.timestampSeconds)) return false; + if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds)) + return false; if (multiTagResult == null) { - if (other.multiTagResult != null) return false; - } else if (!multiTagResult.equals(other.multiTagResult)) return false; + if (other.multiTagResult != null) + return false; + } else if (!multiTagResult.equals(other.multiTagResult)) + return false; return true; } + + } From 06279ed8bca4b952263926db3fda2142f7d8fe75 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 28 Jul 2023 14:21:16 -0700 Subject: [PATCH 049/115] spotless --- .../photonvision/targeting/PNPResults.java | 26 ++++++------------ .../targeting/PhotonPipelineResult.java | 27 +++++++------------ 2 files changed, 17 insertions(+), 36 deletions(-) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index df430936f6..c26ad39ca8 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -131,33 +131,23 @@ public int hashCode() { @Override public boolean equals(Object obj) { - if (this == obj) - return true; - if (obj == null) - return false; - if (getClass() != obj.getClass()) - return false; + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; PNPResults other = (PNPResults) obj; - if (isPresent != other.isPresent) - return false; + if (isPresent != other.isPresent) return false; if (best == null) { - if (other.best != null) - return false; - } else if (!best.equals(other.best)) - return false; + if (other.best != null) return false; + } else if (!best.equals(other.best)) return false; if (Double.doubleToLongBits(bestReprojErr) != Double.doubleToLongBits(other.bestReprojErr)) return false; if (alt == null) { - if (other.alt != null) - return false; - } else if (!alt.equals(other.alt)) - return false; + if (other.alt != null) return false; + } else if (!alt.equals(other.alt)) return false; if (Double.doubleToLongBits(altReprojErr) != Double.doubleToLongBits(other.altReprojErr)) return false; if (Double.doubleToLongBits(ambiguity) != Double.doubleToLongBits(other.ambiguity)) return false; return true; } - - } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index a78e297639..36256e2602 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -209,29 +209,20 @@ public int hashCode() { @Override public boolean equals(Object obj) { - if (this == obj) - return true; - if (obj == null) - return false; - if (getClass() != obj.getClass()) - return false; + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; PhotonPipelineResult other = (PhotonPipelineResult) obj; if (targets == null) { - if (other.targets != null) - return false; - } else if (!targets.equals(other.targets)) - return false; + if (other.targets != null) return false; + } else if (!targets.equals(other.targets)) return false; if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis)) return false; - if (Double.doubleToLongBits(timestampSeconds) != Double.doubleToLongBits(other.timestampSeconds)) - return false; + if (Double.doubleToLongBits(timestampSeconds) + != Double.doubleToLongBits(other.timestampSeconds)) return false; if (multiTagResult == null) { - if (other.multiTagResult != null) - return false; - } else if (!multiTagResult.equals(other.multiTagResult)) - return false; + if (other.multiTagResult != null) return false; + } else if (!multiTagResult.equals(other.multiTagResult)) return false; return true; } - - } From e0681b1121be7b785c7a2ce2c003c18161c104c4 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Wed, 9 Aug 2023 13:35:33 -0400 Subject: [PATCH 050/115] Save ATFL from upload --- .../photonvision/common/configuration/ConfigManager.java | 4 ++++ .../common/configuration/ConfigProvider.java | 2 ++ .../common/configuration/LegacyConfigProvider.java | 9 +++++++++ .../common/configuration/SqlConfigProvider.java | 5 +++++ 4 files changed, 20 insertions(+) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java index ecec44054d..3c0e229df0 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java @@ -255,6 +255,10 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) { return m_provider.saveUploadedNetworkConfig(uploadPath); } + public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) { + return m_provider.saveUploadedAprilTagFieldLayout(uploadPath); + } + public void requestSave() { logger.trace("Requesting save..."); saveRequestTimestamp = System.currentTimeMillis(); diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java index f827a99360..f13638333a 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigProvider.java @@ -35,4 +35,6 @@ PhotonConfiguration getConfig() { public abstract boolean saveUploadedHardwareSettings(Path uploadPath); public abstract boolean saveUploadedNetworkConfig(Path uploadPath); + + public abstract boolean saveUploadedAprilTagFieldLayout(Path uploadPath); } diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java index f3576e5a9a..5e5d060f63 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java @@ -437,6 +437,10 @@ public Path getNetworkConfigFile() { return this.networkConfigFile.toPath(); } + public Path getAprilTagFieldLayoutFile() { + return this.apriltagFieldLayoutFile.toPath(); + } + @Override public boolean saveUploadedHardwareConfig(Path uploadPath) { return FileUtils.replaceFile(uploadPath, this.getHardwareConfigFile()); @@ -452,6 +456,11 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) { return FileUtils.replaceFile(uploadPath, this.getNetworkConfigFile()); } + @Override + public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) { + return FileUtils.replaceFile(uploadPath, this.getAprilTagFieldLayoutFile()); + } + public void requestSave() { logger.trace("Requesting save..."); saveRequestTimestamp = System.currentTimeMillis(); diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java index ef0423e377..5a862ff72b 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java @@ -446,6 +446,11 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) { return saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath); } + @Override + public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) { + return saveOneFile(TableKeys.ATFL_CONFIG_FILE, uploadPath); + } + private HashMap loadCameraConfigs(Connection conn) { HashMap loadedConfigurations = new HashMap<>(); From 1aa7e57aec718bce20724d0757484be23c15a125 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Wed, 9 Aug 2023 13:35:44 -0400 Subject: [PATCH 051/115] Add HTTP request for ATFL upload --- .../photonvision/server/RequestHandler.java | 42 +++++++++++++++++++ .../java/org/photonvision/server/Server.java | 1 + 2 files changed, 43 insertions(+) diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java index 14bebe2887..3f6038dfd4 100644 --- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java +++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java @@ -246,6 +246,48 @@ public static void onNetworkConfigRequest(Context ctx) { } } + public static void onAprilTagFieldLayoutRequest(Context ctx) { + var file = ctx.uploadedFile("data"); + + if (file == null) { + ctx.status(400); + ctx.result( + "No File was sent with the request. Make sure that the field layout json is sent at the key 'data'"); + logger.error( + "No File was sent with the request. Make sure that the field layout json is sent at the key 'data'"); + return; + } + + if (!file.getExtension().contains("json")) { + ctx.status(400); + ctx.result( + "The uploaded file was not of type 'json'. The uploaded file should be a .json file."); + logger.error( + "The uploaded file was not of type 'json'. The uploaded file should be a .json file."); + return; + } + + // Create a temp file + var tempFilePath = handleTempFileCreation(file); + + if (tempFilePath.isEmpty()) { + ctx.status(500); + ctx.result("There was an error while creating a temporary copy of the file"); + logger.error("There was an error while creating a temporary copy of the file"); + return; + } + + if (ConfigManager.getInstance().saveUploadedAprilTagFieldLayout(tempFilePath.get().toPath())) { + ctx.status(200); + ctx.result("Successfully saved the uploaded AprilTagFieldLayout"); + logger.info("Successfully saved the uploaded AprilTagFieldLayout"); + } else { + ctx.status(500); + ctx.result("There was an error while saving the uploaded AprilTagFieldLayout"); + logger.error("There was an error while saving the uploaded AprilTagFieldLayout"); + } + } + public static void onOfflineUpdateRequest(Context ctx) { var file = ctx.uploadedFile("jarData"); diff --git a/photon-server/src/main/java/org/photonvision/server/Server.java b/photon-server/src/main/java/org/photonvision/server/Server.java index 7a025d2b6e..18010e6146 100644 --- a/photon-server/src/main/java/org/photonvision/server/Server.java +++ b/photon-server/src/main/java/org/photonvision/server/Server.java @@ -96,6 +96,7 @@ public static void start(int port) { app.post("/api/settings/hardwareConfig", RequestHandler::onHardwareConfigRequest); app.post("/api/settings/hardwareSettings", RequestHandler::onHardwareSettingsRequest); app.post("/api/settings/networkConfig", RequestHandler::onNetworkConfigRequest); + app.post("/api/settings/aprilTagFieldLayout", RequestHandler::onAprilTagFieldLayoutRequest); app.post("/api/settings/general", RequestHandler::onGeneralSettingsRequest); app.post("/api/settings/camera", RequestHandler::onCameraSettingsRequest); app.post("/api/settings/camera/setNickname", RequestHandler::onCameraNicknameChangeRequest); From 73352576ef84cb57fcc73f09cf702753847ac4e9 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Sat, 12 Aug 2023 14:02:27 -0700 Subject: [PATCH 052/115] Add ATFL to full settings --- .../common/configuration/PhotonConfiguration.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java index c899d95771..3964976fe7 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java @@ -31,7 +31,6 @@ import org.photonvision.vision.processes.VisionModuleManager; import org.photonvision.vision.processes.VisionSource; -// TODO rename this class public class PhotonConfiguration { private HardwareConfig hardwareConfig; private HardwareSettings hardwareSettings; @@ -127,6 +126,9 @@ public Map toHashMap() { settingsSubmap.put("general", generalSubmap); map.put("settings", settingsSubmap); + + map.put("atfl", this.atfl); + return map; } From d9a6ff8460f39c0a21c77a7048fc468f11117325 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 16:52:35 -0400 Subject: [PATCH 053/115] Typescript fixes --- photon-client/src/types/WebsocketDataTypes.ts | 42 +++++-------------- .../common/networking/RoborioFinder.java | 2 +- 2 files changed, 12 insertions(+), 32 deletions(-) diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts index 425c895b77..cceb4d79bb 100644 --- a/photon-client/src/types/WebsocketDataTypes.ts +++ b/photon-client/src/types/WebsocketDataTypes.ts @@ -1,6 +1,7 @@ import type { GeneralSettings, LightingSettings, MetricData, NetworkSettings } from "@/types/SettingTypes"; import type { ActivePipelineSettings } from "@/types/PipelineTypes"; import type { LogLevel } from "@/types/SettingTypes"; +import type { PipelineResult } from "@/types/PhotonTrackingTypes"; export interface WebsocketLogMessage { logMessage: { @@ -58,38 +59,17 @@ export interface WebsocketNTUpdate { address?: string, clients?: number } -export type WebsocketPipelineResultUpdate = Record +export type WebsocketPipelineResultUpdate = Record export interface WebsocketCalibrationData { - "patternWidth": number, - "boardType": number, - "hasEnough": boolean, - "count": number, - "minCount": number, - "videoModeIndex": number, - "patternHeight": number, - "squareSizeIn": number + patternWidth: number, + boardType: number, + hasEnough: boolean, + count: number, + minCount: number, + videoModeIndex: number, + patternHeight: number, + squareSizeIn: number } export interface IncomingWebsocketData { @@ -101,7 +81,7 @@ export interface IncomingWebsocketData { updatePipelineResult?: WebsocketPipelineResultUpdate, networkInfo?: { possibleRios: string[], - deviceips: string[] + deviceIps: string[] } mutatePipelineSettings?: Partial, cameraIndex?: number // Sent when mutating pipeline settings to check against currently active diff --git a/photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java b/photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java index f94beb6123..24f7b007f6 100644 --- a/photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java +++ b/photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java @@ -45,7 +45,7 @@ public void findRios() { // Seperate from the above so we don't hold stuff up System.setProperty("java.net.preferIPv4Stack", "true"); subMap.put( - "deviceips", + "deviceIps", Arrays.stream(CameraServerJNI.getNetworkInterfaces()) .filter(it -> !it.equals("0.0.0.0")) .toArray()); From afc1a0b7030855b9c8bf5c363c2ed17e3c68eaf2 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 17:02:46 -0400 Subject: [PATCH 054/115] rename shouldMange to shouldManage --- photon-client/src/stores/settings/GeneralSettingsStore.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/photon-client/src/stores/settings/GeneralSettingsStore.ts b/photon-client/src/stores/settings/GeneralSettingsStore.ts index b3d5711244..0697af1251 100644 --- a/photon-client/src/stores/settings/GeneralSettingsStore.ts +++ b/photon-client/src/stores/settings/GeneralSettingsStore.ts @@ -27,7 +27,7 @@ export const useSettingsStore = defineStore("settings", { }, network: { ntServerAddress: "", - shouldMange: true, + shouldManage: true, connectionType: NetworkConnectionType.DHCP, staticIp: "", hostname: "photonvision", @@ -91,7 +91,7 @@ export const useSettingsStore = defineStore("settings", { runNTServer: this.network.runNTServer, setDHCPcommand: this.network.setDHCPcommand || "", setStaticCommand: this.network.setStaticCommand || "", - shouldMange: this.network.shouldMange, + shouldManage: this.network.shouldManage, staticIp: this.network.staticIp }; return axios.post("/settings/general", payload); From a7ae5736493c9c17200c13a18f352a09a177879d Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 17:02:50 -0400 Subject: [PATCH 055/115] Move ATFL to settings --- .../configuration/PhotonConfiguration.java | 23 ++++++++++--------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java index 3964976fe7..8b0772402e 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java @@ -101,19 +101,14 @@ public Map toHashMap() { Map map = new HashMap<>(); var settingsSubmap = new HashMap(); + // Network Settings settingsSubmap.put("networkSettings", networkConfig.toHashMap()); - map.put( - "cameraSettings", - VisionModuleManager.getInstance().getModules().stream() - .map(VisionModule::toUICameraConfig) - .map(SerializationUtils::objectToHashMap) - .collect(Collectors.toList())); - + // Lighting Settings var lightingConfig = new UILightingConfig(); lightingConfig.brightness = hardwareSettings.ledBrightnessPercentage; - lightingConfig.supported = (hardwareConfig.ledPins.size() != 0); + lightingConfig.supported = !hardwareConfig.ledPins.isEmpty(); settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(lightingConfig)); - + // General Settings var generalSubmap = new HashMap(); generalSubmap.put("version", PhotonVersion.versionString); generalSubmap.put( @@ -124,11 +119,17 @@ public Map toHashMap() { generalSubmap.put("hardwareModel", hardwareConfig.deviceName); generalSubmap.put("hardwarePlatform", Platform.getPlatformName()); settingsSubmap.put("general", generalSubmap); + // AprilTagFieldLayout + settingsSubmap.put("atfl", this.atfl); + map.put( + "cameraSettings", + VisionModuleManager.getInstance().getModules().stream() + .map(VisionModule::toUICameraConfig) + .map(SerializationUtils::objectToHashMap) + .collect(Collectors.toList())); map.put("settings", settingsSubmap); - map.put("atfl", this.atfl); - return map; } From ed0e7526111821d4d2cd36c3a0a093fa6a271591 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 17:09:54 -0400 Subject: [PATCH 056/115] Add ATFL to websocket types --- .../src/types/PhotonTrackingTypes.ts | 25 +++++++++++++++++++ photon-client/src/types/WebsocketDataTypes.ts | 5 ++-- 2 files changed, 28 insertions(+), 2 deletions(-) diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts index 00bc7b84c6..8a8afaad25 100644 --- a/photon-client/src/types/PhotonTrackingTypes.ts +++ b/photon-client/src/types/PhotonTrackingTypes.ts @@ -9,6 +9,31 @@ export interface Pose { qz: number } +export interface AprilTagFieldLayout { + field: { + length: number, + width: number + }, + tags: { + ID: number, + pose: { + translation: { + x: number, + y: number, + z: number + }, + rotation: { + quaternion: { + X: number, + Y: number, + Z: number, + W: number + } + } + } + }[] +} + export interface PhotonTarget { yaw: number, pitch: number, diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts index cceb4d79bb..3772b721e8 100644 --- a/photon-client/src/types/WebsocketDataTypes.ts +++ b/photon-client/src/types/WebsocketDataTypes.ts @@ -1,7 +1,7 @@ import type { GeneralSettings, LightingSettings, MetricData, NetworkSettings } from "@/types/SettingTypes"; import type { ActivePipelineSettings } from "@/types/PipelineTypes"; import type { LogLevel } from "@/types/SettingTypes"; -import type { PipelineResult } from "@/types/PhotonTrackingTypes"; +import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes"; export interface WebsocketLogMessage { logMessage: { @@ -12,7 +12,8 @@ export interface WebsocketLogMessage { export interface WebsocketSettingsUpdate { general: Required, lighting: Required, - networkSettings: NetworkSettings + networkSettings: NetworkSettings, + atfl: AprilTagFieldLayout } export interface WebsocketNumberPair { From e4e391b9ec69d4620d976508655ac83a64f0fd39 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 17:10:53 -0400 Subject: [PATCH 057/115] Handle reciving the ATFL --- photon-client/src/stores/settings/GeneralSettingsStore.ts | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/photon-client/src/stores/settings/GeneralSettingsStore.ts b/photon-client/src/stores/settings/GeneralSettingsStore.ts index 0697af1251..6f51ff335c 100644 --- a/photon-client/src/stores/settings/GeneralSettingsStore.ts +++ b/photon-client/src/stores/settings/GeneralSettingsStore.ts @@ -9,12 +9,14 @@ import { NetworkConnectionType } from "@/types/SettingTypes"; import { useStateStore } from "@/stores/StateStore"; import axios from "axios"; import type { WebsocketSettingsUpdate } from "@/types/WebsocketDataTypes"; +import type { AprilTagFieldLayout } from "@/types/PhotonTrackingTypes"; interface GeneralSettingsStore { general: GeneralSettings, network: NetworkSettings, lighting: LightingSettings, - metrics: MetricData + metrics: MetricData, + currentFieldLayout?: AprilTagFieldLayout } export const useSettingsStore = defineStore("settings", { @@ -47,7 +49,8 @@ export const useSettingsStore = defineStore("settings", { cpuThr: undefined, cpuUptime: undefined, diskUtilPct: undefined - } + }, + currentFieldLayout: undefined }), getters: { gpuAccelerationEnabled(): boolean { @@ -80,6 +83,7 @@ export const useSettingsStore = defineStore("settings", { }; this.lighting = data.lighting; this.network = data.networkSettings; + this.currentFieldLayout = data.atfl; }, saveGeneralSettings() { const payload: Required = { From 96517c0dc3a13810e38793f5efe8304957f54192 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 18:09:42 -0400 Subject: [PATCH 058/115] Move Transform serialization to SerializationUtils --- .../common/util/SerializationUtils.java | 15 +++++++++++++ .../vision/target/TrackedTarget.java | 21 +++++-------------- 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java index a211b545ed..2b9ce919ff 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java +++ b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java @@ -18,6 +18,7 @@ package org.photonvision.common.util; import java.util.HashMap; +import edu.wpi.first.math.geometry.Transform3d; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; @@ -43,4 +44,18 @@ public static HashMap objectToHashMap(Object src) { } return ret; } + + public static HashMap transformToHashMap(Transform3d transform) { + var ret = new HashMap(); + ret.put("x", transform.getTranslation().getX()); + ret.put("y", transform.getTranslation().getY()); + ret.put("z", transform.getTranslation().getZ()); + ret.put("qw", transform.getRotation().getQuaternion().getW()); + ret.put("qx", transform.getRotation().getQuaternion().getX()); + ret.put("qy", transform.getRotation().getQuaternion().getY()); + ret.put("qz", transform.getRotation().getQuaternion().getZ()); + + ret.put("angle_z", transform.getRotation().getZ()); + return ret; + } } diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java index 4bb7997047..0c44e12f0e 100644 --- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java +++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java @@ -30,6 +30,7 @@ import org.opencv.core.MatOfPoint2f; import org.opencv.core.Point; import org.opencv.core.RotatedRect; +import org.photonvision.common.util.SerializationUtils; import org.photonvision.common.util.math.MathUtils; import org.photonvision.vision.aruco.ArucoDetectionResult; import org.photonvision.vision.frame.FrameStaticProperties; @@ -350,27 +351,15 @@ public HashMap toHashMap() { ret.put("skew", getSkew()); ret.put("area", getArea()); ret.put("ambiguity", getPoseAmbiguity()); - if (getBestCameraToTarget3d() != null) { - ret.put("pose", transformToMap(getBestCameraToTarget3d())); + + var bestCameraToTarget3d = getBestCameraToTarget3d(); + if (bestCameraToTarget3d != null) { + ret.put("pose", SerializationUtils.transformToHashMap(bestCameraToTarget3d)); } ret.put("fiducialId", getFiducialId()); return ret; } - private static HashMap transformToMap(Transform3d transform) { - var ret = new HashMap(); - ret.put("x", transform.getTranslation().getX()); - ret.put("y", transform.getTranslation().getY()); - ret.put("z", transform.getTranslation().getZ()); - ret.put("qw", transform.getRotation().getQuaternion().getW()); - ret.put("qx", transform.getRotation().getQuaternion().getX()); - ret.put("qy", transform.getRotation().getQuaternion().getY()); - ret.put("qz", transform.getRotation().getQuaternion().getZ()); - - ret.put("angle_z", transform.getRotation().getZ()); - return ret; - } - public boolean isFiducial() { return this.m_fiducialId >= 0; } From 316de532eef1a76a56a68a51b84ea9cecf9c88d9 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 18:13:05 -0400 Subject: [PATCH 059/115] Add multitag data to UIDataPublisher --- .../src/types/PhotonTrackingTypes.ts | 17 ++++++++---- .../dataflow/websocket/UIDataPublisher.java | 26 ++++++++++++------- 2 files changed, 28 insertions(+), 15 deletions(-) diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts index 8a8afaad25..54d2f4cfb7 100644 --- a/photon-client/src/types/PhotonTrackingTypes.ts +++ b/photon-client/src/types/PhotonTrackingTypes.ts @@ -1,12 +1,12 @@ -export interface Pose { +export interface Transform3d { x: number, y: number, z: number, - angle_z: number, qw: number, qx: number, qy: number, - qz: number + qz: number, + angle_z: number } export interface AprilTagFieldLayout { @@ -44,11 +44,18 @@ export interface PhotonTarget { // -1 if not set fiducialId: number, // undefined if 3d isn't enabled - pose?: Pose + pose?: Transform3d +} + +export interface MultitagResult { + bestTransform: Transform3d, + bestReprojectionError: number } export interface PipelineResult { fps: number, latency: number, - targets: PhotonTarget[] + targets: PhotonTarget[], + // undefined if multitag failed or non-tag pipeline + multitagResult?: MultitagResult } diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java index 0a9de04448..2344797bf0 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java @@ -24,7 +24,9 @@ import org.photonvision.common.dataflow.events.OutgoingUIEvent; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; +import org.photonvision.common.util.SerializationUtils; import org.photonvision.vision.pipeline.result.CVPipelineResult; +import org.photonvision.vision.target.TrackedTarget; public class UIDataPublisher implements CVPipelineResultConsumer { private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule); @@ -40,23 +42,27 @@ public UIDataPublisher(int index) { public void accept(CVPipelineResult result) { long now = System.currentTimeMillis(); - var dataMap = new HashMap(); - dataMap.put("latency", result.getLatencyMillis()); - // only update the UI at 15hz if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return; - var uiMap = new HashMap>(); - + var dataMap = new HashMap(); dataMap.put("fps", result.fps); - - var targets = result.targets; - - var uiTargets = new ArrayList>(); - for (var t : targets) { + dataMap.put("latency", result.getLatencyMillis()); + var uiTargets = new ArrayList>(result.targets.size()); + for (var t : result.targets) { uiTargets.add(t.toHashMap()); } dataMap.put("targets", uiTargets); + + // Only send Multitag Results if they are present, similar to 3d pose + if(result.multiTagResult.isPresent) { + var multitagData = new HashMap(); + multitagData.put("bestTransform", SerializationUtils.transformToHashMap(result.multiTagResult.best)); + multitagData.put("bestReprojectionError", result.multiTagResult.bestReprojErr); + dataMap.put("multitagResult", multitagData); + } + + var uiMap = new HashMap>(); uiMap.put(index, dataMap); DataChangeService.getInstance() From 473e4890cd4cfd58064d49e7348525165689dab5 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 18:18:14 -0400 Subject: [PATCH 060/115] Formatting fixes --- .../common/dataflow/websocket/UIDataPublisher.java | 6 +++--- .../org/photonvision/common/util/SerializationUtils.java | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java index 2344797bf0..d82fcdb86d 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java @@ -26,7 +26,6 @@ import org.photonvision.common.logging.Logger; import org.photonvision.common.util.SerializationUtils; import org.photonvision.vision.pipeline.result.CVPipelineResult; -import org.photonvision.vision.target.TrackedTarget; public class UIDataPublisher implements CVPipelineResultConsumer { private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule); @@ -55,9 +54,10 @@ public void accept(CVPipelineResult result) { dataMap.put("targets", uiTargets); // Only send Multitag Results if they are present, similar to 3d pose - if(result.multiTagResult.isPresent) { + if (result.multiTagResult.isPresent) { var multitagData = new HashMap(); - multitagData.put("bestTransform", SerializationUtils.transformToHashMap(result.multiTagResult.best)); + multitagData.put( + "bestTransform", SerializationUtils.transformToHashMap(result.multiTagResult.best)); multitagData.put("bestReprojectionError", result.multiTagResult.bestReprojErr); dataMap.put("multitagResult", multitagData); } diff --git a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java index 2b9ce919ff..6fc3ea9c30 100644 --- a/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java +++ b/photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java @@ -17,8 +17,8 @@ package org.photonvision.common.util; -import java.util.HashMap; import edu.wpi.first.math.geometry.Transform3d; +import java.util.HashMap; import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; From ce709dd9db8694250ce4787dc8418234688cf050 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 18:37:20 -0400 Subject: [PATCH 061/115] add doMultiTarget to apriltag settings type --- photon-client/src/types/PipelineTypes.ts | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts index 9bea7db839..47f740d6fd 100644 --- a/photon-client/src/types/PipelineTypes.ts +++ b/photon-client/src/types/PipelineTypes.ts @@ -192,7 +192,8 @@ export interface AprilTagPipelineSettings extends PipelineSettings { refineEdges: boolean debug: boolean threads: number - tagFamily: AprilTagFamily + tagFamily: AprilTagFamily, + doMultiTarget: boolean } export type ConfigurableAprilTagPipelineSettings = Partial> & ConfigurablePipelineSettings export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = { @@ -212,7 +213,8 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = { refineEdges: true, debug: false, threads: 4, - tagFamily: AprilTagFamily.Family16h5 + tagFamily: AprilTagFamily.Family16h5, + doMultiTarget: false }; export interface ArucoPipelineSettings extends PipelineSettings { From aee455cf41f50891769d3a2d97b16904580963f6 Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Tue, 22 Aug 2023 18:48:48 -0400 Subject: [PATCH 062/115] Add switch for multitag --- .../src/components/dashboard/tabs/OutputTab.vue | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/photon-client/src/components/dashboard/tabs/OutputTab.vue b/photon-client/src/components/dashboard/tabs/OutputTab.vue index 02a637c7e5..3b25869643 100644 --- a/photon-client/src/components/dashboard/tabs/OutputTab.vue +++ b/photon-client/src/components/dashboard/tabs/OutputTab.vue @@ -35,6 +35,8 @@ const offsetPoints = computed(() => { } }); +const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings; + const interactiveCols = computed(() => (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) && (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)) ? 9 : 8; @@ -65,6 +67,13 @@ const interactiveCols = computed(() => (getCurrentInstance()?.proxy.$vuetify.bre :switch-cols="interactiveCols" @input="value => useCameraSettingsStore().changeCurrentPipelineSetting({outputShowMultipleTargets: value}, false)" /> + Date: Wed, 23 Aug 2023 10:18:08 -0700 Subject: [PATCH 063/115] Add IDs used to multi-tag result --- .../dataflow/websocket/UIDataPublisher.java | 8 ++-- .../vision/pipe/impl/MultiTargetPNPPipe.java | 29 +++++++------ .../vision/pipeline/AprilTagPipeline.java | 9 ++-- .../vision/pipeline/ArucoPipeline.java | 8 ++-- .../vision/pipeline/Calibrate3dPipeline.java | 6 +-- .../vision/pipeline/ColoredShapePipeline.java | 5 ++- .../vision/pipeline/OutputStreamPipeline.java | 2 - .../vision/pipeline/ReflectivePipeline.java | 3 +- .../pipeline/result/CVPipelineResult.java | 16 ++++++-- .../result/DriverModePipelineResult.java | 3 +- .../simulation/SimPhotonCamera.java | 4 +- .../targeting/MultiTargetPNPResults.java | 41 +++++++++++++++++++ .../targeting/PhotonPipelineResult.java | 14 +++---- 13 files changed, 98 insertions(+), 50 deletions(-) create mode 100644 photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java index d82fcdb86d..17ed240921 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java @@ -54,11 +54,13 @@ public void accept(CVPipelineResult result) { dataMap.put("targets", uiTargets); // Only send Multitag Results if they are present, similar to 3d pose - if (result.multiTagResult.isPresent) { + if (result.multiTagResult.estimatedPose.isPresent) { var multitagData = new HashMap(); multitagData.put( - "bestTransform", SerializationUtils.transformToHashMap(result.multiTagResult.best)); - multitagData.put("bestReprojectionError", result.multiTagResult.bestReprojErr); + "bestTransform", + SerializationUtils.transformToHashMap(result.multiTagResult.estimatedPose.best)); + multitagData.put("bestReprojectionError", result.multiTagResult.estimatedPose.bestReprojErr); + multitagData.put("fiducialIDsUsed", result.multiTagResult.fiducialIDsUsed); dataMap.put("multitagResult", multitagData); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java index eb052b03de..8d8693d607 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java @@ -26,22 +26,22 @@ import org.photonvision.common.logging.LogGroup; import org.photonvision.common.logging.Logger; import org.photonvision.estimation.VisionEstimation; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.targeting.TargetCorner; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.pipe.CVPipe; -import org.photonvision.vision.target.TargetModel; import org.photonvision.vision.target.TrackedTarget; /** Estimate the camera pose given multiple Apriltag observations */ public class MultiTargetPNPPipe - extends CVPipe, PNPResults, MultiTargetPNPPipe.MultiTargetPNPPipeParams> { + extends CVPipe< + List, MultiTargetPNPResults, MultiTargetPNPPipe.MultiTargetPNPPipeParams> { private static final Logger logger = new Logger(MultiTargetPNPPipe.class, LogGroup.VisionModule); private boolean hasWarned = false; @Override - protected PNPResults process(List targetList) { + protected MultiTargetPNPResults process(List targetList) { if (params.cameraCoefficients == null || params.cameraCoefficients.getCameraIntrinsicsMat() == null || params.cameraCoefficients.getDistCoeffsMat() == null) { @@ -50,21 +50,22 @@ protected PNPResults process(List targetList) { "Cannot perform solvePNP an uncalibrated camera! Please calibrate this resolution..."); hasWarned = true; } - return new PNPResults(); + return new MultiTargetPNPResults(); } return calculateTargetPose(targetList); } - private PNPResults calculateTargetPose(List targetList) { + private MultiTargetPNPResults calculateTargetPose(List targetList) { if (params.cameraCoefficients == null || params.cameraCoefficients.getCameraIntrinsicsMat() == null || params.cameraCoefficients.getDistCoeffsMat() == null) { - return new PNPResults(); + return new MultiTargetPNPResults(); } var visCorners = new ArrayList(); var knownVisTags = new ArrayList(); + var tagIDsUsed = new ArrayList(); for (var target : targetList) { for (var corner : target.getTargetCorners()) { visCorners.add(new TargetCorner(corner.x, corner.y)); @@ -73,15 +74,17 @@ private PNPResults calculateTargetPose(List targetList) { // actual layout poses of visible tags -- not exposed, so have to recreate knownVisTags.add(new AprilTag(target.getFiducialId(), tagPose)); + tagIDsUsed.add(target.getFiducialId()); } - var pnpResults = + var ret = new MultiTargetPNPResults(); + ret.estimatedPose = VisionEstimation.estimateCamPosePNP( params.cameraCoefficients.getCameraIntrinsicsMat(), params.cameraCoefficients.getDistCoeffsMat(), visCorners, knownVisTags); - - return pnpResults; + ret.fiducialIDsUsed = tagIDsUsed; + return ret; } Mat rotationMatrix = new Mat(); @@ -92,15 +95,11 @@ private PNPResults calculateTargetPose(List targetList) { public static class MultiTargetPNPPipeParams { private final CameraCalibrationCoefficients cameraCoefficients; - private final TargetModel targetModel; private final AprilTagFieldLayout atfl; public MultiTargetPNPPipeParams( - CameraCalibrationCoefficients cameraCoefficients, - TargetModel targetModel, - AprilTagFieldLayout atfl) { + CameraCalibrationCoefficients cameraCoefficients, AprilTagFieldLayout atfl) { this.cameraCoefficients = cameraCoefficients; - this.targetModel = targetModel; this.atfl = atfl; } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java index 80852142e8..92f14d577d 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java @@ -27,7 +27,7 @@ import java.util.List; import org.photonvision.common.configuration.ConfigManager; import org.photonvision.common.util.math.MathUtils; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.pipe.CVPipe.CVPipeResult; @@ -109,8 +109,7 @@ protected void setPipeParamsImpl() { // TODO global state ew var atfl = ConfigManager.getInstance().getConfig().getApriltagFieldLayout(); multiTagPNPPipe.setParams( - new MultiTargetPNPPipeParams( - frameStaticProperties.cameraCalibration, settings.targetModel, atfl)); + new MultiTargetPNPPipeParams(frameStaticProperties.cameraCalibration, atfl)); } } } @@ -127,7 +126,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting if (frame.type != FrameThresholdType.GREYSCALE) { // TODO so all cameras should give us GREYSCALE -- how should we handle if not? // Right now, we just return nothing - return new CVPipelineResult(0, 0, List.of(), new PNPResults(), frame); + return new CVPipelineResult(0, 0, List.of(), new MultiTargetPNPResults(), frame); } CVPipeResult> tagDetectionPipeResult; @@ -167,7 +166,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting targetList.add(target); } - PNPResults multiTagResult = new PNPResults(); + MultiTargetPNPResults multiTagResult = new MultiTargetPNPResults(); if (settings.solvePNPEnabled && settings.doMultiTarget) { var multiTagOutput = multiTagPNPPipe.run(targetList); sumPipeNanosElapsed += multiTagOutput.nanosElapsed; diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java index 09b35c92e2..90bb6430ee 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java @@ -38,7 +38,7 @@ import java.util.ArrayList; import java.util.List; import org.opencv.core.Mat; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.vision.aruco.ArucoDetectionResult; import org.photonvision.vision.aruco.ArucoDetectorParams; import org.photonvision.vision.frame.Frame; @@ -97,7 +97,8 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings) CVPipeResult> tagDetectionPipeResult; if (rawInputMat.empty()) { - return new CVPipelineResult(sumPipeNanosElapsed, 0, List.of(), new PNPResults(), frame); + return new CVPipelineResult( + sumPipeNanosElapsed, 0, List.of(), new MultiTargetPNPResults(), frame); } tagDetectionPipeResult = arucoDetectionPipe.run(rawInputMat); @@ -124,6 +125,7 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings) var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); + return new CVPipelineResult( + sumPipeNanosElapsed, fps, targetList, new MultiTargetPNPResults(), frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java index 7e0cca3ebd..72154a9d5c 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java @@ -34,7 +34,7 @@ import org.photonvision.common.logging.Logger; import org.photonvision.common.util.SerializationUtils; import org.photonvision.common.util.file.FileUtils; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.vision.calibration.CameraCalibrationCoefficients; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; @@ -111,7 +111,7 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se Mat inputColorMat = frame.colorImage.getMat(); if (this.calibrating || inputColorMat.empty()) { - return new CVPipelineResult(0, 0, null, new PNPResults(), frame); + return new CVPipelineResult(0, 0, null, new MultiTargetPNPResults(), frame); } long sumPipeNanosElapsed = 0L; @@ -147,7 +147,7 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se sumPipeNanosElapsed, fps, // Unused but here in case Collections.emptyList(), - new PNPResults(), + new MultiTargetPNPResults(), new Frame( new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties)); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java index 657a2fd456..acf4674f97 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java @@ -22,7 +22,7 @@ import java.util.stream.Collectors; import org.apache.commons.lang3.tuple.Pair; import org.opencv.core.Point; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.opencv.*; @@ -227,6 +227,7 @@ protected CVPipelineResult process(Frame frame, ColoredShapePipelineSettings set var fpsResult = calculateFPSPipe.run(null); var fps = fpsResult.output; - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); + return new CVPipelineResult( + sumPipeNanosElapsed, fps, targetList, new MultiTargetPNPResults(), frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java index 1ca74444eb..666ecd8ce2 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java @@ -19,7 +19,6 @@ import java.util.List; import org.apache.commons.lang3.tuple.Pair; -import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameStaticProperties; import org.photonvision.vision.opencv.DualOffsetValues; @@ -225,7 +224,6 @@ public CVPipelineResult process( sumPipeNanosElapsed, fps, // Unused but here just in case targetsToDraw, - new PNPResults(), inputAndOutputFrame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java index 2f71c8e87b..cea2e31422 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java @@ -18,7 +18,6 @@ package org.photonvision.vision.pipeline; import java.util.List; -import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.frame.FrameThresholdType; import org.photonvision.vision.opencv.Contour; @@ -194,6 +193,6 @@ public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings PipelineProfiler.printReflectiveProfile(pipeProfileNanos); - return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, new PNPResults(), frame); + return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame); } } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java index d77b50a0aa..5993cc9531 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java @@ -20,7 +20,7 @@ import java.util.Collections; import java.util.List; import org.photonvision.common.util.math.MathUtils; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.vision.frame.Frame; import org.photonvision.vision.opencv.Releasable; import org.photonvision.vision.target.TrackedTarget; @@ -31,13 +31,18 @@ public class CVPipelineResult implements Releasable { public final double fps; public final List targets; public final Frame inputAndOutputFrame; - public PNPResults multiTagResult; + public MultiTargetPNPResults multiTagResult; + + public CVPipelineResult( + double processingNanos, double fps, List targets, Frame inputFrame) { + this(processingNanos, fps, targets, new MultiTargetPNPResults(), inputFrame); + } public CVPipelineResult( double processingNanos, double fps, List targets, - PNPResults multiTagResults, + MultiTargetPNPResults multiTagResults, Frame inputFrame) { this.processingNanos = processingNanos; this.fps = fps; @@ -48,7 +53,10 @@ public CVPipelineResult( } public CVPipelineResult( - double processingNanos, double fps, List targets, PNPResults multiTagResults) { + double processingNanos, + double fps, + List targets, + MultiTargetPNPResults multiTagResults) { this(processingNanos, fps, targets, multiTagResults, null); } diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java index 98340d266a..609a3f4483 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/DriverModePipelineResult.java @@ -18,11 +18,10 @@ package org.photonvision.vision.pipeline.result; import java.util.List; -import org.photonvision.targeting.PNPResults; import org.photonvision.vision.frame.Frame; public class DriverModePipelineResult extends CVPipelineResult { public DriverModePipelineResult(double latencyNanos, double fps, Frame outputFrame) { - super(latencyNanos, fps, List.of(), new PNPResults(), outputFrame); + super(latencyNanos, fps, List.of(), outputFrame); } } diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java index 3f53b34a14..58e3e2fcf7 100644 --- a/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java @@ -35,7 +35,7 @@ import org.photonvision.PhotonTargetSortMode; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.common.networktables.NTTopicSet; -import org.photonvision.targeting.PNPResults; +import org.photonvision.targeting.MultiTargetPNPResults; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -142,7 +142,7 @@ public void submitProcessedFrame( } PhotonPipelineResult newResult = - new PhotonPipelineResult(latencyMillis, targetList, new PNPResults()); + new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResults()); var newPacket = new Packet(newResult.getPacketSize()); newResult.populatePacket(newPacket); ts.rawBytesEntry.set(newPacket.getData()); diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java new file mode 100644 index 0000000000..92baf1a363 --- /dev/null +++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java @@ -0,0 +1,41 @@ +package org.photonvision.targeting; + +import java.util.ArrayList; +import java.util.List; +import org.photonvision.common.dataflow.structures.Packet; + +public class MultiTargetPNPResults { + // pnpresult + 32 possible targets (arbitrary upper limit that should never be hit, ideally) + private static final int MAX_IDS = 32; + public static final int PACK_SIZE_BYTES = PNPResults.PACK_SIZE_BYTES + Byte.BYTES * MAX_IDS; + + public PNPResults estimatedPose = new PNPResults(); + public List fiducialIDsUsed = List.of(); + + public MultiTargetPNPResults() {} + + public MultiTargetPNPResults(PNPResults results, ArrayList ids) { + estimatedPose = results; + fiducialIDsUsed = ids; + } + + public static MultiTargetPNPResults createFromPacket(Packet packet) { + var results = PNPResults.createFromPacket(packet); + var ids = new ArrayList(MAX_IDS); + for (int i = 0; i < MAX_IDS; i++) { + ids.add((int) packet.decodeByte()); + } + return new MultiTargetPNPResults(results, ids); + } + + public void populatePacket(Packet packet) { + estimatedPose.populatePacket(packet); + for (int i = 0; i < MAX_IDS; i++) { + if (i < fiducialIDsUsed.size()) { + packet.encode(fiducialIDsUsed.get(i).byteValue()); + } else { + packet.encode(Byte.MIN_VALUE); + } + } + } +} diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 36256e2602..056fe3877a 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -35,7 +35,7 @@ public class PhotonPipelineResult { private double timestampSeconds = -1; // Multi-tag result - private PNPResults multiTagResult = new PNPResults(); + private MultiTargetPNPResults multiTagResult = new MultiTargetPNPResults(); /** Constructs an empty pipeline result. */ public PhotonPipelineResult() {} @@ -59,7 +59,7 @@ public PhotonPipelineResult(double latencyMillis, List targ * @param result Result from multi-target PNP. */ public PhotonPipelineResult( - double latencyMillis, List targets, PNPResults results) { + double latencyMillis, List targets, MultiTargetPNPResults results) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); this.multiTagResult = results; @@ -74,7 +74,7 @@ public int getPacketSize() { return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES + 8 + 2 - + PNPResults.PACK_SIZE_BYTES; + + MultiTargetPNPResults.PACK_SIZE_BYTES; } /** @@ -143,10 +143,10 @@ public List getTargets() { } /** - * Return the latest mulit-target result. Be sure to check PNPResults::isPresent before using the - * pose estimate! + * Return the latest mulit-target result. Be sure to check MultiTargetPNPResults::isPresent before + * using the pose estimate! */ - public PNPResults getMultiTagPnpResults() { + public MultiTargetPNPResults getMultiTagMultiTargetPNPResults() { return multiTagResult; } @@ -159,7 +159,7 @@ public PNPResults getMultiTagPnpResults() { public Packet createFromPacket(Packet packet) { // Decode latency, existence of targets, and number of targets. latencyMillis = packet.decodeDouble(); - this.multiTagResult = PNPResults.createFromPacket(packet); + this.multiTagResult = MultiTargetPNPResults.createFromPacket(packet); byte targetCount = packet.decodeByte(); targets.clear(); From b7fb097d64f43208c7fa25ba4dd80b30eb6ae423 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 23 Aug 2023 10:19:58 -0700 Subject: [PATCH 064/115] Update PhotonTrackingTypes.ts --- photon-client/src/types/PhotonTrackingTypes.ts | 1 + 1 file changed, 1 insertion(+) diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts index 54d2f4cfb7..6f28426c15 100644 --- a/photon-client/src/types/PhotonTrackingTypes.ts +++ b/photon-client/src/types/PhotonTrackingTypes.ts @@ -50,6 +50,7 @@ export interface PhotonTarget { export interface MultitagResult { bestTransform: Transform3d, bestReprojectionError: number + fiducialIDsUsed: number[] } export interface PipelineResult { From 6a92beb1411db1ba022f3213eda20494e802c6b5 Mon Sep 17 00:00:00 2001 From: Matt Date: Wed, 23 Aug 2023 10:20:49 -0700 Subject: [PATCH 065/115] Update MultiTargetPNPResults.java --- .../targeting/MultiTargetPNPResults.java | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java index 92baf1a363..7f068409dc 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java @@ -1,3 +1,20 @@ +/* + * Copyright (C) Photon Vision. + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + package org.photonvision.targeting; import java.util.ArrayList; From 34330fae8a3bcc90abcb2bd1eb7561bee1fc55fd Mon Sep 17 00:00:00 2001 From: Matt Date: Thu, 24 Aug 2023 16:41:46 -0700 Subject: [PATCH 066/115] Fix atfl always being null --- .../common/configuration/LegacyConfigProvider.java | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java index 5e5d060f63..828ac36c2e 100644 --- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java +++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java @@ -188,14 +188,12 @@ public void load() { atfl = JacksonUtils.deserialize(apriltagFieldLayoutFile.toPath(), AprilTagFieldLayout.class); if (atfl == null) { - logger.error("Could not deserialize apriltag field layout!"); + logger.error("Could not deserialize apriltag field layout! (still null)"); } } catch (IOException e) { - logger.error("Could not deserialize apriltag field layout!"); + logger.error("Could not deserialize apriltag field layout!", e); atfl = null; // not required, nice to be explicit } - logger.info("Apriltag layout file not saved!"); - atfl = null; // not required, nice to be explicit } if (atfl == null) { logger.info("Loading default apriltags for 2023 field..."); @@ -206,7 +204,7 @@ public void load() { atfl = null; } if (atfl == null) { - // what do we even do here lmao -- wpilib should always work + // what do we even do here lmao -- wpilib built-in should always work logger.error("Field layout is *still* null??????"); atfl = new AprilTagFieldLayout(List.of(), 1, 1); } From 1d22a23583538627184d7f020bffaae80644877c Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Wed, 30 Aug 2023 14:31:05 -0400 Subject: [PATCH 067/115] Add apriltag import button --- photon-client/src/components/app/photon-log-view.vue | 2 +- .../src/components/settings/DeviceControlCard.vue | 8 ++++++-- photon-client/src/components/settings/MetricsCard.vue | 4 ++-- 3 files changed, 9 insertions(+), 5 deletions(-) diff --git a/photon-client/src/components/app/photon-log-view.vue b/photon-client/src/components/app/photon-log-view.vue index 7018870212..f9abe3b66c 100644 --- a/photon-client/src/components/app/photon-log-view.vue +++ b/photon-client/src/components/app/photon-log-view.vue @@ -98,7 +98,7 @@ document.addEventListener("keydown", e => { v-if="logs.length === 0" style="font-size: 18px; font-weight: 600" > - There are no Logs to show + There are no logs to show { case ImportType.NetworkConfig: settingsEndpoint = "/networkConfig"; break; + case ImportType.ApriltagFieldLayout: + settingsEndpoint = "/aprilTagFieldLayout"; + break; } axios.post(`/settings${settingsEndpoint}`, formData, { @@ -286,7 +290,7 @@ const handleSettingsImport = () => { v-model="importType" label="Type" tooltip="Select the type of settings file you are trying to upload" - :items="['All Settings', 'Hardware Config', 'Hardware Settings', 'Network Config']" + :items="['All Settings', 'Hardware Config', 'Hardware Settings', 'Network Config', 'Apriltag Layout']" :select-cols="10" /> diff --git a/photon-client/src/components/settings/MetricsCard.vue b/photon-client/src/components/settings/MetricsCard.vue index e28919b3c5..cd4bc59bad 100644 --- a/photon-client/src/components/settings/MetricsCard.vue +++ b/photon-client/src/components/settings/MetricsCard.vue @@ -65,12 +65,12 @@ const fetchMetrics = () => { if(error.request) { useStateStore().showSnackbarMessage({ color: "error", - message: "Unable to fetch Metrics! The backend didn't respond." + message: "Unable to fetch metrics! The backend didn't respond." }); } else { useStateStore().showSnackbarMessage({ color: "error", - message: "An error occurred while trying to fetch Metrics." + message: "An error occurred while trying to fetch metrics." }); } }) From e5a1eea9f23d8bef16376821df94d700f18c8255 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Wed, 30 Aug 2023 17:29:09 -0400 Subject: [PATCH 068/115] Only encode positive IDs --- .../targeting/MultiTargetPNPResults.java | 36 ++++++++++++++++++- .../targeting/PhotonPipelineResult.java | 13 +++++++ 2 files changed, 48 insertions(+), 1 deletion(-) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java index 7f068409dc..e1bfaf8140 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java @@ -40,7 +40,8 @@ public static MultiTargetPNPResults createFromPacket(Packet packet) { var results = PNPResults.createFromPacket(packet); var ids = new ArrayList(MAX_IDS); for (int i = 0; i < MAX_IDS; i++) { - ids.add((int) packet.decodeByte()); + int targetId = (int) packet.decodeByte(); + if (targetId > Byte.MIN_VALUE) ids.add(targetId); } return new MultiTargetPNPResults(results, ids); } @@ -55,4 +56,37 @@ public void populatePacket(Packet packet) { } } } + + @Override + public int hashCode() { + final int prime = 31; + int result = 1; + result = prime * result + ((estimatedPose == null) ? 0 : estimatedPose.hashCode()); + result = prime * result + ((fiducialIDsUsed == null) ? 0 : fiducialIDsUsed.hashCode()); + return result; + } + + @Override + public boolean equals(Object obj) { + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; + MultiTargetPNPResults other = (MultiTargetPNPResults) obj; + if (estimatedPose == null) { + if (other.estimatedPose != null) return false; + } else if (!estimatedPose.equals(other.estimatedPose)) return false; + if (fiducialIDsUsed == null) { + if (other.fiducialIDsUsed != null) return false; + } else if (!fiducialIDsUsed.equals(other.fiducialIDsUsed)) return false; + return true; + } + + @Override + public String toString() { + return "MultiTargetPNPResults [estimatedPose=" + + estimatedPose + + ", fiducialIDsUsed=" + + fiducialIDsUsed + + "]"; + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 056fe3877a..6d85487789 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -225,4 +225,17 @@ public boolean equals(Object obj) { } else if (!multiTagResult.equals(other.multiTagResult)) return false; return true; } + + @Override + public String toString() { + return "PhotonPipelineResult [targets=" + + targets + + ", latencyMillis=" + + latencyMillis + + ", timestampSeconds=" + + timestampSeconds + + ", multiTagResult=" + + multiTagResult + + "]"; + } } From 494c0cc94eefb211e7aec97b34e183a7e8ff7962 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Wed, 30 Aug 2023 19:12:02 -0400 Subject: [PATCH 069/115] Fix javadoc error --- .../java/org/photonvision/targeting/PhotonPipelineResult.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java index 6d85487789..bb5b9a5e9e 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java @@ -59,10 +59,10 @@ public PhotonPipelineResult(double latencyMillis, List targ * @param result Result from multi-target PNP. */ public PhotonPipelineResult( - double latencyMillis, List targets, MultiTargetPNPResults results) { + double latencyMillis, List targets, MultiTargetPNPResults result) { this.latencyMillis = latencyMillis; this.targets.addAll(targets); - this.multiTagResult = results; + this.multiTagResult = result; } /** From 341e358ee3c927bf94a6e9dfe794c7113b085dfb Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Thu, 31 Aug 2023 08:23:44 -0400 Subject: [PATCH 070/115] Add tostring and stuff for result classes --- .../java/org/photonvision/PacketTest.java | 60 +++++++++++++++++++ .../targeting/MultiTargetPNPResults.java | 2 +- .../photonvision/targeting/PNPResults.java | 17 ++++++ 3 files changed, 78 insertions(+), 1 deletion(-) diff --git a/photon-lib/src/test/java/org/photonvision/PacketTest.java b/photon-lib/src/test/java/org/photonvision/PacketTest.java index 4f84afb720..c29a629b5b 100644 --- a/photon-lib/src/test/java/org/photonvision/PacketTest.java +++ b/photon-lib/src/test/java/org/photonvision/PacketTest.java @@ -30,6 +30,8 @@ import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.Test; import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.targeting.MultiTargetPNPResults; +import org.photonvision.targeting.PNPResults; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; import org.photonvision.targeting.TargetCorner; @@ -127,4 +129,62 @@ void testSimplePipelineResult() { Assertions.assertEquals(result2, b2); } + + @Test + public void testMultiTargetSerde() { + var result = + new PhotonPipelineResult( + 2, + List.of( + new PhotonTrackedTarget( + 3.0, + -4.0, + 9.0, + 4.0, + 2, + new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), + new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), + 0.25, + List.of( + new TargetCorner(1, 2), + new TargetCorner(3, 4), + new TargetCorner(5, 6), + new TargetCorner(7, 8)), + List.of( + new TargetCorner(1, 2), + new TargetCorner(3, 4), + new TargetCorner(5, 6), + new TargetCorner(7, 8))), + new PhotonTrackedTarget( + 3.0, + -4.0, + 9.1, + 6.7, + 3, + new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)), + new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)), + 0.25, + List.of( + new TargetCorner(1, 2), + new TargetCorner(3, 4), + new TargetCorner(5, 6), + new TargetCorner(7, 8)), + List.of( + new TargetCorner(1, 2), + new TargetCorner(3, 4), + new TargetCorner(5, 6), + new TargetCorner(7, 8)))), + new MultiTargetPNPResults( + new PNPResults( + new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1), + List.of(1, 2, 3))); + + Packet packet = new Packet(result.getPacketSize()); + result.populatePacket(packet); + + var result_deserialized = new PhotonPipelineResult(); + result_deserialized.createFromPacket(packet); + + Assertions.assertEquals(result, result_deserialized); + } } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java index e1bfaf8140..a8d246f857 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java @@ -31,7 +31,7 @@ public class MultiTargetPNPResults { public MultiTargetPNPResults() {} - public MultiTargetPNPResults(PNPResults results, ArrayList ids) { + public MultiTargetPNPResults(PNPResults results, List ids) { estimatedPose = results; fiducialIDsUsed = ids; } diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java index c26ad39ca8..11a77547fc 100644 --- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java +++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResults.java @@ -150,4 +150,21 @@ public boolean equals(Object obj) { return false; return true; } + + @Override + public String toString() { + return "PNPResults [isPresent=" + + isPresent + + ", best=" + + best + + ", bestReprojErr=" + + bestReprojErr + + ", alt=" + + alt + + ", altReprojErr=" + + altReprojErr + + ", ambiguity=" + + ambiguity + + "]"; + } } From 4bd85837cb26f8f566d0bf5f17b00a8385b2e565 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Fri, 1 Sep 2023 16:13:11 -0400 Subject: [PATCH 071/115] Fix merge conflicts & run lint --- .../src/components/app/photon-log-view.vue | 5 +- .../components/dashboard/tabs/OutputTab.vue | 15 +- .../components/settings/DeviceControlCard.vue | 8 +- .../src/components/settings/MetricsCard.vue | 36 ++--- .../stores/settings/GeneralSettingsStore.ts | 128 ++++-------------- .../src/types/PhotonTrackingTypes.ts | 96 ++++++------- photon-client/src/types/PipelineTypes.ts | 22 +-- photon-client/src/types/WebsocketDataTypes.ts | 46 +++---- .../configuration/PhotonConfiguration.java | 6 +- 9 files changed, 151 insertions(+), 211 deletions(-) diff --git a/photon-client/src/components/app/photon-log-view.vue b/photon-client/src/components/app/photon-log-view.vue index 79877d7298..c1ecf6846f 100644 --- a/photon-client/src/components/app/photon-log-view.vue +++ b/photon-client/src/components/app/photon-log-view.vue @@ -70,10 +70,7 @@ document.addEventListener("keydown", (e) => { {{ getLogLevelFromIndex(level) }} - + There are no logs to show diff --git a/photon-client/src/components/dashboard/tabs/OutputTab.vue b/photon-client/src/components/dashboard/tabs/OutputTab.vue index a89a272b4e..6e2d756ca5 100644 --- a/photon-client/src/components/dashboard/tabs/OutputTab.vue +++ b/photon-client/src/components/dashboard/tabs/OutputTab.vue @@ -42,7 +42,13 @@ const offsetPoints = computed(() => { const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings; -const interactiveCols = computed(() => (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) && (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)) ? 9 : 8; +const interactiveCols = computed( + () => + (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) && + (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode) +) + ? 9 + : 8; diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue new file mode 100644 index 0000000000..bc9a18ca2e --- /dev/null +++ b/photon-client/src/components/settings/ApriltagControlCard.vue @@ -0,0 +1,95 @@ + + + + + diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts index 1140ae6251..ee19240ffa 100644 --- a/photon-client/src/types/PhotonTrackingTypes.ts +++ b/photon-client/src/types/PhotonTrackingTypes.ts @@ -10,10 +10,10 @@ export interface Transform3d { } export interface Quaternion { - X: number; - Y: number; - Z: number; - W: number; + X: number; + Y: number; + Z: number; + W: number; } export interface AprilTagFieldLayout { From be92020b5ace7c10470c44fe398688a5469c621e Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Sun, 1 Oct 2023 11:22:40 -0400 Subject: [PATCH 089/115] Run lint --- .../apriltagExample/src/main/include/PhotonCameraWrapper.h | 4 ++-- .../src/main/java/frc/robot/PhotonCameraWrapper.java | 5 ++++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h index 5caab2ad53..c96ff8078d 100644 --- a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h +++ b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h @@ -36,8 +36,8 @@ class PhotonCameraWrapper { public: photonlib::PhotonPoseEstimator m_poseEstimator{ frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp), - photonlib::MULTI_TAG_PNP, std::move(photonlib::PhotonCamera{"WPI2023"}), - frc::Transform3d{}}; + photonlib::MULTI_TAG_PNP_ON_RIO, + std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}}; inline std::optional Update( frc::Pose2d estimatedPose) { diff --git a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java index d46957886c..8bea9687b5 100644 --- a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java +++ b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java @@ -50,7 +50,10 @@ public PhotonCameraWrapper() { // Create pose estimator photonPoseEstimator = new PhotonPoseEstimator( - fieldLayout, PoseStrategy.MULTI_TAG_PNP, photonCamera, VisionConstants.robotToCam); + fieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_RIO, + photonCamera, + VisionConstants.robotToCam); photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); } catch (IOException e) { // The AprilTagFieldLayout failed to load. We won't be able to estimate poses if we don't know From 9573bef41fa848c27d2141fc0913ff5d0c16391c Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Sun, 1 Oct 2023 11:32:36 -0400 Subject: [PATCH 090/115] Update TargetsTab.vue Update TargetsTab.vue --- .../components/dashboard/tabs/TargetsTab.vue | 20 +++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue index a4de2b73bd..61de911b4e 100644 --- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue +++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue @@ -8,7 +8,7 @@ import { useStateStore } from "@/stores/StateStore";
    - + -

    Estimated multi-tag pose: {{ useStateStore().currentPipelineResults?.multitagResult }}

    + + Multi-tag pose, field-to-robot + +
    + + + + + + + + + + + + + From 91ad71369b7ac7478f2ce3ce58b531513aea40e6 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Sun, 1 Oct 2023 21:47:19 -0400 Subject: [PATCH 091/115] Address review --- .../components/dashboard/tabs/TargetsTab.vue | 13 +++++-- .../settings/ApriltagControlCard.vue | 36 +++++++++---------- photon-client/src/types/PipelineTypes.ts | 1 + 3 files changed, 28 insertions(+), 22 deletions(-) diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue index 61de911b4e..4acce69212 100644 --- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue +++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue @@ -1,6 +1,6 @@ @@ -76,8 +76,15 @@ import { useStateStore } from "@/stores/StateStore"; - - Multi-tag pose, field-to-robot + + Multi-tag pose, field-to-robot diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue index bc9a18ca2e..2a0a5e0c48 100644 --- a/photon-client/src/components/settings/ApriltagControlCard.vue +++ b/photon-client/src/components/settings/ApriltagControlCard.vue @@ -5,16 +5,14 @@ import { useStateStore } from "@/stores/StateStore"; import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore"; import { Euler, Quaternion } from "three"; -function quatToEuler(quat) { +const quatToEuler = (quat: { X: number; Y: number; Z: number; W: number }): Euler => { console.log(quat); - quat = new Quaternion(quat.X, quat.Y, quat.Z, quat.W); - return new Euler().setFromQuaternion(quat, "ZYX"); -} + const three_quat = new Quaternion(quat.X, quat.Y, quat.Z, quat.W); + return new Euler().setFromQuaternion(three_quat, "ZYX"); +}; // Convert from radians to degrees. -const degrees = function (radians) { - return (radians * 180) / Math.PI; -}; +const degrees = (radians: number): number => (radians * 180) / Math.PI; diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts index b5bfd9f612..54714b7f42 100644 --- a/photon-client/src/types/PipelineTypes.ts +++ b/photon-client/src/types/PipelineTypes.ts @@ -272,6 +272,7 @@ export type ActivePipelineSettings = | ColoredShapePipelineSettings | AprilTagPipelineSettings | ArucoPipelineSettings; + export type ActiveConfigurablePipelineSettings = | ConfigurableReflectivePipelineSettings | ConfigurableColoredShapePipelineSettings From 2d08030858c7e292de11e00268361cf14f785b85 Mon Sep 17 00:00:00 2001 From: Matthew Morley Date: Sun, 1 Oct 2023 21:54:50 -0400 Subject: [PATCH 092/115] Fix CI errors --- photon-client/src/components/dashboard/tabs/TargetsTab.vue | 6 +++--- .../src/components/settings/ApriltagControlCard.vue | 7 ++----- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue index 4acce69212..1acae79bd2 100644 --- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue +++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue @@ -1,6 +1,6 @@ @@ -77,12 +77,12 @@ import { useStateStore } from "@/stores/StateStore"; Multi-tag pose, field-to-robot diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue index 2a0a5e0c48..4a6663fde9 100644 --- a/photon-client/src/components/settings/ApriltagControlCard.vue +++ b/photon-client/src/components/settings/ApriltagControlCard.vue @@ -1,7 +1,4 @@
    X metersY metersZ Angle θ°Tags
    {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z.toFixed(2) }}{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}
    X meters