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Remove camera trust zones, make tag layout be taken as a parameter, a…
…dd LayoutUtil with layout loading util previously in CoreVisionConstants, and remove unneeded constants
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6 changes: 3 additions & 3 deletions
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vision/src/main/java/coppercore/vision/CameraContainerReal.java
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1 change: 0 additions & 1 deletion
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vision/src/main/java/coppercore/vision/CameraContainerReplay.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| package coppercore.vision; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Transform3d; | ||
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| public record CameraParams( | ||
| String name, | ||
| int xResolution, | ||
| int yResolution, | ||
| int fps, | ||
| Rotation2d fov, | ||
| Transform3d robotToCamera) {} |
65 changes: 8 additions & 57 deletions
65
vision/src/main/java/coppercore/vision/CoreVisionConstants.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,61 +1,12 @@ | ||
| package coppercore.vision; | ||
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| import coppercore.vision.Camera.CameraTrustZone; | ||
| import edu.wpi.first.apriltag.AprilTagFieldLayout; | ||
| import edu.wpi.first.math.Matrix; | ||
| import edu.wpi.first.math.VecBuilder; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Transform3d; | ||
| import edu.wpi.first.math.numbers.N1; | ||
| import edu.wpi.first.math.numbers.N3; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.Filesystem; | ||
| import java.io.IOException; | ||
| import java.util.Collections; | ||
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| /** | ||
| * Vision constants for coppercore's internal vision constants. Not to be confused with | ||
| * VisionConstants, which is likely your robot project's local vision constants that are configured | ||
| * per-project. | ||
| */ | ||
| public final class CoreVisionConstants { | ||
| public static final String tagLayoutName = "Pairs-Only"; | ||
| public static final AprilTagFieldLayout fieldLayout = initLayout(tagLayoutName); | ||
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| public static final double lowUncertaintyCutoffDistance = 6.5; | ||
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| public static final double skewCutoffDistance = 5.8; | ||
| public static final double skewCutoffRotation = Units.degreesToRadians(50); | ||
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| public static final Matrix<N3, N1> teleopCameraUncertainty = VecBuilder.fill(0.35, 0.35, 3.5); | ||
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| public static final Matrix<N3, N1> lowCameraUncertainty = VecBuilder.fill(0.6, 1.0, 4); | ||
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| public static final Matrix<N3, N1> highCameraUncertainty = VecBuilder.fill(12.0, 16.0, 40); | ||
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| public static final Matrix<N3, N1> driveUncertainty = VecBuilder.fill(0.1, 0.1, 0.1); | ||
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| public static record CameraParams( | ||
| String name, | ||
| int xResolution, | ||
| int yResolution, | ||
| int fps, | ||
| Rotation2d fov, | ||
| Transform3d robotToCamera, | ||
| CameraTrustZone zone) {} | ||
|
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| private static AprilTagFieldLayout initLayout(String name) { | ||
| AprilTagFieldLayout layout; | ||
| // AprilTagFieldLayout's constructor throws an IOException, so we must catch it | ||
| // in order to initialize our layout as a static constant | ||
| try { | ||
| layout = | ||
| new AprilTagFieldLayout( | ||
| Filesystem.getDeployDirectory().getAbsolutePath() | ||
| + "/taglayout/" | ||
| + name | ||
| + ".json"); | ||
| } catch (IOException ioe) { | ||
| DriverStation.reportWarning( | ||
| "Failed to load AprilTag Layout: " + ioe.getLocalizedMessage(), false); | ||
| layout = new AprilTagFieldLayout(Collections.emptyList(), 0.0, 0.0); | ||
| } | ||
| return layout; | ||
| } | ||
| // TODO: Tune this value | ||
| // This value mainly exists so that this file stays named CoreVisionConstants. | ||
| public static final double maxAcceptedDistanceMeters = 10.0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| package coppercore.vision; | ||
|
|
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| import edu.wpi.first.apriltag.AprilTagFieldLayout; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.Filesystem; | ||
| import java.io.IOException; | ||
| import java.util.Collections; | ||
|
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| public class LayoutUtil { | ||
| public static AprilTagFieldLayout initLayout(String name) { | ||
| AprilTagFieldLayout layout; | ||
| // AprilTagFieldLayout's constructor throws an IOException, so we must catch it | ||
| // in order to initialize our layout as a static constant | ||
| try { | ||
| layout = | ||
| new AprilTagFieldLayout( | ||
| Filesystem.getDeployDirectory().getAbsolutePath() | ||
| + "/taglayout/" | ||
| + name | ||
| + ".json"); | ||
| } catch (IOException ioe) { | ||
| DriverStation.reportWarning( | ||
| "Failed to load AprilTag Layout: " + ioe.getLocalizedMessage(), false); | ||
| layout = new AprilTagFieldLayout(Collections.emptyList(), 0.0, 0.0); | ||
| } | ||
| return layout; | ||
| } | ||
| } |