VisionTargetSim.h

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/*
 * 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
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 *
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 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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 * SOFTWARE.
 */
 
#pragma once
 
#include <vector>
 
#include <wpi/math/geometry/Pose3d.hpp>
 
#include "photon/estimation/TargetModel.h"
 
namespace photon {
/** Describes a vision target located somewhere on the field that your vision
 * system can detect. */
class VisionTargetSim {
 public:
  /**
   * Describes a retro-reflective/colored shape vision target located somewhere
   * on the field that your vision system can detect.
   *
   * @param pose Pose3d of the tag in field-relative coordinates
   * @param model TargetModel which describes the geometry of the target
   */
  VisionTargetSim(const wpi::math::Pose3d& pose, const TargetModel& model)
      : fiducialId(-1),
        objDetClassId(-1),
        objDetConf(-1),
        pose(pose),
        model(model) {}
 
  /**
   * Describes a fiducial tag located somewhere on the field that your vision
   * system can detect.
   *
   * @param pose Pose3d of the tag in field-relative coordinates
   * @param model TargetModel which describes the geometry of the target(tag)
   * @param id The ID of this fiducial tag
   */
  VisionTargetSim(const wpi::math::Pose3d& pose, const TargetModel& model,
                  int id)
      : fiducialId(id),
        objDetClassId(-1),
        objDetConf(-1),
        pose(pose),
        model(model) {}
 
  /**
   * Describes an object-detection vision target located somewhere on the field
   * that your vision system can detect. Class ID is the (zero-indexed) index of
   * the object's class ID in the list of all classes. Confidence can be
   * specified, or pass -1 to estimate confidence based on 2 * sqrt(target area
   * / total image area)
   *
   * @param pose Pose3d of the target in field-relative coordinates
   * @param model TargetModel which describes the geometry of the target
   * @param objDetClassId The object detection class ID, if -1 it will not be
   * detected by object detection
   * @param objDetConf The object detection confidence, or -1 in which case the
   * simulation will compute a confidence based on the area of the target in the
   * camera's field of view
   */
  VisionTargetSim(const wpi::math::Pose3d& pose, const TargetModel& model,
                  int objDetClassId, float objDetConf)
      : fiducialId(-1),
        objDetClassId(objDetClassId),
        objDetConf(objDetConf),
        pose(pose),
        model(model) {}
 
  /**
   * Sets the pose of this target on the field.
   *
   * @param newPose The pose in field-relative coordinates
   */
  void SetPose(const wpi::math::Pose3d& newPose) { pose = newPose; }
 
  /**
   * Sets the model describing this target's geometry.
   *
   * @param newModel The model of the target
   */
  void SetModel(const TargetModel& newModel) { model = newModel; }
 
  /**
   * Returns the pose of this target on the field.
   *
   * @return The pose in field-relative coordinates
   */
  wpi::math::Pose3d GetPose() const { return pose; }
 
  /**
   * Returns the model describing this target's geometry.
   *
   * @return The model of the target
   */
  TargetModel GetModel() const { return model; }
 
  /**
   * Returns the fiducial ID of this target, or -1 if not a fiducial target.
   *
   * @return The fiducial ID
   */
  int GetFiducialId() const { return fiducialId; }
 
  /**
   * Returns the object detection class ID of this target, or -1 if not an
   * object detection target.
   *
   * @return The object detection class ID
   */
  int GetObjDetClassId() const { return objDetClassId; }
 
  /**
   * Returns the object detection confidence of this target, or -1 if
   * confidence is estimated from target area or is not an object.
   *
   * @return The object detection confidence
   */
  float GetObjDetConf() const { return objDetConf; }
 
  /**
   * This target's vertices offset from its field pose.
   * @return A vector of Translation3d representing the vertices of the target
   */
  std::vector<wpi::math::Translation3d> GetFieldVertices() const {
    return model.GetFieldVertices(pose);
  }
 
  bool operator<(const VisionTargetSim& right) const {
    return pose.Translation().Norm() < right.pose.Translation().Norm();
  }
 
  bool operator==(const VisionTargetSim& other) const {
    return wpi::units::math::abs(pose.Translation().X() -
                                 other.GetPose().Translation().X()) < 1_in &&
           wpi::units::math::abs(pose.Translation().Y() -
                                 other.GetPose().Translation().Y()) < 1_in &&
           wpi::units::math::abs(pose.Translation().Z() -
                                 other.GetPose().Translation().Z()) < 1_in &&
           wpi::units::math::abs(pose.Rotation().X() -
                                 other.GetPose().Rotation().X()) < 1_deg &&
           wpi::units::math::abs(pose.Rotation().Y() -
                                 other.GetPose().Rotation().Y()) < 1_deg &&
           wpi::units::math::abs(pose.Rotation().Z() -
                                 other.GetPose().Rotation().Z()) < 1_deg &&
           model.GetIsPlanar() == other.GetModel().GetIsPlanar();
  }
 
 private:
  int fiducialId;
  int objDetClassId;
  float objDetConf;
  wpi::math::Pose3d pose;
  TargetModel model;
};
}  // namespace photon