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https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
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astatin3
61 lines
2.2 KiB
Python
61 lines
2.2 KiB
Python
import math
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from wpimath.geometry import Pose3d, Translation3d
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from ..estimation.targetModel import TargetModel
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class VisionTargetSim:
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"""Describes a vision target located somewhere on the field that your vision system can detect."""
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def __init__(self, pose: Pose3d, model: TargetModel, id: int = -1):
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"""Describes a fiducial tag located somewhere on the field that your vision system can detect.
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:param pose: Pose3d of the tag in field-relative coordinates
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:param model: TargetModel which describes the shape of the target(tag)
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:param id: The ID of this fiducial tag
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"""
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self.pose: Pose3d = pose
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self.model: TargetModel = model
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self.fiducialId: int = id
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self.objDetClassId: int = -1
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self.objDetConf: float = -1.0
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def __lt__(self, right) -> bool:
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return self.pose.translation().norm() < right.pose.translation().norm()
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def __eq__(self, other) -> bool:
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# Use 1 inch and 1 degree tolerance
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return (
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abs(self.pose.translation().X() - other.getPose().translation().X())
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< 0.0254
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and abs(self.pose.translation().Y() - other.getPose().translation().Y())
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< 0.0254
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and abs(self.pose.translation().Z() - other.getPose().translation().Z())
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< 0.0254
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and abs(self.pose.rotation().X() - other.getPose().rotation().X())
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< math.radians(1)
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and abs(self.pose.rotation().Y() - other.getPose().rotation().Y())
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< math.radians(1)
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and abs(self.pose.rotation().Z() - other.getPose().rotation().Z())
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< math.radians(1)
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and self.model.getIsPlanar() == other.getModel().getIsPlanar()
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)
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def setPose(self, newPose: Pose3d) -> None:
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self.pose = newPose
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def setModel(self, newModel: TargetModel) -> None:
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self.model = newModel
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def getPose(self) -> Pose3d:
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return self.pose
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def getModel(self) -> TargetModel:
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return self.model
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def getFieldVertices(self) -> list[Translation3d]:
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"""This target's vertices offset from its field pose."""
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return self.model.getFieldVertices(self.pose)
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