-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathvision.py
204 lines (175 loc) · 8.12 KB
/
vision.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
# https://docs.limelightvision.io/en/latest/networktables_api.html for NetworkTable values
from networktables import NetworkTables
class Vision:
def __init__(self, _table, _apriltags, _retroreflective, _min_target_aspect_ration_reflective, _max_target_aspect_ration_reflective, _min_target_aspect_ration_apriltag, _max_target_aspect_ration_apriltag, _shouldUpdatePose):
self.table = _table
self.apriltags = _apriltags
self.retroreflective = _retroreflective
self.minTargetAspectRatioReflective = _min_target_aspect_ration_reflective
self.maxTargetAspectRatioReflective = _max_target_aspect_ration_reflective
self.minTargetAspectRatioAprilTag = _min_target_aspect_ration_apriltag
self.maxTargetAspectRatioAprilTag = _max_target_aspect_ration_apriltag
self.pipeline = self.retroreflective
self.table.putNumber('pipeline', self.retroreflective) # default to retro pipeline
self.updatePose = _shouldUpdatePose
def shouldUpdatePose(self):
return self.updatePose
def getPipeline(self):
self.pipeline = self.table.getNumber('getpipe', 0)
return self.pipeline
def setToReflectivePipeline(self):
self.setPipeline(self.retroreflective)
def setToAprilTagPipeline(self):
self.setPipeline(self.apriltags)
def setPipeline(self, pl : int):
if 0 <= pl <= 1: # change numbers to reflect min/max pipelines
self.pipeline = pl
self.table.putNumber('pipeline', pl)
else:
print('Invalid pipeline input: ' + pl)
def hasTargets(self):
pose = self.table.getNumberArray('botpose_orb', None)
#print(pose)
if not(pose is None) and len(pose) != 0:
#print('number of targets', pose[7])
return bool(pose[7])
else:
#print('no pose')
return False
def hasPriorityTargets(self):
#print("PRIORITY TARGET VALUE", bool(self.table.getNumber('ta', 0)))
return bool(self.table.getNumber('ta', 0))
def canUpdatePose(self):
#print("Vision: self.pipeline: ", self.pipeline, " self.hasTargets: ", self.hasTargets())
#print("Vision: getDescription:", self.table.getString('description', 'ABBA'))
if (self.pipeline == 0 and self.hasTargets()):
return True
return False
def gettargetErrorX(self):
if self.hasTargets():
return self.table.getNumber('tx', 0)
else:
#print('No vision target.')
return 0
def gettargetErrorY(self):
if self.hasTargets():
return self.table.getNumber('ty', 0)
else:
pass
#print('No vision target.')
def getTargetArea(self):
if self.hasTargets():
return self.table.getNumber('ta', 0)
else:
pass
#print('No vision target.')
def getPose(self):
"""
Returns the robot's calculated field position (x, y, z) in inches relative to the center of the field.
"""
s = 39.37 # scalar to convert meters to inches
pose = self.table.getNumberArray('botpose', None) # returns [x, y, z, roll, pitch, yaw]
#print("POSE IS: ", pose)
if not(pose is None) and len(pose) != 0:
return (pose[0] * s, pose[1] * s, pose[2] * s)
else:
return (-1, -1, -1)
def getMegatag2Pose(self):
"""
Returns the robot's calculated field position (x, y, z) in inches relative to the center of the field.
"""
s = 39.37 # scalar to convert meters to inches
pose = self.table.getNumberArray('botpose_orb', None) # returns [x, y, z, roll, pitch, yaw]
#print("POSE IS: ", pose)
if not(pose is None) and len(pose) != 0:
return (pose[0] * s, pose[1] * s, pose[2] * s)
else:
return (-1, -1, -1)
def getAvgDistance(self):
s = 39.37 # scalar to convert meters to inches
pose = self.table.getNumberArray('botpose', None) # returns [x, y, z, roll, pitch, yaw]
if not(pose is None) and len(pose) != 0:
return (pose[9] * s)
else:
return (-1)
def getTagCount(self):
pose = self.table.getNumberArray('botpose', None)
if not(pose is None) and len(pose) != 0:
return (pose[7])
else:
return (-1)
def getOrientation(self):
pose = self.table.getNumberArray('botpose', None) # returns [x, y, z, roll, pitch, yaw]
#print("POSE IS: ", pose)
if not(pose is None) and len(pose) != 0:
return (pose[3], pose[4], pose[5])
else:
return (-1, -1, -1)
def getTargetPoseCameraSpace(self):
pose = self.table.getNumberArray('targetpose_cameraspace', None) # returns [x, y, z, roll, pitch, yaw]
s = 39.37 # scalar to convert meters to inches
#print("POSE IS: ", pose)
if not(pose is None) and len(pose) != 0:
return (pose[0] * s, pose[1] * s, pose[2] * s, pose[3], pose[4], pose[5])
else:
return (-1, -1, -1, -1, -1, -1)
def getTargetPoseRobotSpace(self):
pose = self.table.getNumberArray('targetpose_robotspace', None) # returns [x, y, z, roll, pitch, yaw]
s = 39.37 # scalar to convert meters to inches
#print("POSE IS: ", pose)
if not(pose is None) and len(pose) != 0:
return (pose[0] * s, pose[1] * s, pose[2] * s, pose[3], pose[4], pose[5])
else:
return (-1, -1, -1, -1, -1, -1)
# get the target size within the frame in pixels
# can mulitply this by something to get the distance to the target
# can be compared with the desired distance to drive a PID
def getTargetSizeReflective(self):
if not self.hasValidTargetReflective():
return -1
return self.table.getNumber('ta', 0.0)
# get the horizontal offset of the target from the 'crosshair'
# can be compared with the desired offset to drive PID
def getTargetOffsetHorizontalReflective(self):
if not self.hasValidTargetReflective():
return 1000 # more pixels than there are, indicates no valid offset
return self.table.getNumber('tx', 0.0)
# determine whether we have one and only target
# if we don't, we shouldn't use vision
def hasValidTargetReflective(self):
hasTargets = self.hasTargets()
if not hasTargets:
return False
targetHeight = self.table.getNumber('tvert', 100.0)
targetWidth = self.table.getNumber('thor', 1.0)
aspectRatio = targetWidth / targetHeight
return aspectRatio > self.minTargetAspectRatioReflective \
and aspectRatio < self.maxTargetAspectRatioReflective
# get the target size within the frame in pixels
# can mulitply this by something to get the distance to the target
# can be compared with the desired distance to drive a PID
def getTargetSizeAprilTag(self):
if not self.hasValidTargetAprilTag():
return -1
return self.table.getNumber('ta', 0.0)
# get the horizontal offset of the target from the 'crosshair'
# can be compared with the desired offset to drive PID
def getTargetOffsetHorizontalAprilTag(self):
if not self.hasValidTargetAprilTag():
return 1000 # more pixels than there are, indicates no valid offset
return self.table.getNumber('tx', 0.0)
def hasValidTargetsAprilTags(self):
hasTargets = self.hasTargets()
if not hasTargets:
return False
targetHeight = self.table.getNumber('tvert', 100.0)
targetWidth = self.table.getNumber('thor', 1.0)
aspectRatio = targetWidth / targetHeight
return aspectRatio > self.minTargetAspectRatioAprilTag and aspectRatio < self.maxTargetAspectRatioAprilTag
def getTotalLatency(self):
try:
return int(self.table.getNumberArray('botpose_orb', [])[6])
except:
return 0
def setYawOrientation(self, yawAngle, yawRate):
self.table.putNumberArray("robot_orientation_set", [yawAngle, yawRate, 0, 0, 0, 0])