001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.estimation;
019
020import edu.wpi.first.math.geometry.Pose3d;
021import edu.wpi.first.math.geometry.Rotation2d;
022import edu.wpi.first.math.geometry.Transform3d;
023
024/** Holds various helper geometries describing the relation between camera and target. */
025@SuppressWarnings("doclint")
026public class CameraTargetRelation {
027    public final Pose3d camPose;
028    public final Transform3d camToTarg;
029    public final double camToTargDist;
030    public final double camToTargDistXY;
031    public final Rotation2d camToTargYaw;
032    public final Rotation2d camToTargPitch;
033
034    /** Angle from the camera's relative x-axis */
035    public final Rotation2d camToTargAngle;
036
037    public final Transform3d targToCam;
038    public final Rotation2d targToCamYaw;
039    public final Rotation2d targToCamPitch;
040
041    /** Angle from the target's relative x-axis */
042    public final Rotation2d targToCamAngle;
043
044    public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) {
045        this.camPose = cameraPose;
046        camToTarg = new Transform3d(cameraPose, targetPose);
047        camToTargDist = camToTarg.getTranslation().getNorm();
048        camToTargDistXY =
049                Math.hypot(camToTarg.getTranslation().getX(), camToTarg.getTranslation().getY());
050        camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY());
051        camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ());
052        camToTargAngle =
053                new Rotation2d(Math.hypot(camToTargYaw.getRadians(), camToTargPitch.getRadians()));
054        targToCam = new Transform3d(targetPose, cameraPose);
055        targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY());
056        targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ());
057        targToCamAngle =
058                new Rotation2d(Math.hypot(targToCamYaw.getRadians(), targToCamPitch.getRadians()));
059    }
060}