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. */
025public class CameraTargetRelation {
026    public final Pose3d camPose;
027    public final Transform3d camToTarg;
028    public final double camToTargDist;
029    public final double camToTargDistXY;
030    public final Rotation2d camToTargYaw;
031    public final Rotation2d camToTargPitch;
032
033    /** Angle from the camera's relative x-axis */
034    public final Rotation2d camToTargAngle;
035
036    public final Transform3d targToCam;
037    public final Rotation2d targToCamYaw;
038    public final Rotation2d targToCamPitch;
039
040    /** Angle from the target's relative x-axis */
041    public final Rotation2d targToCamAngle;
042
043    public CameraTargetRelation(Pose3d cameraPose, Pose3d targetPose) {
044        this.camPose = cameraPose;
045        camToTarg = new Transform3d(cameraPose, targetPose);
046        camToTargDist = camToTarg.getTranslation().getNorm();
047        camToTargDistXY =
048                Math.hypot(camToTarg.getTranslation().getX(), camToTarg.getTranslation().getY());
049        camToTargYaw = new Rotation2d(camToTarg.getX(), camToTarg.getY());
050        camToTargPitch = new Rotation2d(camToTargDistXY, -camToTarg.getZ());
051        camToTargAngle =
052                new Rotation2d(Math.hypot(camToTargYaw.getRadians(), camToTargPitch.getRadians()));
053        targToCam = new Transform3d(targetPose, cameraPose);
054        targToCamYaw = new Rotation2d(targToCam.getX(), targToCam.getY());
055        targToCamPitch = new Rotation2d(camToTargDistXY, -targToCam.getZ());
056        targToCamAngle =
057                new Rotation2d(Math.hypot(targToCamYaw.getRadians(), targToCamPitch.getRadians()));
058    }
059}