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.vision.pipe.impl;
019
020import edu.wpi.first.apriltag.AprilTagFieldLayout;
021import java.util.ArrayList;
022import java.util.List;
023import java.util.Optional;
024import org.photonvision.common.logging.LogGroup;
025import org.photonvision.common.logging.Logger;
026import org.photonvision.estimation.TargetModel;
027import org.photonvision.estimation.VisionEstimation;
028import org.photonvision.targeting.MultiTargetPNPResult;
029import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
030import org.photonvision.vision.pipe.CVPipe;
031import org.photonvision.vision.target.TrackedTarget;
032
033/** Estimate the camera pose given multiple Apriltag observations */
034public class MultiTargetPNPPipe
035        extends CVPipe<
036                List<TrackedTarget>,
037                Optional<MultiTargetPNPResult>,
038                MultiTargetPNPPipe.MultiTargetPNPPipeParams> {
039    private static final Logger logger = new Logger(MultiTargetPNPPipe.class, LogGroup.VisionModule);
040
041    private boolean hasWarned = false;
042
043    @Override
044    protected Optional<MultiTargetPNPResult> process(List<TrackedTarget> targetList) {
045        if (params == null
046                || params.cameraCoefficients == null
047                || params.cameraCoefficients.getCameraIntrinsicsMat() == null
048                || params.cameraCoefficients.getDistCoeffsMat() == null) {
049            if (!hasWarned) {
050                logger.warn(
051                        "Cannot perform solvePNP an uncalibrated camera! Please calibrate this resolution...");
052                hasWarned = true;
053            }
054            return Optional.empty();
055        }
056
057        return calculateCameraInField(targetList);
058    }
059
060    private Optional<MultiTargetPNPResult> calculateCameraInField(List<TrackedTarget> targetList) {
061        // Find tag IDs that exist in the tag layout
062        var tagIDsUsed = new ArrayList<Short>();
063        for (var target : targetList) {
064            int id = target.getFiducialId();
065            if (params.atfl.getTagPose(id).isPresent()) tagIDsUsed.add((short) id);
066        }
067
068        // Only run with multiple targets
069        if (tagIDsUsed.size() < 2) {
070            return Optional.empty();
071        }
072
073        var estimatedPose =
074                VisionEstimation.estimateCamPosePNP(
075                        params.cameraCoefficients.cameraIntrinsics.getAsWpilibMat(),
076                        params.cameraCoefficients.distCoeffs.getAsWpilibMat(),
077                        TrackedTarget.simpleFromTrackedTargets(targetList),
078                        params.atfl,
079                        params.targetModel);
080
081        if (estimatedPose.isPresent()) {
082            return Optional.of(new MultiTargetPNPResult(estimatedPose.get(), tagIDsUsed));
083        } else {
084            return Optional.empty();
085        }
086    }
087
088    public static class MultiTargetPNPPipeParams {
089        private final CameraCalibrationCoefficients cameraCoefficients;
090        private final AprilTagFieldLayout atfl;
091        private final TargetModel targetModel;
092
093        public MultiTargetPNPPipeParams(
094                CameraCalibrationCoefficients cameraCoefficients,
095                AprilTagFieldLayout atfl,
096                TargetModel targetModel) {
097            this.cameraCoefficients = cameraCoefficients;
098            this.atfl = atfl;
099            this.targetModel = targetModel;
100        }
101    }
102}