Package org.texastorque.torquelib.sensors

Class TorqueVision

java.lang.Object
org.texastorque.torquelib.sensors.TorqueVision
public final class TorqueVision extends Object
Client interface for the TorqueVision. TorqueLight and TorqueVision are vision cameras developed by Jack Pittenger at Texas Torque that runs PhotonVision. TorqueVision was the updated version for the 2023 season that was designed to specialize in April Tag detection. The TorqueVision class is updated to specialize in AprilTags and to use the Optional class to avoid null pointer exceptions.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final org.photonvision.PhotonPoseEstimator
    photonPoseEstimator
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    TorqueVision(String name, edu.wpi.first.apriltag.AprilTagFieldLayout layout, edu.wpi.first.math.geometry.Transform3d centerToCamera)
    Creates a new TorqueLight object with desired table name.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getLastGoodAprilTagID()
     
    final double
    getLatency()
    Deprecated.
    final int
    getNumberOfTargets()
    How many targets do we see?
    final org.photonvision.PhotonCamera
    getPhotonCamera()
     
    final Optional<edu.wpi.first.math.geometry.Pose3d>
    getPositionOfBestAprilTag(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity)
    Get position of best April Tag.
    final org.photonvision.targeting.PhotonPipelineResult
    getResult()
    Get the current result.
    final Optional<edu.wpi.first.math.geometry.Pose3d>
    getRobotPoseAprilTag3d(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity)
    An estimate of the robot's position as a Pose3d based on a map of known April Tags and the camera stream.
    final Optional<edu.wpi.first.math.geometry.Pose3d>
    getRobotPoseAprilTag3d(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity, double minDistance, double maxDistance)
    An estimate of the robot's position as a Pose3d based on a map of known April Tags and the camera stream.
    final org.photonvision.targeting.PhotonTrackedTarget
    getTarget()
    Get the current target.
    final double
    getTimestamp()
    Reads the result timestamp in seconds.
    final Optional<edu.wpi.first.math.geometry.Transform3d>
    getTransformToAprilTag3d(double poseAmbiguity)
    The estimated transformation between the camera and the identified AprilTag as a Transform3d.
    final boolean
    hasTargets()
    Does the camera have any targets?
    final void
    setCenterToCamera(edu.wpi.first.math.geometry.Transform3d centerToCamera)
    Sets the transform to the camera from the center.
    final void
    setFieldLayout(edu.wpi.first.apriltag.AprilTagFieldLayout layout)
     
    static final edu.wpi.first.math.geometry.Transform2d
    transform3dTo2d(edu.wpi.first.math.geometry.Transform3d transform)
    Converts a Transform3d to a Transform2d.
    final void
    update()
    Call this periodically to update the vision state.
    final void
    updateVisionMeasurement(BiConsumer<edu.wpi.first.math.geometry.Pose2d,Double> addVisionMeasurement)
    Add vision measurements to the pose estimator.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • photonPoseEstimator

      public final org.photonvision.PhotonPoseEstimator photonPoseEstimator

  • Constructor Details

    • TorqueVision

      public TorqueVision(String name, edu.wpi.first.apriltag.AprilTagFieldLayout layout, edu.wpi.first.math.geometry.Transform3d centerToCamera)
      Creates a new TorqueLight object with desired table name.
      Parameters:
      name - Table name.
      centerToCamera - The transformation from the center to the camera.

  • Method Details

    • update

      public final void update()
      Call this periodically to update the vision state.

    • setCenterToCamera

      public final void setCenterToCamera(edu.wpi.first.math.geometry.Transform3d centerToCamera)
      Sets the transform to the camera from the center.
      Parameters:
      centerToCamera -

    • getResult

      public final org.photonvision.targeting.PhotonPipelineResult getResult()
      Get the current result.
      Returns:
      The current result.

    • getTarget

      public final org.photonvision.targeting.PhotonTrackedTarget getTarget()
      Get the current target.
      Returns:
      The current target.

    • hasTargets

      public final boolean hasTargets()
      Does the camera have any targets?
      Returns:
      If we have targets or not.

    • getNumberOfTargets

      public final int getNumberOfTargets()
      How many targets do we see?
      Returns:
      The number of targets that the camera detects.

    • getRobotPoseAprilTag3d

      public final Optional<edu.wpi.first.math.geometry.Pose3d> getRobotPoseAprilTag3d(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity)
      An estimate of the robot's position as a Pose3d based on a map of known April Tags and the camera stream.
      Parameters:
      knownTags - The map of known April Tags.
      Returns:
      The position estimate of the robot as a Pose3d.

    • getRobotPoseAprilTag3d

      public final Optional<edu.wpi.first.math.geometry.Pose3d> getRobotPoseAprilTag3d(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity, double minDistance, double maxDistance)
      An estimate of the robot's position as a Pose3d based on a map of known April Tags and the camera stream.
      Parameters:
      knownTags - The map of known April Tags.
      Returns:
      The position estimate of the robot as a Pose3d.

    • getTransformToAprilTag3d

      public final Optional<edu.wpi.first.math.geometry.Transform3d> getTransformToAprilTag3d(double poseAmbiguity)
      The estimated transformation between the camera and the identified AprilTag as a Transform3d.
      Parameters:
      poseAmbiguity - The maximum pose ambiguity to return a result.
      Returns:
      The estimated transformation as a Transform3d.

    • getPositionOfBestAprilTag

      public final Optional<edu.wpi.first.math.geometry.Pose3d> getPositionOfBestAprilTag(Map<Integer,edu.wpi.first.math.geometry.Pose3d> knownTags, double poseAmbiguity)
      Get position of best April Tag.
      Parameters:
      knownTags - The map of known April Tags.
      Returns:
      The position estimate of the robot as a Pose3d.

    • transform3dTo2d

      public static final edu.wpi.first.math.geometry.Transform2d transform3dTo2d(edu.wpi.first.math.geometry.Transform3d transform)
      Converts a Transform3d to a Transform2d.
      Returns:
      The converted Transform2d.

    • getLatency

      @Deprecated public final double getLatency()
      Deprecated.
      Reads the camera latency in milliseconds.
      Returns:
      The camera latency in milliseconds

    • getTimestamp

      public final double getTimestamp()
      Reads the result timestamp in seconds. More accruate than getLatency.
      Returns:
      The result timestamp in seconds.

    • getLastGoodAprilTagID

      public int getLastGoodAprilTagID()

    • getPhotonCamera

      public final org.photonvision.PhotonCamera getPhotonCamera()
      Returns:
      The internal PhotonCamera

    • updateVisionMeasurement

      public final void updateVisionMeasurement(BiConsumer<edu.wpi.first.math.geometry.Pose2d,Double> addVisionMeasurement)
      Add vision measurements to the pose estimator.
      Parameters:
      addVisionMeasurement - The PoseEstimator::addVisionMeasurement method.

    • setFieldLayout

      public final void setFieldLayout(edu.wpi.first.apriltag.AprilTagFieldLayout layout)