AprilTag ID to Pose API #4421

brennenputh · 2022-09-17T02:37:48Z

This PR adds an API for getting an Apriltag Pose3d by passing in its tag id. Also adds Apriltag layout JSON format.
Marking as draft for time being because neither docs or tests are done yet. Looking for feedback on API shape for now.

# Conflicts: # wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java # wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp

wpimath/src/main/native/include/frc/apriltag/ApriltagFieldLayout.h

wpimath/src/main/native/cpp/apriltag/ApriltagFieldLayout.cpp

calcmogul · 2022-09-17T02:55:40Z

The t in Apriltag should be capitalized as per https://april.eecs.umich.edu/software/apriltag, so AprilTag.

calcmogul

AprilTagFieldLayout still needs tests, and as you probably know, most functions are missing Doxygen/Javadoc comments. You also need to merge main to fix a merge conflict.

wpimath/src/main/java/edu/wpi/first/math/apriltag/AprilTagFieldLayout.java

wpimath/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

wpimath/src/main/native/include/frc/apriltag/AprilTagUtil.h

wpimath/src/main/java/edu/wpi/first/math/apriltag/AprilTagUtil.java

wpimath/src/main/java/edu/wpi/first/math/apriltag/AprilTagFieldLayout.java

…out C++

calcmogul · 2022-09-18T16:19:07Z

Please merge main to resolve conflicts so CI can run.

# Conflicts: # wpimath/src/main/native/cpp/geometry/Rotation3d.cpp

calcmogul · 2022-09-30T00:22:53Z

/azp run

azure-pipelines · 2022-09-30T00:23:03Z

Azure Pipelines successfully started running 1 pipeline(s).

calcmogul · 2022-09-30T02:44:19Z

/azp run

azure-pipelines · 2022-09-30T02:44:28Z

Azure Pipelines successfully started running 1 pipeline(s).

calcmogul · 2022-10-21T03:35:35Z

/azp run

azure-pipelines · 2022-10-21T03:35:44Z

Azure Pipelines successfully started running 1 pipeline(s).

wpilibj/src/main/java/edu/wpi/first/wpilibj/apriltag/AprilTagFieldLayout.java

wpilibc/src/main/native/cpp/apriltag/AprilTagFieldLayout.cpp

calcmogul

C++ GetTagPose() needs to return std::optional to match Java.

wpilibc/src/main/native/cpp/apriltag/AprilTagFieldLayout.cpp

wpilibc/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

brennenputh added 3 commits September 16, 2022 22:18

First attempt at apriltag id-pose API

28f447d

Merge branch 'main' into feature/apriltag-id-to-pose

c9a0ed1

# Conflicts: # wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java # wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp

Implement pose mirroring on C++ side

442b7be

calcmogul requested changes Sep 17, 2022

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brennenputh added 3 commits September 17, 2022 07:08

Fix longhand typing for some variables

1b23a91

Fix RelativeTo call in GetTagPose

908d086

Fix SetShouldMirror function

cf3537d

brennenputh changed the title ~~Apriltag ID to Pose API~~ AprilTag ID to Pose API Sep 17, 2022

brennenputh added 2 commits September 17, 2022 07:22

Change capitalization of Apriltag to AprilTag

ada36d1

Add test for serialization and deserialization of Apriltags

ad1c97c

calcmogul requested changes Sep 17, 2022

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calcmogul reviewed Sep 17, 2022

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wpimath/src/main/java/edu/wpi/first/math/apriltag/AprilTagUtil.java Outdated Show resolved Hide resolved

brennenputh added 2 commits September 18, 2022 10:53

Create JSON serialization test for Java

fd64362

Make Java side of AprilTagFieldLayout less interconnected

1a6b894

prateekma reviewed Sep 18, 2022

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wpimath/src/main/java/edu/wpi/first/math/apriltag/AprilTagFieldLayout.java Outdated Show resolved Hide resolved

brennenputh added 6 commits September 18, 2022 11:31

Move AprilTagFieldLayout and AprilTagUtil java files to wpilibj

b8b85c0

Decouple AprilTag serialization/deserialization from AprilTagFieldLay…

ca927e2

…out C++

Move AprilTagFieldLayout.cpp to WPILibC

06b5c64

Fix alliance set function on C++ AprilTagFieldLayout

33bc5b7

Minimize imports

7dd88b0

Use proper unit conversion functions

908a111

brennenputh added 7 commits September 18, 2022 12:23

Merge branch 'main' into feature/apriltag-id-to-pose

e1f7e24

# Conflicts: # wpimath/src/main/native/cpp/geometry/Rotation3d.cpp

Fix gradle check task

bfac873

Run wpiformat

b517215

Fix some docs

1a3432e

Run javaFormat

e14ef1e

Fix link tags in javadocs

1fd8b42

Resolve clang-tidy warnings

640a859

Suppress warnings properly

65e03cf

calcmogul previously approved these changes Sep 30, 2022

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Remove debug code

348670e

brennenputh dismissed calcmogul’s stale review via 348670e September 30, 2022 02:01

calcmogul previously approved these changes Oct 4, 2022

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Merge branch 'main' into feature/apriltag-id-to-pose

b09c476

brennenputh dismissed calcmogul’s stale review via b09c476 October 21, 2022 02:27

calcmogul previously approved these changes Oct 21, 2022

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PeterJohnson reviewed Oct 21, 2022

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wpilibj/src/main/java/edu/wpi/first/wpilibj/apriltag/AprilTagFieldLayout.java Show resolved Hide resolved

brennenputh added 2 commits October 31, 2022 18:46

Merge branch 'main' into feature/apriltag-id-to-pose

9b1e261

Change getTagPose method to remove streams and return an Optional

1e087a4

brennenputh dismissed calcmogul’s stale review via 1e087a4 November 3, 2022 19:39

calcmogul reviewed Nov 3, 2022

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wpilibc/src/main/native/cpp/apriltag/AprilTagFieldLayout.cpp Outdated Show resolved Hide resolved

calcmogul requested changes Nov 4, 2022

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brennenputh added 2 commits November 3, 2022 22:14

Change to use std::optional

9e4f238

Change to use std::optional

2001cd2

calcmogul requested changes Nov 4, 2022

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wpilibc/src/main/native/cpp/apriltag/AprilTagFieldLayout.cpp Outdated Show resolved Hide resolved

Fix accidental include

e5fed5b

calcmogul requested changes Nov 4, 2022

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wpilibc/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h Outdated Show resolved Hide resolved

Update docs

fcea333

calcmogul approved these changes Nov 4, 2022

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PeterJohnson merged commit b2b473b into wpilibsuite:main Nov 4, 2022

pjreiniger mentioned this pull request Nov 6, 2022

Add AprilTagFieldLayout JSON file and move class to edu.wpi.first.apriltag #4578

Merged

brennenputh deleted the feature/apriltag-id-to-pose branch January 19, 2023 11:38

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AprilTag ID to Pose API #4421

AprilTag ID to Pose API #4421

brennenputh commented Sep 17, 2022

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AprilTag ID to Pose API #4421

AprilTag ID to Pose API #4421

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