Package xbot.common.subsystems.vision

Class AprilTagVisionSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.subsystems.vision.AprilTagVisionSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable

@Singleton
public class AprilTagVisionSubsystem
extends SubsystemBase
implements DataFrameRefreshable

Subsystem for processing AprilTag vision data. Based on the AdvantageKit sample implementation by team 6328.

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionSubsystem(PropertyFactory pf, AprilTagFieldLayout fieldLayout, XCameraElectricalContract contract, AprilTagVisionIOFactory visionIOFactory)

Method Summary

Modifier and Type	Method	Description
Set<Integer>	camerasWithTagVisible(int tagId)	Returns the set of cameras that can see the specified tag.
List<xbot.common.subsystems.vision.AprilTagVisionCameraHelper>	getAllPoseCameras()	Retrieves the set of cameras that should be used for pose estimations
List<VisionPoseObservation>	getAllPoseObservations()	Gets all the pose observations in this iteration of the scheduler loop.
OptionalInt	getBestTargetId(int cameraIndex)	Returns the ID of the best target.
int	getCameraCount()	Returns the number of cameras.
Transform3d	getCameraPosition(int cameraIndex)	Gets the position of the camera relative to the robot.
AprilTagVisionIO.TargetObservation	getLatestTargetObservation(int cameraIndex)	Returns the latest target observation.
Optional<AprilTagVisionIO.TargetObservation>	getTargetObservation(int cameraIndex, int tagId)	Returns the raw observation data for the specified target.
Rotation2d	getTargetX(int cameraIndex)	Returns the X angle to the best target, which can be used for simple servoing with vision.
Optional<Rotation2d>	getTargetX(int cameraIndex, int tagId)	Returns the X angle to the specified target, which can be used for simple servoing with vision.
boolean	isCameraConnected(int cameraIndex)
void	periodic()
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
boolean	tagVisibleByAnyCamera(int tagId)	Returns true if any camera can see the specified tag.
boolean	tagVisibleByCamera(int cameraIndex, int tagId)	Returns true if the camera can see the specified tag.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

AprilTagVisionSubsystem

@Inject
public AprilTagVisionSubsystem(PropertyFactory pf,
 AprilTagFieldLayout fieldLayout,
 XCameraElectricalContract contract,
 AprilTagVisionIOFactory visionIOFactory)

Method Details

getCameraCount

public int getCameraCount()

Returns the number of cameras.

getCameraPosition

public Transform3d getCameraPosition(int cameraIndex)

Gets the position of the camera relative to the robot.

Parameters:

cameraIndex - The index of the camera to use.

Returns:

The 3D position of the camera relative to the robot.

getLatestTargetObservation

public AprilTagVisionIO.TargetObservation getLatestTargetObservation(int cameraIndex)

Returns the latest target observation.

Parameters:

cameraIndex - The index of the camera to use.

Returns:

The latest target observation.

getTargetX

public Rotation2d getTargetX(int cameraIndex)

Returns the X angle to the best target, which can be used for simple servoing with vision.

Parameters:

cameraIndex - The index of the camera to use.

getTargetX

public Optional<Rotation2d> getTargetX(int cameraIndex,
 int tagId)

Returns the X angle to the specified target, which can be used for simple servoing with vision.

Parameters:

cameraIndex - The index of the camera to use.

tagId - The tag to check.

Returns:

The X angle to the specified target.

getBestTargetId

public OptionalInt getBestTargetId(int cameraIndex)

Returns the ID of the best target.

Parameters:

cameraIndex - The index of the camera to use.

Returns:

The ID of the best target.

getTargetObservation

public Optional<AprilTagVisionIO.TargetObservation> getTargetObservation(int cameraIndex,
 int tagId)

Returns the raw observation data for the specified target.

Parameters:

cameraIndex - The index of the camera to use.

tagId - The tag to check.

Returns:

The raw observation data for the specified target.

tagVisibleByCamera

public boolean tagVisibleByCamera(int cameraIndex,
 int tagId)

Returns true if the camera can see the specified tag.

Parameters:

cameraIndex - The camera to check.

tagId - The tag to check.

Returns:

true if the camera can see the tag.

tagVisibleByAnyCamera

public boolean tagVisibleByAnyCamera(int tagId)

Returns true if any camera can see the specified tag.

Parameters:

tagId - The tag to check.

Returns:

true if any camera can see the tag.

camerasWithTagVisible

public Set<Integer> camerasWithTagVisible(int tagId)

Returns the set of cameras that can see the specified tag.

Parameters:

tagId - The tag to check.

Returns:

The set of cameras that can see the tag.

isCameraConnected

public boolean isCameraConnected(int cameraIndex)

getAllPoseCameras

public List<xbot.common.subsystems.vision.AprilTagVisionCameraHelper> getAllPoseCameras()

Retrieves the set of cameras that should be used for pose estimations

Returns:

The set of cameras that are meant for pose.

getAllPoseObservations

public List<VisionPoseObservation> getAllPoseObservations()

Gets all the pose observations in this iteration of the scheduler loop.

Returns:

A list of pose observations.

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable

periodic

public void periodic()

Specified by:

periodic in interface Subsystem