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Removed Option For Multiple Cameras For Object Pose Estimator #67

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Removed Option For Multiple Cameras For Object Pose Estimator #67

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36 changes: 17 additions & 19 deletions src/main/java/frc/trigon/robot/misc/objectdetectioncamera/ObjectPoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

public class ObjectPoseEstimator extends SubsystemBase {
private final HashMap<Translation2d, Double> knownObjectPositions;
private final ObjectDetectionCamera[] cameras;
private final ObjectDetectionCamera camera;
private final double deletionThresholdSeconds;
private final SimulatedGamePieceConstants.GamePieceType gamePieceType;
private final double rotationToTranslation;
Expand All @@ -23,12 +23,12 @@ public class ObjectPoseEstimator extends SubsystemBase {
*
* @param deletionThresholdSeconds the time in seconds after which an object is considered old and removed
* @param gamePieceType the type of game piece to track
* @param cameras the cameras used for detecting objects
* @param camera the camera used for detecting objects
*/
public ObjectPoseEstimator(double deletionThresholdSeconds, DistanceCalculationMethod distanceCalculationMethod, SimulatedGamePieceConstants.GamePieceType gamePieceType, ObjectDetectionCamera... cameras) {
public ObjectPoseEstimator(double deletionThresholdSeconds, DistanceCalculationMethod distanceCalculationMethod, SimulatedGamePieceConstants.GamePieceType gamePieceType, ObjectDetectionCamera camera) {
this.deletionThresholdSeconds = deletionThresholdSeconds;
this.gamePieceType = gamePieceType;
this.cameras = cameras;
this.camera = camera;
this.knownObjectPositions = new HashMap<>();
this.rotationToTranslation = distanceCalculationMethod.rotationToTranslation;
}
Expand Down Expand Up @@ -142,23 +142,21 @@ private double calculateObjectDistanceRating(Translation2d objectTranslation, Po

private void updateObjectPositions() {
final double currentTimestamp = Timer.getTimestamp();
for (ObjectDetectionCamera camera : this.cameras) {
for (Translation2d visibleObject : camera.getObjectPositionsOnField(gamePieceType)) {
Translation2d closestObjectToVisibleObject = new Translation2d();
double closestObjectToVisibleObjectDistanceMeters = Double.POSITIVE_INFINITY;

for (Translation2d knownObject : knownObjectPositions.keySet()) {
final double currentObjectDistanceMeters = visibleObject.getDistance(knownObject);
if (currentObjectDistanceMeters < closestObjectToVisibleObjectDistanceMeters) {
closestObjectToVisibleObjectDistanceMeters = currentObjectDistanceMeters;
closestObjectToVisibleObject = knownObject;
}
for (Translation2d visibleObject : camera.getObjectPositionsOnField(gamePieceType)) {
Translation2d closestObjectToVisibleObject = new Translation2d();
double closestObjectToVisibleObjectDistanceMeters = Double.POSITIVE_INFINITY;

for (Translation2d knownObject : knownObjectPositions.keySet()) {
final double currentObjectDistanceMeters = visibleObject.getDistance(knownObject);
if (currentObjectDistanceMeters < closestObjectToVisibleObjectDistanceMeters) {
closestObjectToVisibleObjectDistanceMeters = currentObjectDistanceMeters;
closestObjectToVisibleObject = knownObject;
}

if (closestObjectToVisibleObjectDistanceMeters < ObjectDetectionCameraConstants.TRACKED_OBJECT_TOLERANCE_METERS && knownObjectPositions.get(closestObjectToVisibleObject) != currentTimestamp)
knownObjectPositions.remove(closestObjectToVisibleObject);
knownObjectPositions.put(visibleObject, currentTimestamp);
}

if (closestObjectToVisibleObjectDistanceMeters < ObjectDetectionCameraConstants.TRACKED_OBJECT_TOLERANCE_METERS && knownObjectPositions.get(closestObjectToVisibleObject) != currentTimestamp)
knownObjectPositions.remove(closestObjectToVisibleObject);
knownObjectPositions.put(visibleObject, currentTimestamp);
}
}

Expand Down
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