photonlibpy 2025.0.0b1__py3-none-any.whl → 2025.0.0b3__py3-none-any.whl

photonlibpy/simulation/simCameraProperties.py

@@ -0,0 +1,643 @@
+import logging
+import math
+import typing
+
+import cv2 as cv
+import numpy as np
+from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
+from wpimath.units import hertz, seconds
+
+from ..estimation import RotTrlTransform3d
+
+
+class SimCameraProperties:
+    def __init__(self):
+        self.resWidth: int = -1
+        self.resHeight: int = -1
+        self.camIntrinsics: np.ndarray = np.zeros((3, 3))  # [3,3]
+        self.distCoeffs: np.ndarray = np.zeros((8, 1))  # [8,1]
+        self.avgErrorPx: float = 0.0
+        self.errorStdDevPx: float = 0.0
+        self.frameSpeed: seconds = 0.0
+        self.exposureTime: seconds = 0.0
+        self.avgLatency: seconds = 0.0
+        self.latencyStdDev: seconds = 0.0
+        self.viewplanes: list[np.ndarray] = []  # [3,1]
+
+        self.setCalibrationFromFOV(960, 720, fovDiag=Rotation2d(math.radians(90.0)))
+
+    def setCalibrationFromFOV(
+        self, width: int, height: int, fovDiag: Rotation2d
+    ) -> None:
+        if fovDiag.degrees() < 1.0 or fovDiag.degrees() > 179.0:
+            fovDiag = Rotation2d.fromDegrees(max(min(fovDiag.degrees(), 179.0), 1.0))
+            logging.error("Requested invalid FOV! Clamping between (1, 179) degrees...")
+
+        resDiag = math.sqrt(width * width + height * height)
+        diagRatio = math.tan(fovDiag.radians() / 2.0)
+        fovWidth = Rotation2d(math.atan((diagRatio * (width / resDiag)) * 2))
+        fovHeight = Rotation2d(math.atan(diagRatio * (height / resDiag)) * 2)
+
+        newDistCoeffs = np.zeros((8, 1))
+
+        cx = width / 2.0 - 0.5
+        cy = height / 2.0 - 0.5
+
+        fx = cx / math.tan(fovWidth.radians() / 2.0)
+        fy = cy / math.tan(fovHeight.radians() / 2.0)
+
+        newCamIntrinsics = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])
+
+        self.setCalibrationFromIntrinsics(
+            width, height, newCamIntrinsics, newDistCoeffs
+        )
+
+    def setCalibrationFromIntrinsics(
+        self,
+        width: int,
+        height: int,
+        newCamIntrinsics: np.ndarray,
+        newDistCoeffs: np.ndarray,
+    ) -> None:
+
+        self.resWidth = width
+        self.resHeight = height
+        self.camIntrinsics = newCamIntrinsics
+        self.distCoeffs = newDistCoeffs
+
+        p = [
+            Translation3d(
+                1.0,
+                Rotation3d(
+                    0.0,
+                    0.0,
+                    (self.getPixelYaw(0) + Rotation2d(math.pi / 2.0)).radians(),
+                ),
+            ),
+            Translation3d(
+                1.0,
+                Rotation3d(
+                    0.0,
+                    0.0,
+                    (self.getPixelYaw(width) + Rotation2d(math.pi / 2.0)).radians(),
+                ),
+            ),
+            Translation3d(
+                1.0,
+                Rotation3d(
+                    0.0,
+                    0.0,
+                    (self.getPixelPitch(0) + Rotation2d(math.pi / 2.0)).radians(),
+                ),
+            ),
+            Translation3d(
+                1.0,
+                Rotation3d(
+                    0.0,
+                    0.0,
+                    (self.getPixelPitch(height) + Rotation2d(math.pi / 2.0)).radians(),
+                ),
+            ),
+        ]
+
+        self.viewplanes = []
+
+        for i in p:
+            self.viewplanes.append(np.array([i.X(), i.Y(), i.Z()]))
+
+    def setCalibError(self, newAvgErrorPx: float, newErrorStdDevPx: float):
+        self.avgErrorPx = newAvgErrorPx
+        self.errorStdDevPx = newErrorStdDevPx
+
+    def setFPS(self, fps: hertz):
+        self.frameSpeed = max(1.0 / fps, self.exposureTime)
+
+    def setExposureTime(self, newExposureTime: seconds):
+        self.exposureTime = newExposureTime
+        self.frameSpeed = max(self.frameSpeed, self.exposureTime)
+
+    def setAvgLatency(self, newAvgLatency: seconds):
+        self.vgLatency = newAvgLatency
+
+    def setLatencyStdDev(self, newLatencyStdDev: seconds):
+        self.latencyStdDev = newLatencyStdDev
+
+    def getResWidth(self) -> int:
+        return self.resWidth
+
+    def getResHeight(self) -> int:
+        return self.resHeight
+
+    def getResArea(self) -> int:
+        return self.resWidth * self.resHeight
+
+    def getAspectRatio(self) -> float:
+        return 1.0 * self.resWidth / self.resHeight
+
+    def getIntrinsics(self) -> np.ndarray:
+        return self.camIntrinsics
+
+    def getDistCoeffs(self) -> np.ndarray:
+        return self.distCoeffs
+
+    def getFPS(self) -> hertz:
+        return 1.0 / self.frameSpeed
+
+    def getFrameSpeed(self) -> seconds:
+        return self.frameSpeed
+
+    def getExposureTime(self) -> seconds:
+        return self.exposureTime
+
+    def getAverageLatency(self) -> seconds:
+        return self.avgLatency
+
+    def getLatencyStdDev(self) -> seconds:
+        return self.latencyStdDev
+
+    def getContourAreaPercent(self, points: np.ndarray) -> float:
+        return cv.contourArea(cv.convexHull(points)) / self.getResArea() * 100.0
+
+    def getPixelYaw(self, pixelX: float) -> Rotation2d:
+        fx = self.camIntrinsics[0, 0]
+        cx = self.camIntrinsics[0, 2]
+        xOffset = cx - pixelX
+        return Rotation2d(fx, xOffset)
+
+    def getPixelPitch(self, pixelY: float) -> Rotation2d:
+        fy = self.camIntrinsics[1, 1]
+        cy = self.camIntrinsics[1, 2]
+        yOffset = cy - pixelY
+        return Rotation2d(fy, -yOffset)
+
+    def getPixelRot(self, point: cv.typing.Point2f) -> Rotation3d:
+        return Rotation3d(
+            0.0,
+            self.getPixelPitch(point[1]).radians(),
+            self.getPixelYaw(point[0]).radians(),
+        )
+
+    def getCorrectedPixelRot(self, point: cv.typing.Point2f) -> Rotation3d:
+        fx = self.camIntrinsics[0, 0]
+        cx = self.camIntrinsics[0, 2]
+        xOffset = cx - point[0]
+
+        fy = self.camIntrinsics[1, 1]
+        cy = self.camIntrinsics[1, 2]
+        yOffset = cy - point[1]
+
+        yaw = Rotation2d(fx, xOffset)
+        pitch = Rotation2d(fy / math.cos(math.atan(xOffset / fx)), -yOffset)
+        return Rotation3d(0.0, pitch.radians(), yaw.radians())
+
+    def getHorizFOV(self) -> Rotation2d:
+        left = self.getPixelYaw(0)
+        right = self.getPixelYaw(self.resWidth)
+        return left - right
+
+    def getVertFOV(self) -> Rotation2d:
+        above = self.getPixelPitch(0)
+        below = self.getPixelPitch(self.resHeight)
+        return below - above
+
+    def getDiagFOV(self) -> Rotation2d:
+        return Rotation2d(
+            math.hypot(self.getHorizFOV().radians(), self.getVertFOV().radians())
+        )
+
+    def getVisibleLine(
+        self, camRt: RotTrlTransform3d, a: Translation3d, b: Translation3d
+    ) -> typing.Tuple[float | None, float | None]:
+        relA = camRt.applyTranslation(a)
+        relB = camRt.applyTranslation(b)
+
+        if relA.X() <= 0.0 and relB.X() <= 0.0:
+            return (None, None)
+
+        av = np.array([relA.X(), relA.Y(), relA.Z()])
+        bv = np.array([relB.X(), relB.Y(), relB.Z()])
+        abv = bv - av
+
+        aVisible = True
+        bVisible = True
+
+        for normal in self.viewplanes:
+            aVisibility = av.dot(normal)
+            if aVisibility < 0:
+                aVisible = False
+
+            bVisibility = bv.dot(normal)
+            if bVisibility < 0:
+                bVisible = False
+            if aVisibility <= 0 and bVisibility <= 0:
+                return (None, None)
+
+        if aVisible and bVisible:
+            return (0.0, 1.0)
+
+        intersections = [float("nan"), float("nan"), float("nan"), float("nan")]
+
+        # Optionally 3x1 vector
+        ipts: typing.List[np.ndarray | None] = [None, None, None, None]
+
+        for i, normal in enumerate(self.viewplanes):
+            a_projn = (av.dot(normal) / normal.dot(normal)) * normal
+
+            if abs(abv.dot(normal)) < 1.0e-5:
+                continue
+            intersections[i] = a_projn.dot(a_projn) / -(abv.dot(a_projn))
+
+            apv = intersections[i] * abv
+            intersectpt = av + apv
+            ipts[i] = intersectpt
+
+            for j in range(1, len(self.viewplanes)):
+                if j == 0:
+                    continue
+                oi = (i + j) % len(self.viewplanes)
+                onormal = self.viewplanes[oi]
+                if intersectpt.dot(onormal) < 0:
+                    intersections[i] = float("nan")
+                    ipts[i] = None
+                    break
+
+            if ipts[i] is None:
+                continue
+
+            for j in range(i - 1, 0 - 1):
+                oipt = ipts[j]
+                if not oipt:
+                    continue
+
+                diff = oipt - intersectpt
+                if abs(diff).max() < 1e-4:
+                    intersections[i] = float("nan")
+                    ipts[i] = None
+                    break
+
+        inter1 = float("nan")
+        inter2 = float("nan")
+        for inter in intersections:
+            if not math.isnan(inter):
+                if math.isnan(inter1):
+                    inter1 = inter
+                else:
+                    inter2 = inter
+
+        if not math.isnan(inter2):
+            max_ = max(inter1, inter2)
+            min_ = min(inter1, inter2)
+            if aVisible:
+                min_ = 0
+            if bVisible:
+                max_ = 1
+            return (min_, max_)
+        elif not math.isnan(inter1):
+            if aVisible:
+                return (0, inter1)
+            if bVisible:
+                return (inter1, 1)
+            return (inter1, None)
+        else:
+            return (None, None)
+
+    def estPixelNoise(self, points: np.ndarray) -> np.ndarray:
+        assert points.shape[1] == 1, points.shape
+        assert points.shape[2] == 2, points.shape
+        if self.avgErrorPx == 0 and self.errorStdDevPx == 0:
+            return points
+
+        noisyPts: list[list] = []
+        for p in points:
+            error = np.random.normal(self.avgErrorPx, self.errorStdDevPx, 1)[0]
+            errorAngle = np.random.uniform(-math.pi, math.pi)
+            noisyPts.append(
+                [
+                    [
+                        float(p[0, 0] + error * math.cos(errorAngle)),
+                        float(p[0, 1] + error * math.sin(errorAngle)),
+                    ]
+                ]
+            )
+        retval = np.array(noisyPts, dtype=np.float32)
+        assert points.shape == retval.shape, retval
+        return retval
+
+    def estLatency(self) -> seconds:
+        return max(
+            float(np.random.normal(self.avgLatency, self.latencyStdDev, 1)[0]),
+            0.0,
+        )
+
+    def estSecUntilNextFrame(self) -> seconds:
+        return self.frameSpeed + max(0.0, self.estLatency() - self.frameSpeed)
+
+    @classmethod
+    def PERFECT_90DEG(cls) -> typing.Self:
+        return cls()
+
+    @classmethod
+    def PI4_LIFECAM_320_240(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            320,
+            240,
+            newCamIntrinsics=np.array(
+                [
+                    [328.2733242048587, 0.0, 164.8190261141906],
+                    [0.0, 318.0609794305216, 123.8633838438093],
+                    [0.0, 0.0, 1.0],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.09957946553445934,
+                        -0.9166265114485799,
+                        0.0019519890627236526,
+                        -0.0036071725380870333,
+                        1.5627234622420942,
+                        0,
+                        0,
+                        0,
+                    ]
+                ]
+            ),
+        )
+        prop.setCalibError(0.21, 0.0124)
+        prop.setFPS(30.0)
+        prop.setAvgLatency(30.0e-3)
+        prop.setLatencyStdDev(10.0e-3)
+        return prop
+
+    @classmethod
+    def PI4_LIFECAM_640_480(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            640,
+            480,
+            newCamIntrinsics=np.array(
+                [
+                    [669.1428078983059, 0.0, 322.53377249329213],
+                    [0.0, 646.9843137061716, 241.26567383784163],
+                    [0.0, 0.0, 1.0],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.12788470750464645,
+                        -1.2350335805796528,
+                        0.0024990767286192732,
+                        -0.0026958287600230705,
+                        2.2951386729115537,
+                        0,
+                        0,
+                        0,
+                    ]
+                ]
+            ),
+        )
+        prop.setCalibError(0.26, 0.046)
+        prop.setFPS(15.0)
+        prop.setAvgLatency(65.0e-3)
+        prop.setLatencyStdDev(15.0e-3)
+        return prop
+
+    @classmethod
+    def LL2_640_480(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            640,
+            480,
+            newCamIntrinsics=np.array(
+                [
+                    [511.22843367007755, 0.0, 323.62049380211096],
+                    [0.0, 514.5452336723849, 261.8827920543568],
+                    [0.0, 0.0, 1.0],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.1917469998873756,
+                        -0.5142936883324216,
+                        0.012461562046896614,
+                        0.0014084973492408186,
+                        0.35160648971214437,
+                        0,
+                        0,
+                        0,
+                    ]
+                ]
+            ),
+        )
+        prop.setCalibError(0.25, 0.05)
+        prop.setFPS(15.0)
+        prop.setAvgLatency(35.0e-3)
+        prop.setLatencyStdDev(8.0e-3)
+        return prop
+
+    @classmethod
+    def LL2_960_720(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            960,
+            720,
+            newCamIntrinsics=np.array(
+                [
+                    [769.6873145148892, 0.0, 486.1096609458122],
+                    [0.0, 773.8164483705323, 384.66071662358354],
+                    [0.0, 0.0, 1.0],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.189462064814501,
+                        -0.49903003669627627,
+                        0.007468423590519429,
+                        0.002496885298683693,
+                        0.3443122090208624,
+                        0,
+                        0,
+                        0,
+                    ]
+                ]
+            ),
+        )
+        prop.setCalibError(0.35, 0.10)
+        prop.setFPS(10.0)
+        prop.setAvgLatency(50.0e-3)
+        prop.setLatencyStdDev(15.0e-3)
+        return prop
+
+    @classmethod
+    def LL2_1280_720(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            1280,
+            720,
+            newCamIntrinsics=np.array(
+                [
+                    [1011.3749416937393, 0.0, 645.4955139388737],
+                    [0.0, 1008.5391755084075, 508.32877656020196],
+                    [0.0, 0.0, 1.0],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.13730101577061535,
+                        -0.2904345656989261,
+                        8.32475714507539e-4,
+                        -3.694397782014239e-4,
+                        0.09487962227027584,
+                        0,
+                        0,
+                        0,
+                    ]
+                ]
+            ),
+        )
+        prop.setCalibError(0.37, 0.06)
+        prop.setFPS(7.0)
+        prop.setAvgLatency(60.0e-3)
+        prop.setLatencyStdDev(20.0e-3)
+        return prop
+
+    @classmethod
+    def OV9281_640_480(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            640,
+            480,
+            newCamIntrinsics=np.array(
+                [
+                    [627.1573807284262, 0, 307.79423851611824],
+                    [0, 626.6621595938243, 219.02625533911998],
+                    [0, 0, 1],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.054834081023049625,
+                        -0.15994111706817074,
+                        -0.0017587106009926158,
+                        -0.0014671022483263552,
+                        0.049742166267499596,
+                        0,
+                        0,
+                        0,
+                    ],
+                ]
+            ),
+        )
+        prop.setCalibError(0.25, 0.05)
+        prop.setFPS(30.0)
+        prop.setAvgLatency(60.0e-3)
+        prop.setLatencyStdDev(20.0e-3)
+        return prop
+
+    @classmethod
+    def OV9281_800_600(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            800,
+            600,
+            newCamIntrinsics=np.array(
+                [
+                    [783.9467259105329, 0, 384.7427981451478],
+                    [0, 783.3276994922804, 273.7828191739],
+                    [0, 0, 1],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.054834081023049625,
+                        -0.15994111706817074,
+                        -0.0017587106009926158,
+                        -0.0014671022483263552,
+                        0.049742166267499596,
+                        0,
+                        0,
+                        0,
+                    ],
+                ]
+            ),
+        )
+        prop.setCalibError(0.25, 0.05)
+        prop.setFPS(25.0)
+        prop.setAvgLatency(60.0e-3)
+        prop.setLatencyStdDev(20.0e-3)
+        return prop
+
+    @classmethod
+    def OV9281_1280_720(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            1280,
+            720,
+            newCamIntrinsics=np.array(
+                [
+                    [940.7360710926395, 0, 615.5884770322365],
+                    [0, 939.9932393907364, 328.53938300868],
+                    [0, 0, 1],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.054834081023049625,
+                        -0.15994111706817074,
+                        -0.0017587106009926158,
+                        -0.0014671022483263552,
+                        0.049742166267499596,
+                        0,
+                        0,
+                        0,
+                    ],
+                ]
+            ),
+        )
+        prop.setCalibError(0.25, 0.05)
+        prop.setFPS(15.0)
+        prop.setAvgLatency(60.0e-3)
+        prop.setLatencyStdDev(20.0e-3)
+        return prop
+
+    @classmethod
+    def OV9281_1920_1080(cls) -> typing.Self:
+        prop = cls()
+        prop.setCalibrationFromIntrinsics(
+            1920,
+            1080,
+            newCamIntrinsics=np.array(
+                [
+                    [1411.1041066389591, 0, 923.3827155483548],
+                    [0, 1409.9898590861046, 492.80907451301994],
+                    [0, 0, 1],
+                ]
+            ),
+            newDistCoeffs=np.array(
+                [
+                    [
+                        0.054834081023049625,
+                        -0.15994111706817074,
+                        -0.0017587106009926158,
+                        -0.0014671022483263552,
+                        0.049742166267499596,
+                        0,
+                        0,
+                        0,
+                    ],
+                ]
+            ),
+        )
+        prop.setCalibError(0.25, 0.05)
+        prop.setFPS(10.0)
+        prop.setAvgLatency(60.0e-3)
+        prop.setLatencyStdDev(20.0e-3)
+        return prop

photonlibpy/simulation/videoSimUtil.py

@@ -0,0 +1,2 @@
+class VideoSimUtil:
+    pass