Add Orientation

.circleci/config.yml

@@ -24,8 +24,8 @@ jobs:
             . venv/bin/activate
       - run: apt-get update -y
       - run: apt-get install -y libcv-dev libopencv-photo-dev libopencv-contrib-dev libusb-1.0.0-dev
-      - run: pip3 install git+https://github.com/sourcebots/sb-vision@44356ec0fc4738508d22bf15137bb4429ba3410f
-      - run: pip3 install git+https://github.com/sourcebots/robotd@4ae124ba4d75f4be64a2b0bbc3f4abd37c94726f
+      - run: pip3 install git+https://github.com/sourcebots/sb-vision@f69d7190543b92c2067377f8ddd8f2607e9aa2ca
+      - run: pip3 install git+https://github.com/sourcebots/robotd@e0be841816d4c778e98498193f6fd7e3de35813d
       - run: pip3 install -r requirements.txt
       - run: pip3 install -r script/linting/requirements.txt
       - run: pip3 install -r script/typing/requirements.txt

robot/markers.py

@@ -46,6 +46,43 @@ def rot_y_degrees(self) -> Degrees:
         return Degrees(math.degrees(self.rot_y_radians))
 
 
+_Orientation = NamedTuple('Orientation', (
+    ('rot_x_radians', Radians),
+    ('rot_y_radians', Radians),
+    ('rot_z_radians', Radians),
+))
+
+
+class Orientation(_Orientation):
+    """
+    Represents the orientation in 3d space as rotations around x, y, and z axes.
+
+    Rotations around the different axes can be thought of as follows:
+      - X rotation represents pitch. A good way to think of this is a person
+      leaning towards you (like they're doing a bow in respect of your amazing
+      robot) would be a positive X rotation.
+      - Y rotation represents yaw. A good way to think of this is a person
+      spinning clockwise on the spot would be a positive Y rotation.
+      - Z rotation represents roll. A good way to think of this is a person
+      doing a cart-wheel to the right would be a positive Z rotation.
+    """
+
+    @property
+    def rot_x_degrees(self) -> Degrees:
+        """Rotation about the x-axis in degrees."""
+        return Degrees(math.degrees(self.rot_x_radians))
+
+    @property
+    def rot_y_degrees(self) -> Degrees:
+        """Rotation about the y-axis in degrees."""
+        return Degrees(math.degrees(self.rot_y_radians))
+
+    @property
+    def rot_z_degrees(self) -> Degrees:
+        """Rotation about the z-axis in degrees."""
+        return Degrees(math.degrees(self.rot_z_radians))
+
+
 class PolarCoord:
     """
     Deprecated: represents a point expressed in legacy "polar" co-ordinates.
@@ -168,6 +205,21 @@ def spherical(self) -> SphericalCoord:
         """
         return SphericalCoord(*self._raw_data['spherical'])
 
+    @property
+    def orientation(self) -> Orientation:
+        """
+        The rotation of the marker in relative to the camera.
+
+        Describes a rotation as angles about the x, y, and z axes, which
+        corresponds pitch, yaw, and roll of the marker respectively. The
+        angles are measured as an offset from a marker directly facing
+        the camera.
+
+        The rotations are applied in the order of Z, Y, then X rotations. Each rotation
+        is applied relative to the marker.
+        """
+        return Orientation(*self._raw_data['orientation'])
+
     def __str__(self):
         bearing = self.spherical.rot_y_degrees
         return "<Marker {}: {:.0f}° {}, {:.2f}m away>".format(

tests/test_camera.py

@@ -3,7 +3,7 @@
 import unittest
 
 from robot.camera import ResultList
-from robot.markers import CartCoord, PolarCoord, SphericalCoord
+from robot.markers import CartCoord, Orientation, PolarCoord, SphericalCoord
 from robot.robot import Robot
 from sb_vision.camera import FileCamera
 from tests.mock_robotd import MockRobotD
@@ -80,6 +80,12 @@ def test_can_see_something(self):
             "Invalid spherical coordinates",
         )
 
+        self.assertIsInstance(
+            token.orientation,
+            Orientation,
+            "Invalid orientation coordinates",
+        )
+
         self.assertIsInstance(
             token.polar,
             PolarCoord,