Fixed issues with using class methods

Signed-off-by: Alex Pereira <[email protected]>

README.md

@@ -15,7 +15,6 @@
 		<li>The <a href="https://pypi.org/project/opencv-contrib-python/" target="_blank">OpenCV Contributor</a> package</li>
 		<li>The <a href="https://pypi.org/project/numpy/" target="_blank">NumPy</a> package (should install with pupil-apriltags)</li>
 		<li>The <a href="https://pypi.org/project/robotpy/" target="_blank">RobotPy</a> package</li>
-		<li>The <a href="https://pypi.org/project/transforms3d/" target="_blank">Transforms3d</a> package</li>
 		<li>The <a href="https://pypi.org/project/pupil-apriltags/" target="_blank">Pupil Apriltags</a> package</li>
 	</ul>
 </p>
@@ -28,14 +27,14 @@
 </p>
 <p>
 
-    pip install -U pip wheel setuptools transforms3d opencv-contrib-python pupil-apriltags robotpy[cscore]
+    pip install -U pip wheel setuptools opencv-contrib-python pupil-apriltags robotpy[cscore]
 </p>
 
 <h2> How to install on Windows: </h2>
 <p>
     Install <a href="https://www.python.org/downloads/release/python-3108/" target="_blank">Python 3.10.8</a> for Windows, being sure to add Python to PATH. Then, install the required packages using this command:</li>
 
-    pip install -U pip wheel setuptools transforms3d opencv-contrib-python pupil-apriltags robotpy[cscore]
+    pip install -U pip wheel setuptools opencv-contrib-python pupil-apriltags robotpy[cscore]
 </p>
 
 <h2> Writing Programs for Jetson </h2>

frc_apriltags/Utilities/AprilTag.py

@@ -1,23 +1,12 @@
 # Import Libraries
-import typing
-from   wpimath.geometry import *
+from wpimath.geometry import *
 
 # Start of the AprilTag class
 class AprilTag:
     """
     Use this class to generate an object with the properties of an AprilTag.
     """
-    @typing.overload
-    def __init__(self) -> None:
-        """
-        Constructor for the AprilTag class.
-        """
-        # Creates a default tag
-        self.id = 0
-        self.pose = Pose3d()
-
-    @typing.overload
-    def __init__(self, id: int, pose: Pose3d) -> None:
+    def __init__(self, id: int = 0, pose: Pose3d = Pose3d()):
         """
         Constructor for the AprilTag class.
         @param tagId
@@ -27,20 +16,22 @@ def __init__(self, id: int, pose: Pose3d) -> None:
         self.id = id
         self.pose = pose
 
-    @typing.overload
-    def __init__(self, id: int, trans: Translation3d, rot: Rotation3d) -> None:
+    @classmethod
+    def fromPoseComponents(cls, id: int, trans: Translation3d, rot: Rotation3d):
         """
         Constructor for the AprilTag class.
         @param tagId
         @param Translation3d
         @param Rotation3d
         """
-        # Localize parameters
-        self.id = id
-        self.pose = Pose3d(trans, rot)
+        # Generate 3D parts
+        pose = Pose3d(trans, rot)
 
-    @typing.overload
-    def __init__(self, id: int, x: float, y: float, z: float, rMatrix) -> None:
+        # Return the class
+        return AprilTag(id, pose)
+
+    @classmethod
+    def fromMatrix(cls, id: int, x: float, y: float, z: float, rMatrix):
         """
         Constructor for the AprilTag class.
         @param tagId
@@ -52,31 +43,31 @@ def __init__(self, id: int, x: float, y: float, z: float, rMatrix) -> None:
         # Generate 3D parts
         rot   = Rotation3d(rMatrix)
         trans = Translation3d(x, y, z)
+        pose   = Pose3d(trans, rot)
 
-        # Localize parameters
-        self.id = id
-        self.pose = Pose3d(trans, rot)
+        # Return the class
+        return AprilTag(id, pose)
 
-    @typing.overload
-    def __init__(self, id: int, x: float, y: float, z: float, quaterion: Quaternion) -> None:
+    @classmethod
+    def fromQuaternion(cls, id: int, x: float, y: float, z: float, q: Quaternion):
         """
         Constructor for the AprilTag class.
         @param tagId
         @param x: The x offset in meters
         @param y: The y offset in meters
         @param z: The z offset in meters
-        @param quaterion: The 4x4 Wuaterion
+        @param q: The 4x4 Quaterion
         """
         # Generate 3D parts
-        rot   = Rotation3d(quaterion)
+        rot   = Rotation3d(q)
         trans = Translation3d(x, y, z)
+        pose  = Pose3d(trans, rot)
 
-        # Localize parameters
-        self.id = id
-        self.pose = Pose3d(trans, rot)
+        # Return the class
+        return AprilTag(id, pose)
 
-    @typing.overload
-    def __init__(self, id: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float) -> None:
+    @classmethod
+    def fromDetailed(cls, id: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float):
         """
         Constructor for the AprilTag class.
         @param tagId
@@ -90,10 +81,10 @@ def __init__(self, id: int, x: float, y: float, z: float, roll: float, pitch: fl
         # Generate 3D parts
         rot   = Rotation3d(roll, pitch, yaw)
         trans = Translation3d(x, y, z)
+        pose  = Pose3d(trans, rot)
 
-        # Localize parameters
-        self.id = id
-        self.pose = Pose3d(trans, rot)
+        # Return the class
+        return AprilTag(id, pose)
 
     def getId(self) -> int:
         """

frc_apriltags/Utilities/AprilTagFieldLayout.py

@@ -1,6 +1,5 @@
 # Import Libraries
 import json
-import typing
 import numpy as np
 from   enum import Enum
 from   typing import Sequence
@@ -12,13 +11,12 @@
 from frc_apriltags.Utilities.AprilTag import AprilTag
 
 # Creates the AprilTagFieldLayout class
-class   AprilTagFieldLayout:
+class AprilTagFieldLayout:
     class Origin(Enum):
         kBlueAllianceWallRightSide = "BlueWall"
         kRedAllianceWallRightSide  = "RedWall"
 
-    @typing.overload
-    def __init__(self, tags: Sequence[AprilTag], fieldLength: float, fieldWidth: float, isRed = False) -> None:
+    def __init__(self, tags: Sequence[AprilTag], fieldLength: float, fieldWidth: float, isRed = False):
         """
         Generates an field with AprilTags for testing.
         @param allTags: A list of all known tags
@@ -59,15 +57,15 @@ def __init__(self, tags: Sequence[AprilTag], fieldLength: float, fieldWidth: flo
         elif (isRed == False):
             self.setOrigin(AprilTagFieldLayout.Origin.kBlueAllianceWallRightSide)
 
-    @typing.overload
-    def __init__(self, name: str, isRed: bool) -> None:
+    @classmethod
+    def fromJson(cls, name: str, isRed: bool):
         """
         Generates an field with AprilTags from the WPILib json file.
         @param name: The name of the json file in the year-gamename format
         @param isRed: If you are on the red alliance
         """
         # Creates a blank array
-        self.allTags = [Pose3d()] * 9
+        allTags = [AprilTag()] * 9
 
         # Returns the JSON as a dictionary
         with resources.open_binary("frc_apriltags.Tag_Layouts", name + ".json") as fp:
@@ -93,14 +91,17 @@ def __init__(self, name: str, isRed: bool) -> None:
             q = Quaternion(w_rot, x_rot, y_rot, z_rot)
 
             # Creates a Pose3d object
-            pose = Pose3d(x_trans, y_trans, z_trans, Rotation3d(q))
+            tag = AprilTag.fromQuaternion(id, x_trans, y_trans, z_trans, q)
 
             # Adds the tag to the allTags array
-            self.allTags[id] = pose
+            allTags[id] = tag
 
         # Sets the field dimensions
-        self.fieldLength = data["field"]["length"]
-        self.fieldWidth  = data["field"]["width"]
+        fieldLength = data["field"]["length"]
+        fieldWidth  = data["field"]["width"]
+
+        # Return the class
+        return cls(allTags, fieldLength, fieldWidth, isRed)
 
     def setOrigin(self, origin):
         """

frc_apriltags/apriltags.py

@@ -2,14 +2,12 @@
 import cv2   as cv
 import numpy as np
 import pupil_apriltags
-from   wpilib import Timer
-from   wpimath.geometry import Pose3d, Rotation3d, Translation3d
 
 # Import Classes
 from frc_apriltags.communications import NetworkCommunications
 
 # Import Utilities
-from frc_apriltags.Utilities.Units import Units
+from frc_apriltags.Utilities.Units  import Units
 from frc_apriltags.Utilities.Logger import Logger
 
 # The size of the tag in meters
@@ -25,7 +23,6 @@ def __init__(self) -> None:
         Constructor for the Detector class.
         """
         # Instance creation
-        self.timer = Timer()
         self.comms = NetworkCommunications()
 
         # Creates a pupil apriltags detector

frc_apriltags/camera.py

@@ -1,5 +1,5 @@
 # Import Libraries
-import cv2 as cv
+import cv2   as cv
 import numpy as np
 
 # Import Classes

pyproject.toml

@@ -17,7 +17,7 @@ name = "frc-apriltags"  # Required
 #
 # For a discussion on single-sourcing the version, see
 # https://packaging.python.org/guides/single-sourcing-package-version/
-version = "0.4.1.b0" # Required
+version = "0.5.0" # Required
 # Pre-releases denotations:
 # dev releases (denoted with a “.devN” suffix)
 # alpha releases (denoted with a “.aN” suffix)
@@ -43,7 +43,7 @@ readme = "README.md" # Optional
 # 'Programming Language' classifiers above, 'pip install' will check this
 # and refuse to install the project if the version does not match. See
 # https://packaging.python.org/guides/distributing-packages-using-setuptools/#python-requires
-requires-python = ">=3.8,<3.12"
+requires-python = ">=3.7,<3.12"
 
 # This is either text indicating the license for the distribution, or a file
 # that contains the license
@@ -56,7 +56,7 @@ license = {file = "LICENSE.txt"}
 # Note that this is a list of additional keywords, separated
 # by commas, to be used to assist searching for the distribution in a
 # larger catalog.
-keywords = ["FRC", "AprilTags", "OpenCV"]  # Optional
+keywords = ["FRC-AprilTags", "FRC", "AprilTags", "OpenCV"]  # Optional
 
 # This should be your name or the name of the organization who originally
 # authored the project, and a valid email address corresponding to the name

tests/test.py

@@ -0,0 +1,30 @@
+import numpy as np
+from   wpimath.geometry import *
+from   frc_apriltags.Utilities.AprilTagFieldLayout import AprilTagFieldLayout
+
+field = AprilTagFieldLayout.fromJson("2023-chargedup", False)
+print(field.getTagPose(7))
+
+pose1 = Pose3d(
+    Translation3d(0, 0, 0),
+    Rotation3d(0, 0, np.pi*0)
+)
+
+# Gets things in the right direction
+pose2 = Pose3d(
+    Translation3d(1, 1, 0),
+    Rotation3d(0, 0, 0)
+)
+trans1 = Transform3d(
+    Translation3d(),
+    Rotation3d(pose1.rotation().X(), pose1.rotation().Y(), pose1.rotation().Z())
+)
+pose2 = pose2.transformBy(trans1)
+
+# 
+trans2 = Transform3d(
+    pose2.translation(),
+    pose2.rotation()
+)
+
+print(pose1.transformBy(trans2).toPose2d())