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Java 17 (#1440)

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![image](https://github.com/user-attachments/assets/d4e4226f-74b0-4ded-87b4-ac4bf2f1ac34)

JDK 11 References
https://github.com/search?q=org%3APhotonVision+jdk-11&type=code

JDK 17 References
https://github.com/search?q=org%3APhotonVision+jdk-17&type=code

TODO List (things we might need to update in other repos):
- []
ab5fa98d72/photonvision/src/modules/photonvision/start_chroot_script (L29)
- []
7f8d225445/stage2/01-sys-tweaks/00-packages (L34)
- []
ab5fa98d72/photonvision/src/modules/photonvision/install.sh (L11)
- []
a4e7ecb6e3/Makefile (L14)

Closes https://github.com/PhotonVision/photonvision/pull/1069

---------

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade <spacey-sooty@proton.me>
This commit is contained in:
Christopher Mahoney
2024-12-17 12:01:19 -05:00
committed by GitHub
parent e8efef476b
commit 08c62ab8cd
29 changed files with 503 additions and 641 deletions
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69
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
View File

@@ -345,46 +345,35 @@ public class PhotonPoseEstimator {
PhotonPipelineResult cameraResult,
Optional<Matrix<N3, N3>> cameraMatrix,
Optional<Matrix<N8, N1>> distCoeffs,
PoseStrategy strat) {
Optional<EstimatedRobotPose> estimatedPose = Optional.empty();
switch (strat) {
case LOWEST_AMBIGUITY:
estimatedPose = lowestAmbiguityStrategy(cameraResult);
break;
case CLOSEST_TO_CAMERA_HEIGHT:
estimatedPose = closestToCameraHeightStrategy(cameraResult);
break;
case CLOSEST_TO_REFERENCE_POSE:
estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
break;
case CLOSEST_TO_LAST_POSE:
setReferencePose(lastPose);
estimatedPose = closestToReferencePoseStrategy(cameraResult, referencePose);
break;
case AVERAGE_BEST_TARGETS:
estimatedPose = averageBestTargetsStrategy(cameraResult);
break;
case MULTI_TAG_PNP_ON_RIO:
if (cameraMatrix.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
} else if (distCoeffs.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
} else {
estimatedPose = multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
}
break;
case MULTI_TAG_PNP_ON_COPROCESSOR:
estimatedPose = multiTagOnCoprocStrategy(cameraResult);
break;
default:
DriverStation.reportError(
"[PhotonPoseEstimator] Unknown Position Estimation Strategy!", false);
return Optional.empty();
}
PoseStrategy strategy) {
Optional<EstimatedRobotPose> estimatedPose =
switch (strategy) {
case LOWEST_AMBIGUITY -> lowestAmbiguityStrategy(cameraResult);
case CLOSEST_TO_CAMERA_HEIGHT -> closestToCameraHeightStrategy(cameraResult);
case CLOSEST_TO_REFERENCE_POSE ->
closestToReferencePoseStrategy(cameraResult, referencePose);
case CLOSEST_TO_LAST_POSE -> {
setReferencePose(lastPose);
yield closestToReferencePoseStrategy(cameraResult, referencePose);
}
case AVERAGE_BEST_TARGETS -> averageBestTargetsStrategy(cameraResult);
case MULTI_TAG_PNP_ON_RIO -> {
if (cameraMatrix.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
yield Optional.empty();
} else if (distCoeffs.isEmpty()) {
DriverStation.reportWarning(
"Camera matrix is empty for multi-tag-on-rio",
Thread.currentThread().getStackTrace());
yield Optional.empty();
} else {
yield multiTagOnRioStrategy(cameraResult, cameraMatrix, distCoeffs);
}
}
case MULTI_TAG_PNP_ON_COPROCESSOR -> multiTagOnCoprocStrategy(cameraResult);
};
if (estimatedPose.isPresent()) {
lastPose = estimatedPose.get().estimatedPose;