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Auto-generate packet dataclasses with Jinja (#1374)

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This commit is contained in:
Matt
2024-08-31 13:44:19 -04:00
committed by GitHub
parent c19d54c633
commit 169595e56e
140 changed files with 4445 additions and 2097 deletions
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8
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -394,8 +394,8 @@ public class PhotonPoseEstimator {
}
private Optional<EstimatedRobotPose> multiTagOnCoprocStrategy(PhotonPipelineResult result) {
if (result.getMultiTagResult().estimatedPose.isPresent) {
var best_tf = result.getMultiTagResult().estimatedPose.best;
if (result.getMultiTagResult().isPresent()) {
var best_tf = result.getMultiTagResult().get().estimatedPose.best;
var best =
new Pose3d()
.plus(best_tf) // field-to-camera
@@ -427,11 +427,11 @@ public class PhotonPoseEstimator {
VisionEstimation.estimateCamPosePNP(
cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags, tagModel);
// try fallback strategy if solvePNP fails for some reason
if (!pnpResult.isPresent)
if (!pnpResult.isPresent())
return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
var best =
new Pose3d()
.plus(pnpResult.best) // field-to-camera
.plus(pnpResult.get().best) // field-to-camera
.plus(robotToCamera.inverse()); // field-to-robot
return Optional.of(