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Fix documentation tab set syncing (#2109)

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This commit is contained in:
Alan Everett
2025-10-09 17:27:58 -04:00
committed by GitHub
parent e486ff5a50
commit 17c23b0390
13 changed files with 178 additions and 197 deletions
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6
docs/source/docs/apriltag-pipelines/multitag.md
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@@ -28,7 +28,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
var results = camera.getAllUnreadResults();
for (var result : results) {
@@ -39,7 +39,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
}
.. code-block:: C++
.. code-block:: c++
auto results = camera.GetAllUnreadResults();
for (auto &result : results)
@@ -51,7 +51,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
}
.. code-block:: Python
.. code-block:: python
results = camera.getAllUnreadResults()
for result in results:

12
docs/source/docs/contributing/building-photon.md
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@@ -61,14 +61,17 @@ To compile and run the project, issue the following command in the root director
.. tab-set::
.. tab-item:: Linux
:sync: linux
``./gradlew run``
.. tab-item:: macOS
:sync: macos
``./gradlew run``
.. tab-item:: Windows (cmd)
:sync: windows
``gradlew run``
```
@@ -79,14 +82,17 @@ Running the following command under the root directory will build the jar under
.. tab-set::
.. tab-item:: Linux
:sync: linux
``./gradlew shadowJar``
.. tab-item:: macOS
:sync: macos
``./gradlew shadowJar``
.. tab-item:: Windows (cmd)
:sync: windows
``gradlew shadowJar``
```
@@ -101,18 +107,21 @@ An architecture override is required to specify the deploy target's architecture
.. tab-set::
.. tab-item:: Linux
:sync: linux
``./gradlew clean``
``./gradlew deploy -PArchOverride=linuxarm64``
.. tab-item:: macOS
:sync: macos
``./gradlew clean``
``./gradlew deploy -PArchOverride=linuxarm64``
.. tab-item:: Windows (cmd)
:sync: windows
``gradlew clean``
@@ -131,14 +140,17 @@ The photonlib source can be published to your local maven repository after build
.. tab-set::
.. tab-item:: Linux
:sync: linux
``./gradlew publishToMavenLocal``
.. tab-item:: macOS
:sync: macos
``./gradlew publishToMavenLocal``
.. tab-item:: Windows (cmd)
:sync: windows
``gradlew publishToMavenLocal``
```

5
docs/source/docs/examples/aimandrange.md
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@@ -14,8 +14,10 @@ To do this, we'll use the _pitch_ of the target in the camera image and trigonom
```{eval-rst}
.. tab-set::
:sync-group: code
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java
:language: java
@@ -24,6 +26,7 @@ To do this, we'll use the _pitch_ of the target in the camera image and trigonom
:lineno-start: 84
.. tab-item:: C++ (Header)
:sync: c++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
:language: c++
@@ -32,6 +35,7 @@ To do this, we'll use the _pitch_ of the target in the camera image and trigonom
:lineno-start: 25
.. tab-item:: C++ (Source)
:sync: c++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
:language: c++
@@ -40,6 +44,7 @@ To do this, we'll use the _pitch_ of the target in the camera image and trigonom
:lineno-start: 58
.. tab-item:: Python
:sync: python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/aimandrange/robot.py
:language: python

5
docs/source/docs/examples/aimingatatarget.md
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@@ -19,8 +19,10 @@ In this example, while the operator holds a button down, the robot will turn tow
```{eval-rst}
.. tab-set::
:sync-group: code
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
:language: java
@@ -29,6 +31,7 @@ In this example, while the operator holds a button down, the robot will turn tow
:lineno-start: 77
.. tab-item:: C++ (Header)
:sync: c++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
:language: c++
@@ -37,6 +40,7 @@ In this example, while the operator holds a button down, the robot will turn tow
:lineno-start: 25
.. tab-item:: C++ (Source)
:sync: c++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
:language: c++
@@ -45,6 +49,7 @@ In this example, while the operator holds a button down, the robot will turn tow
:lineno-start: 56
.. tab-item:: Python
:sync: python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/aimattarget/robot.py
:language: python

214
docs/source/docs/examples/poseest.md
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@@ -21,32 +21,24 @@ Please reference the [WPILib documentation](https://docs.wpilib.org/en/stable/do
We use the 2024 game's AprilTag Locations:
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 68-68
:linenos:
:lineno-start: 68
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Constants.h
:language: c++
:lines: 42-43
:linenos:
:lineno-start: 42
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 68-68
:linenos:
:lineno-start: 68
.. tab-item:: C++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Constants.h
:language: c++
:lines: 42-43
:linenos:
:lineno-start: 42
.. tab-item:: Python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 46-46
:linenos:
:lineno-start: 46
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 46-46
:linenos:
:lineno-start: 46
```
@@ -56,63 +48,47 @@ To incorporate PhotonVision, we need to create a {code}`PhotonCamera`:
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 57-57
:linenos:
:lineno-start: 57
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 145-145
:linenos:
:lineno-start: 145
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 57-57
:linenos:
:lineno-start: 57
.. tab-item:: C++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 145-145
:linenos:
:lineno-start: 145
.. tab-item:: Python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 44-44
:linenos:
:lineno-start: 44
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 44-44
:linenos:
:lineno-start: 44
```
During periodic execution, we read back camera results. If we see AprilTags in the image, we calculate the camera-measured pose of the robot and pass it to the {code}`Drivetrain`.
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
:language: java
:lines: 64-74
:linenos:
:lineno-start: 64
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
:language: c++
:lines: 38-46
:linenos:
:lineno-start: 38
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
:language: java
:lines: 64-74
:linenos:
:lineno-start: 64
.. tab-item:: C++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
:language: c++
:lines: 38-46
:linenos:
:lineno-start: 38
.. tab-item:: Python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 54-56
:linenos:
:lineno-start: 54
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
:language: python
:lines: 54-56
:linenos:
:lineno-start: 54
```
@@ -121,56 +97,45 @@ During periodic execution, we read back camera results. If we see AprilTags in t
First, we create a new {code}`VisionSystemSim` to represent our camera and coprocessor running PhotonVision, and moving around our simulated field.
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 65-69
:linenos:
:lineno-start: 65
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 49-52
:linenos:
:lineno-start: 49
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 65-69
:linenos:
:lineno-start: 65
.. code-block:: python
.. tab-item:: C++
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 49-52
:linenos:
:lineno-start: 49
.. tab-item:: Python
# Coming Soon!
# Coming Soon!
```
Then, we add configure the simulated vision system to match the camera system being simulated.
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 69-82
:linenos:
:lineno-start: 69
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
:language: java
:lines: 69-82
:linenos:
:lineno-start: 69
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 53-65
:linenos:
:lineno-start: 53
.. tab-item:: C++
.. code-block:: python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
:language: c++
:lines: 53-65
:linenos:
:lineno-start: 53
.. tab-item:: Python
# Coming Soon!
# Coming Soon!
```
@@ -179,28 +144,23 @@ Then, we add configure the simulated vision system to match the camera system be
During simulation, we periodically update the simulated vision system.
```{eval-rst}
.. tab-set::
.. tab-set-code::
.. tab-item:: Java
:sync: java
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
:language: java
:lines: 114-132
:linenos:
:lineno-start: 114
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
:language: java
:lines: 114-132
:linenos:
:lineno-start: 114
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
:language: c++
:lines: 95-109
:linenos:
:lineno-start: 95
.. tab-item:: C++
.. code-block:: python
.. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
:language: c++
:lines: 95-109
:linenos:
:lineno-start: 95
.. tab-item:: Python
# Coming Soon!
# Coming Soon!
```
The rest is done behind the scenes.

2
docs/source/docs/integration/advancedStrategies.md
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@@ -43,7 +43,7 @@ A simple way to use a pose estimate is to activate robot functions automatically
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
Pose3d robotPose;
boolean launcherSpinCmd;

6
docs/source/docs/programming/photonlib/controlling-led.md
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@@ -4,17 +4,17 @@ You can control the vision LEDs of supported hardware via PhotonLib using the `s
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Blink the LEDs.
camera.setLED(VisionLEDMode.kBlink);
.. code-block:: C++
.. code-block:: c++
// Blink the LEDs.
camera.SetLED(photonlib::VisionLEDMode::kBlink);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

18
docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md
View File

@@ -9,17 +9,17 @@ You can use the `setDriverMode()`/`SetDriverMode()` (Java and C++ respectively)
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Set driver mode to on.
camera.setDriverMode(true);
.. code-block:: C++
.. code-block:: c++
// Set driver mode to on.
camera.SetDriverMode(true);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -31,17 +31,17 @@ You can use the `setPipelineIndex()`/`SetPipelineIndex()` (Java and C++ respecti
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Change pipeline to 2
camera.setPipelineIndex(2);
.. code-block:: C++
.. code-block:: c++
// Change pipeline to 2
camera.SetPipelineIndex(2);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -52,17 +52,17 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get the pipeline latency.
double latencySeconds = result.getLatencyMillis() / 1000.0;
.. code-block:: C++
.. code-block:: c++
// Get the pipeline latency.
units::second_t latency = result.GetLatency();
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

40
docs/source/docs/programming/photonlib/getting-target-data.md
View File

@@ -20,7 +20,7 @@ The `PhotonCamera` class has two constructors: one that takes a `NetworkTable` a
:language: c++
:lines: 42-43
.. code-block:: Python
.. code-block:: python
# Change this to match the name of your camera as shown in the web ui
self.camera = PhotonCamera("your_camera_name_here")
@@ -51,7 +51,7 @@ Use the `getLatestResult()`/`GetLatestResult()` (Java and C++ respectively) to o
:language: c++
:lines: 35-36
.. code-block:: Python
.. code-block:: python
# Query the latest result from PhotonVision
result = self.camera.getLatestResult()
@@ -69,17 +69,17 @@ Each pipeline result has a `hasTargets()`/`HasTargets()` (Java and C++ respectiv
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Check if the latest result has any targets.
boolean hasTargets = result.hasTargets();
.. code-block:: C++
.. code-block:: c++
// Check if the latest result has any targets.
bool hasTargets = result.HasTargets();
.. code-block:: Python
.. code-block:: python
# Check if the latest result has any targets.
hasTargets = result.hasTargets()
@@ -99,17 +99,17 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get a list of currently tracked targets.
List<PhotonTrackedTarget> targets = result.getTargets();
.. code-block:: C++
.. code-block:: c++
// Get a list of currently tracked targets.
wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
.. code-block:: Python
.. code-block:: python
# Get a list of currently tracked targets.
targets = result.getTargets()
@@ -121,18 +121,18 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get the current best target.
PhotonTrackedTarget target = result.getBestTarget();
.. code-block:: C++
.. code-block:: c++
// Get the current best target.
photonlib::PhotonTrackedTarget target = result.GetBestTarget();
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -149,7 +149,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get information from target.
double yaw = target.getYaw();
@@ -159,7 +159,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
Transform2d pose = target.getCameraToTarget();
List<TargetCorner> corners = target.getCorners();
.. code-block:: C++
.. code-block:: c++
// Get information from target.
double yaw = target.GetYaw();
@@ -169,7 +169,7 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
frc::Transform2d pose = target.GetCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
.. code-block:: Python
.. code-block:: python
# Get information from target.
yaw = target.getYaw()
@@ -193,7 +193,7 @@ All of the data above (**except skew**) is available when using AprilTags.
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get information from target.
int targetID = target.getFiducialId();
@@ -201,7 +201,7 @@ All of the data above (**except skew**) is available when using AprilTags.
Transform3d bestCameraToTarget = target.getBestCameraToTarget();
Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: C++
.. code-block:: c++
// Get information from target.
int targetID = target.GetFiducialId();
@@ -209,7 +209,7 @@ All of the data above (**except skew**) is available when using AprilTags.
frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: Python
.. code-block:: python
# Get information from target.
targetID = target.getFiducialId()
@@ -227,7 +227,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Capture pre-process camera stream image
camera.takeInputSnapshot();
@@ -235,7 +235,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
// Capture post-process camera stream image
camera.takeOutputSnapshot();
.. code-block:: C++
.. code-block:: c++
// Capture pre-process camera stream image
camera.TakeInputSnapshot();
@@ -243,7 +243,7 @@ Images are stored within the PhotonVision configuration directory. Running the "
// Capture post-process camera stream image
camera.TakeOutputSnapshot();
.. code-block:: Python
.. code-block:: python
# Capture pre-process camera stream image
camera.takeInputSnapshot()

36
docs/source/docs/programming/photonlib/using-target-data.md
View File

@@ -8,17 +8,17 @@ A `PhotonUtils` class with helpful common calculations is included within `Photo
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate robot's field relative pose
if (aprilTagFieldLayout.getTagPose(target.getFiducialId()).isPresent()) {
Pose3d robotPose = PhotonUtils.estimateFieldToRobotAprilTag(target.getBestCameraToTarget(), aprilTagFieldLayout.getTagPose(target.getFiducialId()).get(), cameraToRobot);
}
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -29,19 +29,19 @@ You can get your robot's `Pose2D` on the field using various camera data, target
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate robot's field relative pose
Pose2D robotPose = PhotonUtils.estimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, Rotation2d.fromDegrees(-target.getYaw()), gyro.getRotation2d(), targetPose, cameraToRobot);
.. code-block:: C++
.. code-block:: c++
// Calculate robot's field relative pose
frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -54,15 +54,15 @@ If your camera is at a fixed height on your robot and the height of the target i
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// TODO
.. code-block:: C++
.. code-block:: c++
// TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -78,15 +78,15 @@ The C++ version of PhotonLib uses the Units library. For more information, see [
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
double distanceToTarget = PhotonUtils.getDistanceToPose(robotPose, targetPose);
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```
@@ -97,19 +97,19 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Calculate a translation from the camera to the target.
Translation2d translation = PhotonUtils.estimateCameraToTargetTranslation(
distanceMeters, Rotation2d.fromDegrees(-target.getYaw()));
.. code-block:: C++
.. code-block:: c++
// Calculate a translation from the camera to the target.
frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
.. code-block:: Python
.. code-block:: python
# Coming Soon!
@@ -125,14 +125,14 @@ We are negating the yaw from the camera from CV (computer vision) conventions to
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
Rotation2d targetYaw = PhotonUtils.getYawToPose(robotPose, targetPose);
.. code-block:: C++
.. code-block:: c++
//TODO
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

6
docs/source/docs/quick-start/networking.md
View File

@@ -75,15 +75,15 @@ If you would like to access your Ethernet-connected vision device from a compute
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
PortForwarder.add(5800, "photonvision.local", 5800);
.. code-block:: C++
.. code-block:: c++
wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
.. code-block:: Python
.. code-block:: python
# Coming Soon!
```

24
docs/source/docs/simulation/simulation-java.md
View File

@@ -54,7 +54,7 @@ A `VisionSystemSim` represents the simulated world for one or more cameras, and
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// A vision system sim labelled as "main" in NetworkTables
VisionSystemSim visionSim = new VisionSystemSim("main");
@@ -67,7 +67,7 @@ Vision targets require a `TargetModel`, which describes the shape of the target.
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// A 0.5 x 0.25 meter rectangular target
TargetModel targetModel = new TargetModel(0.5, 0.25);
@@ -78,7 +78,7 @@ These `TargetModel` are paired with a target pose to create a `VisionTargetSim`.
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// The pose of where the target is on the field.
// Its rotation determines where "forward" or the target x-axis points.
@@ -100,7 +100,7 @@ For convenience, an `AprilTagFieldLayout` can also be added to automatically cre
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// The layout of AprilTags which we want to add to the vision system
AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile);
@@ -121,7 +121,7 @@ Before adding a simulated camera, we need to define its properties. This is done
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// The simulated camera properties
SimCameraProperties cameraProp = new SimCameraProperties();
@@ -132,7 +132,7 @@ By default, this will create a 960 x 720 resolution camera with a 90 degree diag
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// A 640 x 480 camera with a 100 degree diagonal FOV.
cameraProp.setCalibration(640, 480, Rotation2d.fromDegrees(100));
@@ -150,7 +150,7 @@ These properties are used in a `PhotonCameraSim`, which handles generating captu
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// The PhotonCamera used in the real robot code.
PhotonCamera camera = new PhotonCamera("cameraName");
@@ -164,7 +164,7 @@ The `PhotonCameraSim` can now be added to the `VisionSystemSim`. We have to defi
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Our camera is mounted 0.1 meters forward and 0.5 meters up from the robot pose,
// (Robot pose is considered the center of rotation at the floor level, or Z = 0)
@@ -186,7 +186,7 @@ If the camera is mounted on a mobile mechanism (like a turret) this transform ca
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// The turret the camera is mounted on is rotated 5 degrees
Rotation3d turretRotation = new Rotation3d(0, 0, Math.toRadians(5));
@@ -203,7 +203,7 @@ To update the `VisionSystemSim`, we simply have to pass in the simulated robot p
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Update with the simulated drivetrain pose. This should be called every loop in simulation.
visionSim.update(robotPoseMeters);
@@ -218,7 +218,7 @@ Each `VisionSystemSim` has its own built-in `Field2d` for displaying object pose
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Get the built-in Field2d used by this VisionSystemSim
visionSim.getDebugField();
@@ -233,7 +233,7 @@ A `PhotonCameraSim` can also draw and publish generated camera frames to a MJPEG
```{eval-rst}
.. tab-set-code::
.. code-block:: Java
.. code-block:: java
// Enable the raw and processed streams. These are enabled by default.
cameraSim.enableRawStream(true);