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Un-finalize robotToCamera, add getters and setters (#789)

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Allows teams with a mechanism that moves the camera's position (eg, a pan and tilt mechanism) to update the location of their camera for their pose calculations.

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Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Mihir Patankar
2023-02-06 09:51:35 -05:00
committed by GitHub
parent 8ae7977477
commit 241961ae7a
2 changed files with 34 additions and 1 deletions
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17
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -67,7 +67,7 @@ public class PhotonPoseEstimator {
private AprilTagFieldLayout fieldTags;
private PoseStrategy strategy;
private final PhotonCamera camera;
private final Transform3d robotToCamera;
private Transform3d robotToCamera;
private Pose3d lastPose;
private Pose3d referencePose;
@@ -183,6 +183,21 @@ public class PhotonPoseEstimator {
setLastPose(new Pose3d(lastPose));
}
/** @return The current transform from the center of the robot to the camera mount position */
public Transform3d getRobotToCameraTransform() {
return robotToCamera;
}
/**
* Useful for pan and tilt mechanisms and such.
*
* @param robotToCamera The current transform from the center of the robot to the camera mount
* position
*/
public void setRobotToCameraTransform(Transform3d robotToCamera) {
this.robotToCamera = robotToCamera;
}
/**
* Poll data from the configured cameras and update the estimated position of the robot. Returns
* empty if there are no cameras set or no targets were found from the cameras.