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Expose both pose solutions (#521)

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* Half-add second pose

* add c++

* run wpiformat

* Fix c++
This commit is contained in:
Matt
2022-10-22 07:42:45 -04:00
committed by GitHub
parent 27198a3e32
commit 2d7a88e231
14 changed files with 142 additions and 63 deletions
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4
photon-server/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
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@@ -69,7 +69,7 @@ public class AprilTagTest {
TestUtils.showImage(pipelineResult.inputFrame.image.getMat(), "Pipeline output", 999999);
// these numbers are not *accurate*, but they are known and expected
var pose = pipelineResult.targets.get(0).getCameraToTarget3d();
var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
Assertions.assertEquals(2, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getY(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getY(), 0.2);
@@ -97,7 +97,7 @@ public class AprilTagTest {
System.out.println(
"Found targets at "
+ pipelineResult.targets.stream()
.map(TrackedTarget::getCameraToTarget3d)
.map(TrackedTarget::getBestCameraToTarget3d)
.collect(Collectors.toList()));
}
}