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Bump wpilib to 2024-beta-4 and report resource photon usage ids from 2024v2 image (#1042)

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This commit is contained in:
Sriman Achanta
2023-12-16 13:14:52 -05:00
committed by GitHub
parent 3de878c510
commit 2e39549771
11 changed files with 96 additions and 73 deletions
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10
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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@@ -24,6 +24,8 @@
package org.photonvision;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -52,6 +54,7 @@ import org.photonvision.targeting.PhotonPipelineResult;
/** Represents a camera that is connected to PhotonVision. */
public class PhotonCamera implements AutoCloseable {
private static int InstanceCount = 0;
public static final String kTableName = "photonvision";
private final NetworkTable cameraTable;
@@ -152,6 +155,9 @@ public class PhotonCamera implements AutoCloseable {
MultiSubscriber m_topicNameSubscriber =
new MultiSubscriber(
instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
HAL.report(tResourceType.kResourceType_PhotonCamera, InstanceCount);
InstanceCount++;
}
/**
@@ -321,14 +327,14 @@ public class PhotonCamera implements AutoCloseable {
public Optional<Matrix<N3, N3>> getCameraMatrix() {
var cameraMatrix = cameraIntrinsicsSubscriber.get();
if (cameraMatrix != null && cameraMatrix.length == 9) {
return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix));
return Optional.of(MatBuilder.fill(Nat.N3(), Nat.N3(), cameraMatrix));
} else return Optional.empty();
}
public Optional<Matrix<N5, N1>> getDistCoeffs() {
var distCoeffs = cameraDistortionSubscriber.get();
if (distCoeffs != null && distCoeffs.length == 5) {
return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs));
return Optional.of(MatBuilder.fill(Nat.N5(), Nat.N1(), distCoeffs));
} else return Optional.empty();
}