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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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12
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -25,6 +25,8 @@
package org.photonvision;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose2d;
@@ -52,6 +54,8 @@ import org.photonvision.targeting.PhotonTrackedTarget;
* below. Example usage can be found in our apriltagExample example project.
*/
public class PhotonPoseEstimator {
private static int InstanceCount = 0;
/** Position estimation strategies that can be used by the {@link PhotonPoseEstimator} class. */
public enum PoseStrategy {
/** Choose the Pose with the lowest ambiguity. */
@@ -118,14 +122,14 @@ public class PhotonPoseEstimator {
this.primaryStrategy = strategy;
this.camera = camera;
this.robotToCamera = robotToCamera;
HAL.report(tResourceType.kResourceType_PhotonPoseEstimator, InstanceCount);
InstanceCount++;
}
public PhotonPoseEstimator(
AprilTagFieldLayout fieldTags, PoseStrategy strategy, Transform3d robotToCamera) {
this.fieldTags = fieldTags;
this.primaryStrategy = strategy;
this.camera = null;
this.robotToCamera = robotToCamera;
this(fieldTags, strategy, null, robotToCamera);
}
/** Invalidates the pose cache. */