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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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126
photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
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@@ -25,6 +25,7 @@
package org.photonvision.simulation;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
@@ -146,8 +147,8 @@ public class SimCameraProperties {
setCalibration(
jsonWidth,
jsonHeight,
Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics),
Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion));
MatBuilder.fill(Nat.N3(), Nat.N3(), jsonIntrinsics),
MatBuilder.fill(Nat.N5(), Nat.N1(), jsonDistortion));
setCalibError(jsonAvgError, jsonErrorStdDev);
success = true;
}
@@ -184,7 +185,7 @@ public class SimCameraProperties {
double fy = cy / Math.tan(fovHeight.getRadians() / 2.0);
// create camera intrinsics matrix
var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill(fx, 0, cx, 0, fy, cy, 0, 0, 1);
var camIntrinsics = MatBuilder.fill(Nat.N3(), Nat.N3(), fx, 0, cx, 0, fy, cy, 0, 0, 1);
setCalibration(resWidth, resHeight, camIntrinsics, distCoeff);
}
@@ -597,17 +598,19 @@ public class SimCameraProperties {
prop.setCalibration(
320,
240,
Matrix.mat(Nat.N3(), Nat.N3())
.fill( // intrinsic
328.2733242048587,
0.0,
164.8190261141906,
0.0,
318.0609794305216,
123.8633838438093,
0.0,
0.0,
1.0),
MatBuilder.fill(
Nat.N3(),
Nat.N3(),
// intrinsic
328.2733242048587,
0.0,
164.8190261141906,
0.0,
318.0609794305216,
123.8633838438093,
0.0,
0.0,
1.0),
VecBuilder.fill( // distort
0.09957946553445934,
-0.9166265114485799,
@@ -626,17 +629,19 @@ public class SimCameraProperties {
prop.setCalibration(
640,
480,
Matrix.mat(Nat.N3(), Nat.N3())
.fill( // intrinsic
669.1428078983059,
0.0,
322.53377249329213,
0.0,
646.9843137061716,
241.26567383784163,
0.0,
0.0,
1.0),
MatBuilder.fill(
Nat.N3(),
Nat.N3(),
// intrinsic
669.1428078983059,
0.0,
322.53377249329213,
0.0,
646.9843137061716,
241.26567383784163,
0.0,
0.0,
1.0),
VecBuilder.fill( // distort
0.12788470750464645,
-1.2350335805796528,
@@ -655,17 +660,18 @@ public class SimCameraProperties {
prop.setCalibration(
640,
480,
Matrix.mat(Nat.N3(), Nat.N3())
.fill( // intrinsic
511.22843367007755,
0.0,
323.62049380211096,
0.0,
514.5452336723849,
261.8827920543568,
0.0,
0.0,
1.0),
MatBuilder.fill(
Nat.N3(),
Nat.N3(), // intrinsic
511.22843367007755,
0.0,
323.62049380211096,
0.0,
514.5452336723849,
261.8827920543568,
0.0,
0.0,
1.0),
VecBuilder.fill( // distort
0.1917469998873756,
-0.5142936883324216,
@@ -684,17 +690,19 @@ public class SimCameraProperties {
prop.setCalibration(
960,
720,
Matrix.mat(Nat.N3(), Nat.N3())
.fill( // intrinsic
769.6873145148892,
0.0,
486.1096609458122,
0.0,
773.8164483705323,
384.66071662358354,
0.0,
0.0,
1.0),
MatBuilder.fill(
Nat.N3(),
Nat.N3(),
// intrinsic
769.6873145148892,
0.0,
486.1096609458122,
0.0,
773.8164483705323,
384.66071662358354,
0.0,
0.0,
1.0),
VecBuilder.fill( // distort
0.189462064814501,
-0.49903003669627627,
@@ -713,17 +721,19 @@ public class SimCameraProperties {
prop.setCalibration(
1280,
720,
Matrix.mat(Nat.N3(), Nat.N3())
.fill( // intrinsic
1011.3749416937393,
0.0,
645.4955139388737,
0.0,
1008.5391755084075,
508.32877656020196,
0.0,
0.0,
1.0),
MatBuilder.fill(
Nat.N3(),
Nat.N3(),
// intrinsic
1011.3749416937393,
0.0,
645.4955139388737,
0.0,
1008.5391755084075,
508.32877656020196,
0.0,
0.0,
1.0),
VecBuilder.fill( // distort
0.13730101577061535,
-0.2904345656989261,