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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)

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* Make MultiTagPNPResult and PNPResult singular

* add java tests

* Formatting fixes

* bring in the rest of the little stuff

* final things

* Formatting fixes

* add multisubscriber back

* Formatting fixes

* make comments better about x and y relationship
This commit is contained in:
Sriman Achanta
2023-11-15 18:28:26 -05:00
committed by GitHub
parent 524b135142
commit 308fd801d4
31 changed files with 833 additions and 191 deletions
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6
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -443,15 +443,15 @@ public class PhotonPoseEstimator {
return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
}
var pnpResults =
var pnpResult =
VisionEstimation.estimateCamPosePNP(
cameraMatrixOpt.get(), distCoeffsOpt.get(), result.getTargets(), fieldTags, tagModel);
// try fallback strategy if solvePNP fails for some reason
if (!pnpResults.isPresent)
if (!pnpResult.isPresent)
return update(result, cameraMatrixOpt, distCoeffsOpt, this.multiTagFallbackStrategy);
var best =
new Pose3d()
.plus(pnpResults.best) // field-to-camera
.plus(pnpResult.best) // field-to-camera
.plus(robotToCamera.inverse()); // field-to-robot
return Optional.of(