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Send corners of min area rectangles (#382)

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Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2022-01-10 20:31:36 -08:00
committed by GitHub
parent e6d8e05b91
commit 3ad476bc28
12 changed files with 215 additions and 99 deletions
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3
photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp
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@@ -86,7 +86,8 @@ void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
PhotonTrackedTarget newTgt = PhotonTrackedTarget(
yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans);
yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}});
visibleTgtList.push_back(newTgt);
}
}