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Run multitag on coprocessor (#816)

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This commit is contained in:
Matt
2023-10-17 10:20:00 -04:00
committed by GitHub
parent ededc4f130
commit 47bd077bbb
72 changed files with 1708 additions and 1801 deletions
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2
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
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@@ -50,9 +50,9 @@ import org.photonvision.PhotonTargetSortMode;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.networktables.NTTopicSet;
import org.photonvision.estimation.OpenCVHelp;
import org.photonvision.estimation.PNPResults;
import org.photonvision.estimation.RotTrlTransform3d;
import org.photonvision.estimation.TargetModel;
import org.photonvision.targeting.PNPResults;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;

4
photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
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@@ -35,6 +35,7 @@ import org.photonvision.PhotonCamera;
import org.photonvision.PhotonTargetSortMode;
import org.photonvision.common.dataflow.structures.Packet;
import org.photonvision.common.networktables.NTTopicSet;
import org.photonvision.targeting.MultiTargetPNPResults;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
@@ -140,7 +141,8 @@ public class SimPhotonCamera {
targetList.sort(sortMode.getComparator());
}
PhotonPipelineResult newResult = new PhotonPipelineResult(latencyMillis, targetList);
PhotonPipelineResult newResult =
new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResults());
var newPacket = new Packet(newResult.getPacketSize());
newResult.populatePacket(newPacket);
ts.rawBytesEntry.set(newPacket.getData());