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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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9
photon-lib/src/main/native/include/photonlib/PhotonPipelineResult.h
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@@ -31,6 +31,7 @@
#include <units/time.h>
#include <wpi/SmallVector.h>
#include "photonlib/MultiTargetPNPResult.h"
#include "photonlib/Packet.h"
#include "photonlib/PhotonTrackedTarget.h"
@@ -87,6 +88,13 @@ class PhotonPipelineResult {
*/
units::second_t GetTimestamp() const { return timestamp; }
/**
* Return the latest mulit-target result, as calculated on your coprocessor.
* Be sure to check getMultiTagResult().estimatedPose.isValid before using the
* pose estimate!
*/
const MultiTargetPnpResult& MultiTagResult() const { return m_pnpResults; }
/**
* Sets the timestamp in seconds
* @param timestamp The timestamp in seconds
@@ -119,6 +127,7 @@ class PhotonPipelineResult {
units::second_t latency = 0_s;
units::second_t timestamp = -1_s;
wpi::SmallVector<PhotonTrackedTarget, 10> targets;
MultiTargetPnpResult m_pnpResults;
inline static bool HAS_WARNED = false;
};
} // namespace photonlib