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Multi-tag pnp in robot code (#787)

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Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>
This commit is contained in:
Matt
2023-02-13 17:57:01 -05:00
committed by GitHub
parent a2dfe48679
commit 5b86360b9b
33 changed files with 1785 additions and 63 deletions
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26
photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
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@@ -24,6 +24,10 @@
package org.photonvision;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N5;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.Arrays;
import java.util.List;
@@ -52,6 +56,28 @@ public class SimPhotonCamera {
ts.updateEntries();
}
/**
* Publishes the camera intrinsics matrix. The matrix should be in the form: spotless:off
* fx 0 cx
* 0 fy cy
* 0 0 1
* @param cameraMatrix The cam matrix
* spotless:on
*/
public void setCameraIntrinsicsMat(Matrix<N3, N3> cameraMatrix) {
ts.cameraIntrinsicsPublisher.set(cameraMatrix.getData());
}
/**
* Publishes the camera distortion matrix. The matrix should be in the form [k1 k2 p1 p2 k3]. See
* more: https://docs.opencv.org/3.4/d4/d94/tutorial_camera_calibration.html
*
* @param distortionMat The distortion mat
*/
public void setCameraDistortionMat(Matrix<N5, N1> distortionMat) {
ts.cameraDistortionPublisher.set(distortionMat.getData());
}
/**
* Constructs a Simulated PhotonCamera from the name of the camera.
*