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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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5
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -29,7 +29,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.hal.JNIWrapper;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Transform3d;
@@ -157,8 +156,6 @@ class PhotonPoseEstimatorTest {
@Test
void testClosestToCameraHeightStrategy() {
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
@@ -474,8 +471,6 @@ class PhotonPoseEstimatorTest {
@Test
void averageBestPoses() {
ArrayList<Pair<PhotonCamera, Transform3d>> cameras = new ArrayList<>();
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(