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Warn when getBestCameraToTarget returns 0, 0, 0 (#1334)

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Resolves https://github.com/PhotonVision/photonvision/issues/915
This commit is contained in:
Jade
2024-06-02 01:28:00 +08:00
committed by GitHub
parent e34b114669
commit 6ff7b3e143
2 changed files with 11 additions and 1 deletions
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8
photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
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@@ -22,6 +22,7 @@
#include <utility>
#include <vector>
#include <frc/Errors.h>
#include <frc/geometry/Transform3d.h>
#include <wpi/SmallVector.h>
@@ -138,7 +139,12 @@ class PhotonTrackedTarget {
* reprojection error is the ambiguity, which is between 0 and 1.
* @return The pose of the target relative to the robot.
*/
frc::Transform3d GetBestCameraToTarget() const { return bestCameraToTarget; }
frc::Transform3d GetBestCameraToTarget() const {
if (bestCameraToTarget == frc::Transform3d()) {
FRC_ReportError(frc::warn::Warning, "3d mode is not enabled");
}
return bestCameraToTarget;
}
/**
* Get the transform that maps camera space (X = forward, Y = left, Z = up) to