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Change from k2024Crescendo to kDefaultField for AprilTagFieldLayout (#1667)

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This reduces the things we need to update each year

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Jade
2025-01-03 22:03:00 +08:00
committed by GitHub
parent 09a741f540
commit 7c254ec5dc
8 changed files with 10 additions and 10 deletions
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6
docs/source/docs/programming/photonlib/robot-pose-estimator.md
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@@ -17,12 +17,12 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all
.. code-block:: Java
// The field from AprilTagFields will be different depending on the game.
AprilTagFieldLayout aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
AprilTagFieldLayout aprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
.. code-block:: C++
// The parameter for LoadAPrilTagLayoutField will be different depending on the game.
frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo);
frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::kDefaultField);
.. code-block:: Python
@@ -91,7 +91,7 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s
self.cam = PhotonCamera("YOUR CAMERA NAME")
self.camPoseEst = PhotonPoseEstimator(
loadAprilTagLayoutField(AprilTagField.k2024Crescendo),
loadAprilTagLayoutField(AprilTagField.kDefaultField),
PoseStrategy.CLOSEST_TO_REFERENCE_POSE,
self.cam,
kRobotToCam

2
docs/source/docs/simulation/simulation-java.md
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@@ -103,7 +103,7 @@ For convenience, an `AprilTagFieldLayout` can also be added to automatically cre
.. code-block:: Java
// The layout of AprilTags which we want to add to the vision system
AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile);
AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile);
visionSim.addAprilTags(tagLayout);
```

2
photon-lib/py/photonlibpy/simulation/photonCameraSim.py
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@@ -64,7 +64,7 @@ class PhotonCameraSim:
self.videoSimProcEnabled: bool = False
self.heartbeatCounter: int = 0
self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo)
self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.kDefaultField)
self.cam = camera
self.prop = props

2
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
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@@ -108,7 +108,7 @@ class PhotonCameraSim {
double minTargetAreaPercent;
frc::AprilTagFieldLayout tagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
cs::CvSource videoSimRaw;
cv::Mat videoSimFrameRaw{};

2
photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
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@@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};

2
photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
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@@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};

2
photonlib-cpp-examples/poseest/src/main/include/Constants.h
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@@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};
inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};

2
photonlib-python-examples/poseest/robot.py
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@@ -43,7 +43,7 @@ class MyRobot(wpilib.TimedRobot):
self.swerve = drivetrain.Drivetrain()
self.cam = PhotonCamera("YOUR CAMERA NAME")
self.camPoseEst = PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo),
AprilTagFieldLayout.loadField(AprilTagField.kDefaultField),
PoseStrategy.LOWEST_AMBIGUITY,
self.cam,
kRobotToCam,