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Fix PhotonCamera typestring checks (#1480)

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Previously NT would quietly drop readQueue changes.
This commit is contained in:
Matt
2024-10-20 22:21:24 -07:00
committed by GitHub
parent 7224561b76
commit 7da2ec1948
7 changed files with 50 additions and 19 deletions
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10
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
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@@ -353,8 +353,7 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
ts.targetPitchEntry.Set(0.0, ReceiveTimestamp);
ts.targetYawEntry.Set(0.0, ReceiveTimestamp);
ts.targetAreaEntry.Set(0.0, ReceiveTimestamp);
std::array<double, 3> poseData{0.0, 0.0, 0.0};
ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
ts.targetPoseEntry.Set(frc::Transform3d{}, ReceiveTimestamp);
ts.targetSkewEntry.Set(0.0, ReceiveTimestamp);
} else {
PhotonTrackedTarget bestTarget = result.GetBestTarget();
@@ -364,11 +363,8 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
ts.targetAreaEntry.Set(bestTarget.GetArea(), ReceiveTimestamp);
ts.targetSkewEntry.Set(bestTarget.GetSkew(), ReceiveTimestamp);
frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
std::array<double, 4> poseData{
transform.X().to<double>(), transform.Y().to<double>(),
transform.Rotation().ToRotation2d().Degrees().to<double>()};
ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
ts.targetPoseEntry.Set(bestTarget.GetBestCameraToTarget(),
ReceiveTimestamp);
}
Eigen::Matrix<double, 3, 3, Eigen::RowMajor> intrinsics =