Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-23 01:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to match new WPILib organization

Browse Source
This commit is contained in:
Gold856
2025-12-29 16:16:56 -05:00
committed by samfreund
parent c34c854583
commit 934eed21d2
264 changed files with 3440 additions and 3299 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
docs/source/docs/apriltag-pipelines/multitag.md
View File

@@ -46,7 +46,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
{
auto multiTagResult = result.MultiTagResult();
if (multiTagResult.has_value()) {
frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
}
}

2
docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md
View File

@@ -60,7 +60,7 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
.. code-block:: c++
// Get the pipeline latency.
units::second_t latency = result.GetLatency();
wpi::units::second_t latency = result.GetLatency();
.. code-block:: python

10
docs/source/docs/programming/photonlib/getting-target-data.md
View File

@@ -107,7 +107,7 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
.. code-block:: c++
// Get a list of currently tracked targets.
wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
std::span<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
.. code-block:: python
@@ -166,8 +166,8 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
double pitch = target.GetPitch();
double area = target.GetArea();
double skew = target.GetSkew();
frc::Transform2d pose = target.GetCameraToTarget();
wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
wpi::math::Transform2d pose = target.GetCameraToTarget();
wpi::util::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
.. code-block:: python
@@ -206,8 +206,8 @@ All of the data above (**except skew**) is available when using AprilTags.
// Get information from target.
int targetID = target.GetFiducialId();
double poseAmbiguity = target.GetPoseAmbiguity();
frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
wpi::math::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
wpi::math::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
.. code-block:: python

8
docs/source/docs/programming/photonlib/using-target-data.md
View File

@@ -38,8 +38,8 @@ You can get your robot's `Pose2D` on the field using various camera data, target
.. code-block:: c++
// Calculate robot's field relative pose
frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
wpi::math::Pose2d robotPose = photonlib::EstimateFieldToRobot(
kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())), wpi::math::Rotation2d(wpi::units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
.. code-block:: python
@@ -106,8 +106,8 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
.. code-block:: c++
// Calculate a translation from the camera to the target.
frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
wpi::math::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
distance, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())));
.. code-block:: python

2
docs/source/docs/quick-start/networking.md
View File

@@ -81,7 +81,7 @@ If you would like to access your Ethernet-connected vision device from a compute
.. code-block:: c++
wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
wpi::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
.. code-block:: python