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Fixed cpp sim apriltag layout and cleaned up cpp sim example (#1190)

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* Fixed cpp sim apriltag layout and cleaned up cpp sim example

* changed layout for photoncamerasim

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
This commit is contained in:
Drew Williams
2024-01-22 15:38:25 -05:00
committed by GitHub
parent 939283df0e
commit a3e1dda3aa
3 changed files with 34 additions and 36 deletions
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8
photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h
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@@ -61,7 +61,7 @@ class Vision {
cameraSim = std::make_shared<photon::PhotonCameraSim>(camera.get(),
*cameraProp.get());
visionSim->AddCamera(cameraSim.get(), robotToCam);
visionSim->AddCamera(cameraSim.get(), constants::Vision::kRobotToCam);
cameraSim->EnableDrawWireframe(true);
}
}
@@ -138,12 +138,10 @@ class Vision {
frc::Field2d& GetSimDebugField() { return visionSim->GetDebugField(); }
private:
frc::Transform3d robotToCam{frc::Translation3d{0.5_m, 0.5_m, 0.5_m},
frc::Rotation3d{}};
photon::PhotonPoseEstimator photonEstimator{
LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
constants::Vision::kTagLayout,
photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR,
photon::PhotonCamera{"photonvision"}, robotToCam};
photon::PhotonCamera{"photonvision"}, constants::Vision::kRobotToCam};
std::shared_ptr<photon::PhotonCamera> camera{photonEstimator.GetCamera()};
std::unique_ptr<photon::VisionSystemSim> visionSim;
std::unique_ptr<photon::SimCameraProperties> cameraProp;