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Initial AprilTag support (#458)

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(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver.

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Chris <chrisgerth010592@gmail.com>
Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
This commit is contained in:
shueja-personal
2022-09-28 18:21:41 -07:00
committed by GitHub
parent a3bcd3ac4f
commit a764ace7f2
114 changed files with 21488 additions and 10851 deletions
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2
photon-lib/src/main/java/org/photonvision/SimPhotonCamera.java
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@@ -146,7 +146,7 @@ public class SimPhotonCamera extends PhotonCamera {
var transform = bestTarget.getCameraToTarget();
double[] poseData = {
transform.getX(), transform.getY(), transform.getRotation().getDegrees()
transform.getX(), transform.getY(), transform.getRotation().toRotation2d().getDegrees()
};
targetPoseEntry.setDoubleArray(poseData);
}

4
photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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@@ -26,6 +26,7 @@ package org.photonvision;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.util.Units;
import java.util.ArrayList;
import java.util.List;
@@ -168,7 +169,8 @@ public class SimVisionSystem {
pitchDegrees,
area,
0.0,
camToTargetTrans,
-1, // TODO fiducial ID
new Transform3d(),
List.of(
new TargetCorner(0, 0), new TargetCorner(0, 0),
new TargetCorner(0, 0), new TargetCorner(0, 0))));