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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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12
photon-lib/src/test/native/cpp/PacketTest.cpp
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@@ -36,7 +36,9 @@ TEST(PacketTest, PhotonTrackedTarget) {
4.0,
9.0,
-5.0,
frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad),
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
photonlib::Packet p;
@@ -68,14 +70,18 @@ TEST(PacketTest, PhotonPipelineResult) {
-4.0,
9.0,
4.0,
frc::Transform2d(frc::Translation2d(1_m, 2_m), 1.5_rad),
1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
photonlib::PhotonTrackedTarget{
3.0,
-4.0,
9.1,
6.7,
frc::Transform2d(frc::Translation2d(1_m, 5_m), 1.5_rad),
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};