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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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9
photonlib-cpp-examples/src/main/cpp/examples/simaimandrange/include/DrivetrainSim.h
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@@ -79,17 +79,16 @@ class DrivetrainSim {
// Configure these to match your PhotonVision Camera,
// pipeline, and LED setup.
units::degree_t camDiagFOV = 170.0_deg; // assume wide-angle camera
units::degree_t camPitch = 15_deg;
units::meter_t camHeightOffGround = 24_in;
units::meter_t maxLEDRange = 20_m;
int camResolutionWidth = 640; // pixels
int camResolutionHeight = 480; // pixels
double minTargetArea = 10; // square pixels
photonlib::SimVisionSystem simVision{
"photonvision", camDiagFOV, camPitch,
frc::Transform2d{}, camHeightOffGround, maxLEDRange,
camResolutionWidth, camResolutionHeight, minTargetArea};
photonlib::SimVisionSystem simVision{"photonvision", camDiagFOV,
frc::Transform2d{}, camHeightOffGround,
maxLEDRange, camResolutionWidth,
camResolutionHeight, minTargetArea};
// See
// https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf