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Fix calibration NT table in PhotonCamera (#805)

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* Fix wrong table in calibration subscriber

* Update example to load 2023 layout

* Update PhotonCamera.java
This commit is contained in:
Matt
2023-02-14 13:49:28 -05:00
committed by GitHub
parent bf4a4db874
commit abe32a1aae
2 changed files with 33 additions and 50 deletions
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44
photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java
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@@ -24,14 +24,11 @@
package frc.robot;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import frc.robot.Constants.FieldConstants;
import frc.robot.Constants.VisionConstants;
import java.util.ArrayList;
import java.io.IOException;
import java.util.Optional;
import org.photonvision.EstimatedRobotPose;
import org.photonvision.PhotonCamera;
@@ -43,38 +40,21 @@ public class PhotonCameraWrapper {
public PhotonPoseEstimator photonPoseEstimator;
public PhotonCameraWrapper() {
// Set up a test arena of two apriltags at the center of each driver station set
final AprilTag tag18 =
new AprilTag(
18,
new Pose3d(
new Pose2d(
FieldConstants.length,
FieldConstants.width / 2.0,
Rotation2d.fromDegrees(180))));
final AprilTag tag01 =
new AprilTag(
01,
new Pose3d(new Pose2d(0.0, FieldConstants.width / 2.0, Rotation2d.fromDegrees(0.0))));
ArrayList<AprilTag> atList = new ArrayList<AprilTag>();
atList.add(tag18);
atList.add(tag01);
AprilTagFieldLayout atfl = null;
try {
atfl = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
} catch (IOException e) {
e.printStackTrace();
}
// TODO - once 2023 happens, replace this with just loading the 2023 field arrangement
AprilTagFieldLayout atfl =
new AprilTagFieldLayout(atList, FieldConstants.length, FieldConstants.width);
// Forward Camera
photonCamera =
new PhotonCamera(
VisionConstants
.cameraName); // Change the name of your camera here to whatever it is in the
// PhotonVision UI.
// Change the name of your camera here to whatever it is in the PhotonVision UI.
photonCamera = new PhotonCamera(VisionConstants.cameraName);
// Create pose estimator
photonPoseEstimator =
new PhotonPoseEstimator(
atfl, PoseStrategy.CLOSEST_TO_REFERENCE_POSE, photonCamera, VisionConstants.robotToCam);
atfl, PoseStrategy.MULTI_TAG_PNP, photonCamera, VisionConstants.robotToCam);
photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
}
/**