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Upgrade to wpilib alpha-6 (#2434)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Sam Freund
2026-05-26 21:47:48 -04:00
committed by GitHub
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
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6
photon-lib/py/photonlibpy/estimation/openCVHelp.py
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@@ -4,7 +4,7 @@ from typing import Any
import cv2 as cv
import numpy as np
from wpimath.geometry import Rotation3d, Transform3d, Translation3d
from wpimath import Rotation3d, Transform3d, Translation3d
from ..targeting import PnpResult, TargetCorner
from .rotTrlTransform3d import RotTrlTransform3d
@@ -26,7 +26,7 @@ class OpenCVHelp:
@staticmethod
def rotationNWUtoEDN(rot: Rotation3d) -> Rotation3d:
return -NWU_TO_EDN + (rot + NWU_TO_EDN)
return NWU_TO_EDN.inverse().rotateBy(rot.rotateBy(NWU_TO_EDN))
@staticmethod
def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
@@ -147,7 +147,7 @@ class OpenCVHelp:
in NWU, this would be {0, 0, 1} in EDN.
"""
return -EDN_TO_NWU + (rot + EDN_TO_NWU)
return EDN_TO_NWU.inverse().rotateBy(rot.rotateBy(EDN_TO_NWU))
@staticmethod
def tVecToTranslation(tvecInput: np.ndarray) -> Translation3d: