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153 Commits

Author SHA1 Message Date
Gold856
c45c2a0a1f Refactor how AprilTag images are made in sim 2025-04-19 17:17:34 -07:00
Gold856
b86217a59a Use text blocks 2025-04-19 17:17:34 -07:00
Gold856
4ffd1fc600 Use nicer array syntax 2025-04-19 17:17:34 -07:00
Gold87
8d4024b8c8 Add alerts for timesync and disconnection (#1799) 2025-03-13 23:13:51 -07:00
Gold87
f6736fc730 Force load opencv before using OpenCV functions (#1808) 
Force loads OpenCV before any OpenCV functions are used. `OpenCVLoader`
has all of its loading done in a static initializer field, so it's only
loaded once.

Also deprecates `OpenCVHelp.forceLoadOpenCV()`, since it's functionality
is the exact same.

Resolves #1803
 2025-03-14 07:50:41 +08:00
Matt Morley
533f8c97fd Add constrained solvePNP strategy (#1682) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
 2025-02-19 14:15:27 +08:00
Joseph Eng
53144bfcf1 Clean up pnp distance trig solve (#1781) 2025-02-14 21:20:05 -08:00
Julius
01a3d31734 Add 6328's implementation of PNP distance for Trig Solving to PhotonPoseEstimator (#1767) 
https://discord.com/channels/725836368059826228/725846784131203222/1334309604946874460


https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2025-build-thread/477314/85

Helps with ambiguous single tag estimates and produces more stability.
 2025-02-13 11:45:18 -08:00
Jade
a546ff0819 Add version checking to C++ (#1774) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2025-02-12 23:23:11 -05:00
Matt Morley
8f816cf1af Verify WPILib/OpenCV versions at runtime (#1772) 2025-02-10 17:52:48 -08:00
Joseph Eng
99427d888a Fix fallback for the multitag on rio pose strategy (#1755) 2025-02-01 14:09:43 -08:00
Anon Ymous
a5d007e258 Change SimCameraProperties to enable chaining of setters (#1731) 2025-01-28 10:03:03 -08:00
Gold856
1303a0eaae Fix typos and incorrect param order in Javadoc (#1740) 2025-01-19 22:56:47 -05:00
Jochem
cc740c92c9 Added constructor overload to PhotonCameraSim for AprilTagFieldLayout (#1692) 2025-01-08 11:43:46 -07:00
Jade
7c254ec5dc Change from k2024Crescendo to kDefaultField for AprilTagFieldLayout (#1667) 
This reduces the things we need to update each year

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2025-01-03 22:03:00 +08:00
Nolan Brown
b7a2636e97 [photon-lib] Fix sim tag ambiguity (#1653) 2024-12-29 17:43:55 -05:00
Christopher Mahoney
08c62ab8cd Java 17 (#1440) 
![image](https://github.com/user-attachments/assets/d4e4226f-74b0-4ded-87b4-ac4bf2f1ac34)

JDK 11 References
https://github.com/search?q=org%3APhotonVision+jdk-11&type=code

JDK 17 References
https://github.com/search?q=org%3APhotonVision+jdk-17&type=code

TODO List (things we might need to update in other repos):
- []
ab5fa98d72/photonvision/src/modules/photonvision/start_chroot_script (L29)
- []
7f8d225445/stage2/01-sys-tweaks/00-packages (L34)
- []
ab5fa98d72/photonvision/src/modules/photonvision/install.sh (L11)
- []
a4e7ecb6e3/Makefile (L14)

Closes https://github.com/PhotonVision/photonvision/pull/1069

---------

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade <spacey-sooty@proton.me>
 2024-12-17 17:01:19 +00:00
James Ward
3a9d22c76b Handle remote UUID mismatch properly (#1590) 
Check for no response
Only throw if incorrect version, and not when missing

Resolves #1569
 2024-11-18 21:28:07 -05:00
Matt
faa9eb0093 Disable VisionSystemSimTest entirely (#1584) 
This test is still failing on main, see
https://github.com/PhotonVision/photonvision/actions/runs/11875827435/job/33093483193
 2024-11-18 01:55:00 -05:00
Matt
478723ca2c Skip Vision System Sim Tests on Windows (#1581) 2024-11-16 20:09:41 -08:00
Jade
5f3dc152c3 [photon-targeting] Remove dependency on wpilibc (#1544) 
Closes https://github.com/PhotonVision/photonvision/pull/1543/files

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2024-11-14 00:25:32 -05:00
Gold856
c7ed37789e [photon-targeting] Fix JNI loading (#1563) 2024-11-13 10:37:51 -05:00
Drew Williams
1fc93bd05d [photonli?b C++] Fix rotation3d constructor (#1553) 
Fixes #1552 -- mixed up rpy and a rotation vector 

After changes:


![image](https://github.com/user-attachments/assets/0f58c2be-fc00-494c-af76-408c1ec438f9)
 2024-11-11 11:06:00 -05:00
Matt
14f7155a23 [TSP] Move Bind() to Start (#1538) 
Fixes UB with static init. Turns out starting threads in static init doesn't work on windows.
 2024-11-09 17:35:38 -05:00
Matt
fc8ecac376 Create TSP Server in C++ photonlib (#1516) 
Automatically starts a TCP server in C++. Also adds warnings to Python.
 2024-11-01 23:32:38 -07:00
Jade
75e2498f53 Fix typos (#1508) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2024-11-01 23:51:16 -04:00
Matt
7a4ea3dd56 Assert that version checking won't throw on startup (#1512) 
# Overview

Previously if the coproc came up later, getProperty would return the
string literal "null", which made us print the BFW. Add tests to make
sure that we don't do that anymore by rebooting a sim coproc +
robot in a combination of different orders.
 2024-11-01 23:50:21 -04:00
Matt
37aaa49b32 Create timesync JNI for testing client (#1433) 2024-10-31 08:27:19 -07:00
Cameron (3539)
937bafa8e2 Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484) 
Remove C++ protobuf support until
https://github.com/wpilibsuite/allwpilib/issues/7250 is addressed.
Developers should upgrade to wpilib vscode 2025 beta 1.

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2024-10-31 02:59:39 -04:00
Matt
7da2ec1948 Fix PhotonCamera typestring checks (#1480) 
Previously NT would quietly drop readQueue changes.
 2024-10-20 22:21:24 -07:00
Matt
f33218c49c Add message UUID and type names to hash and message defintion (#1409) 2024-09-22 22:27:13 -04:00
Cameron (3539)
546058593e Roll Back to 2024.3.2 (#1423) 
Roll back to 2024.3.2 to get some good testing on actual robots.
 2024-09-15 20:01:11 -04:00
Chris Gerth
9e6a066561 Examples Clean-Up (#1408) 2024-09-15 00:10:02 -04:00
Matt
169595e56e Auto-generate packet dataclasses with Jinja (#1374) 2024-08-31 13:44:19 -04:00
Matt
67463a020a Use ReadQueue for PhotonCamera timestamps (#1316) 
This removes the extra GetLastChange call to keep everything properly
atomic.

Closes #1303
 2024-08-04 14:23:46 -04:00
Matt
974a926e75 Run wpiformat (#1379) 2024-08-02 11:57:34 -04:00
Jade
e34b114669 Change default AprilTag family to 36h11 (#1333) 
Change default AprilTag family to 36h11

Resolves https://github.com/PhotonVision/photonvision/issues/1226
 2024-05-30 20:30:40 -04:00
Matt
19b4802094 Allow opencv8 distortion model in PhotonCamera (#1317) 
We previously assumed only OpenCV5 but mrcal uses opencv8
 2024-05-29 17:28:35 -04:00
Matt
98633e9150 Bump wpilib to latest dev (#1327) 2024-05-26 14:02:07 -05:00
Matt
ed08e2a78f Move PhotonVersion to C++ file (#949) 
This was supposed to speed up incremental compilation, but not sure it actually does. It's better form tm tho and fixes a robotpy-wrapper weirdness
 2024-05-24 23:22:31 -04:00
Drew Williams
74a051d721 [PhotonLib C++] Fix SetVersionCheckEnabled to actually disable version checking (#1323) 
* change verifyversion to use member variable

* Revert "change verifyversion to use member variable"

This reverts commit 4439839c8f.

* Removed inline specifier for versioncheck variable

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
 2024-05-19 20:36:44 -04:00
Matt
713fad6f6b Allow file uploads of any size and better report active cameras in PhotonCamera error print (#1298) 
Previously reported itself which was confusing. New print:

```
Error at org.photonvision.PhotonCamera.verifyVersion(PhotonCamera.java:378): Found the following PhotonVision cameras active on NetworkTables:
 ==> HD_Pro_Webcam_C920
 ==> Arducam_OV9281_USB_Camera
```
 2024-05-10 14:58:18 -04:00
Matt
1708376df8 Expose object detection class id/conf in photonlib (#1266) 
* Implement class id/conf in photonlib

* Maybe fix things

* run lint

* Update Packet.java comments

* Update Packet.java comments again

* Update comments

* oops

* Update packet.py

---------

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
 2024-05-10 14:52:16 -04:00
Matt
113951100e Add sequence ID, capture, publish and recieve timestamp to PhotonPipelineResult (#1305) 
Closes #1304
 2024-05-10 14:04:34 -04:00
Drew Williams
6535710fc4 Change sim to use 36h11 tags when doing multitag (#1314) 2024-04-29 16:19:03 -04:00
Matt
c9a696225d Kill deprecated things (#1311) 2024-04-27 11:32:36 -05:00
Matt
c89acea5a6 Run updated wpiformat (#1291) 2024-03-18 20:54:06 -04:00
amquake
39216db143 [photonlib] Invert simulated target yaw (#1243) 2024-02-18 20:59:54 -05:00
Tim Winters
0eb0a4e3c5 Store the last pose on update (#1207) 
* Store the last pose on update

* Don't clear lastPose if pose isn't calculated

---------

Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
 2024-02-05 09:50:36 -05:00
Drew Williams
a3e1dda3aa Fixed cpp sim apriltag layout and cleaned up cpp sim example (#1190) 
* Fixed cpp sim apriltag layout and cleaned up cpp sim example

* changed layout for photoncamerasim

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
 2024-01-22 15:38:25 -05:00