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41 Commits

Author SHA1 Message Date
Matt
47bd077bbb Run multitag on coprocessor (#816) 2023-10-17 10:20:00 -04:00
Matt
9991f8670c Bump wpilib versions to 2024 beta 1 (#947) 2023-10-15 12:17:40 -04:00
Mohammad Durrani
9e371de1cb Remove casts to double in SetLEDMode and set pipeline (#906) 
* Remove casts to double

* Run wpiformat
 2023-09-16 10:17:28 -04:00
Matt
6e8e379b71 [photon-lib] Fix camera/distortion matrix mixup in C++ (#909) 2023-09-12 06:56:38 -04:00
Matt
f6756bdb9a Don't add bad corners to multi-tag solution (#817) 
Closes #837


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Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
 2023-06-18 01:16:10 -04:00
Sriman Achanta
a723d3dc5c [PhotonPoseEstimator] Check for CalibData before adding Tags when using SolvePNP method (#826) 
Closes #825 by re-organizing multi-tag strategy order. Should be NFC


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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-06-18 00:00:30 -04:00
Sriman Achanta
c148331b69 Bump License year to 2023 (#841) 
* Bump version

* remove year entirely
 2023-04-18 18:49:40 -04:00
Murad
2d586fe1c0 Add PhotonPoseEstimator constructor without a PhotonCamera instance (#840) 
- Made alternate constructor for ```PhotonPoseEstimator``` that doesn't need ```PhotonCamera```
- Changed ```update``` function to take in missing cameraMatrixData and coeffsData that were previously received from PhotonCamera.
- Changed the internal ```update``` and ```multiTagPNP``` function to take in cameraMatrixData & coeffsData
- If not needed for the specified strategy then the parameters are simply not used. Also if PhotonCamera is used in constructor it instead backs up to that.

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-04-18 13:50:23 -04:00
David Vo
14224574cf Add missing PhotonCamera::GetCameraName impl (#844) 2023-04-17 11:27:40 -04:00
Joseph Eng
545e016d04 Cache pose calculations in PhotonPoseEstimator (#788) 
* Add pose caching to Java

* Refactor strategy fallthrough

* Hopefully add pose caching to C++

* Make Java switch same order as enum and C++ switch

* C++ absolute value in timestamp check

* Fix Java NPE

* Use `units::second_t` in timestamp

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

* Expand Java unit test

* Copy comments into C++

* Add tests to C++

* Run format

* Update PhotonCamera.cpp

* Probably fix bad access exception

* a

* init timestamp

* Remove prints

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Joseph Eng <joseng2358@gmail.com>
 2023-02-13 21:22:22 -05:00
Matt
5b86360b9b Multi-tag pnp in robot code (#787) 
---------

Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>
 2023-02-13 17:57:01 -05:00
David Vo
3edc8750ec PhotonPoseEstimator: Stop manually iterating targets (#796) 2023-02-11 07:44:22 -05:00
PJ Reiniger
0255798d6c Add ability query camera results outside of PhotonPoseEstimator (#786) 2023-02-09 14:43:52 -05:00
Matt
6886663688 Robustify setting pipeline index (#790) 2023-02-08 21:07:12 -05:00
Matt
f6e3c9b3ee Fix desync between web UI and NT (#778) 
Actually calls VisionModule::setPipeline when changing pipelines (needed to change video modes)
 2023-01-29 23:30:34 -05:00
Matt
37a7d378fd Fix publish type in photoncamera (#760) 2023-01-22 10:56:41 -05:00
Andrew Gasser
357d8a518a Return named type from PhotonPoseEstimator (#734) 
Adds PhotonPoseEstimator class, and deprecates RobotPoseEstimator
 2023-01-14 10:06:15 -05:00
Matt
967be84b4b Expose detected tag corners (#702) 
Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
 2023-01-06 22:20:27 -05:00
Matt
087429dab9 [Workaround] Publish rawBytes as periodic (#707) 
Closes #704 -- addressed by upstream PR https://github.com/wpilibsuite/allwpilib/pull/4903 (not released yet)
 2023-01-06 17:53:19 -05:00
Nick Hadley
0f427bb52b Update PhotonCamera error messages to be more specific (#697) 
Closes #692
 2023-01-05 19:28:32 -05:00
Nick Hadley
0b5256df12 RobotPoseEstimator Enhancements (#677) 
* Use List for RobotPoseEstimator constructor

* Update `RobotPoseEstimator` constructor to accept wpilib `AprilTagFieldLayout` java

* Initial cpp changes

* Java return optional from update

* Fix java test

* Clean up strategy switch

* small lint

* Actually link to vision_shared

* Fix auto optimized imports

* format

* report error

* small method changes

* format and clean up

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-01-02 18:22:39 -06:00
Chris Gerth
d0bf64af6c Convert input/output image save to integers (#664) 
Changes image saving technique to use integers, not booleans
 2022-12-30 22:48:28 -05:00
Jack
550194152a Add RobotPoseEstimator (#571) 
RobotPoseEstimator can pick the most likely pose for the robot given a number of possible poses, using a number of different strategies. Examples are still WIP.
 2022-12-30 01:40:13 -05:00
Lavi Arzi
8330bf9d92 Expose camera name in PhotonCamera (#523) 
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2022-12-25 00:01:57 -05:00
shueja-personal
bb63af601d Update to wpilib 2023 beta 7 (#607) 
We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.
 2022-12-16 20:05:23 -05:00
Noah
7dd1719fbd Expose NT entry change time in PhotonLib (#562) 
Adds target change timestamp to PhotonPipelineResult

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2022-11-07 13:09:55 -05:00
Chris Gerth
b408a58e9e Sim Updates for 2023 (#512) 
* WIP updating sim stuff for 2023 and pose3d's

* vision system build fixups, but test not yet passing.

* WIP Sim fixups and working on testcases

* Still doesn't work, but closer

* tests pass

* removed C++ sim support

* formatting update

* adjusted target height above ground per review

* Turns out its unused

* missed example removal
 2022-11-03 15:05:37 -05:00
Matt
2d7a88e231 Expose both pose solutions (#521) 
* Half-add second pose

* add c++

* run wpiformat

* Fix c++
 2022-10-22 06:42:45 -05:00
Matt
def40484e3 Add delay to version check (#466) 
Rate limits version check spam print

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
 2022-10-21 20:53:28 -04:00
Matt
2c6b0ddac3 Expose pose ambiguity (#483) 
* Expose pose ambiguity

* Run spotless

* Add tooltips and expose number of iterations
 2022-10-08 09:27:00 -04:00
shueja-personal
a764ace7f2 Initial AprilTag support (#458) 
(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>
 2022-09-28 21:21:41 -04:00
Matt
9090aa6bcc Add version verification disable switch in photonlib (#437) 2022-02-28 07:37:52 -05:00
Matt
b2a3f34433 Fix version verification with non-default networktable (#407) 
Adds version verification to c++ too
 2022-01-24 12:38:45 -05:00
Tyler Veness
9893cf1f7e Update photonlib and photonlib example license headers to MIT (#395) 2022-01-20 22:35:28 -05:00
Matt
3ad476bc28 Send corners of min area rectangles (#382) 
Adds a new corners entry to targets. Breaks byte-packed backwards compatibility. 

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-01-10 20:31:36 -08:00
icemannie
1522adaa0e Remove pipeline index/driver mode/led mode caching in PhotonCamera 2021-12-15 12:16:09 -05:00
Tyler Veness
5a13739818 Remove unused private variable (#317) 2021-11-21 20:30:03 -05:00
Tyler Veness
5ca39e7f84 Upgrade to Gradle 7.2 and WPILib 2022 (#316) 2021-11-21 20:22:56 -05:00
Tyler Veness
798b8e398a Remove hasTargets member variable and fix docs warnings (#283) 
hasTargets is redundant because the same information can be obtained by
checking the size of the targets array.
 2021-09-03 22:19:38 -04:00
Vasista Vovveti
f9fd7a0b45 Handle GetLatestResult segfault (#259) 
* Handle GetLatestResult segfault

* Update PhotonCamera.cpp

* Update PhotonCamera.cpp
 2021-03-21 16:29:29 -04:00
Matt
2e1b3d0f83 Add Photonlib (#231) 
Merges Photonlib into Photonvision, along with the Photonlib code examples. Also creates a new PhotonTargeting library teams can depend on.
 2021-01-16 20:41:47 -08:00