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55 Commits

Author SHA1 Message Date
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
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
fcca858a37 Update maven URL to reposilite (#1330) 
Also bumps to new builds of artifacts (NFC)
 2024-05-29 12:29:08 -05:00
Matt
fae3116951 Bump to 2024.3.2 (#1283) 2024-03-17 23:00:22 -05:00
Vasista Vovveti
39aaa34520 update wpilib to 2024.3.1 (#1246) 2024-02-20 15:08:52 -05:00
DeltaDizzy
9653c46bdb fix cpp and java photoncamera names (#1230) 2024-02-11 04:27:25 -05:00
Craig Schardt
bcea6fcc8d Bump WPILib to 2024.2.1 (#1188) 2024-01-21 20:06:47 -05:00
DeltaDizzy
644c162834 Make java examples independent by adding GradleRIO version (#1158) 2024-01-20 19:45:29 -05:00
Matt
bf5e8dc81b Bump wpilib to 2024.1.1 (#1127) 
Does not yet include test mode
 2024-01-07 00:44:28 -05:00
Drew Williams
96de176ba2 Changes sim to use 36h11 tags (#1056) 
Fixes #1041

---------

Co-authored-by: Drew Williams <DrewW@iARx.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2024-01-02 08:09:32 -07:00
Sriman Achanta
2e39549771 Bump wpilib to 2024-beta-4 and report resource photon usage ids from 2024v2 image (#1042) 2023-12-16 13:14:52 -05:00
Matt
7eb4645ee2 Bump wpilib to beta-3 (#998) 2023-11-04 09:42:30 -04:00
amquake
f3fb0109f9 [examples] Add field images to Java simulation examples (#983) 2023-10-25 19:25:24 -04:00
Sriman Achanta
adc30336d2 Bump spotless version and update config for groovyGradle stuff (#979) 2023-10-24 23:02:59 -04:00
Matt
c5b42a1191 Bump WPILib to beta 2 (#972) 
---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
 2023-10-23 23:28:37 -04:00
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
amquake
82e3da622f [examples] Re-organize simaimandrange (#937) 2023-10-14 20:56:23 -07:00
amquake
74f1779961 Fix example readme backlinks (#931) 2023-10-06 08:54:47 -04:00
amquake
ce0d28da93 Update Java Simulation Examples (#913) 
Removes apriltagExample and simposeest, replacing them with swervedriveposeestsim

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-10-05 08:57:38 -04:00
amquake
7f283640c4 [photonlib] Simulation Visualization Update (#895) 2023-09-19 19:10:04 -04:00
amquake
f1cadc1e1e [WIP] Simulation Overhaul (#742) 
### What does this do?

- Deprecates previous sim classes
- Has a `CameraProperties` class for describing a camera's basic/calibration info, and performance values for simulation. Calibration values can be loaded from the `config.json` in the settings exported by photonvision.
- `OpenCVHelp` provides convenience functions for using opencv methods with wpilib/photonvision classes, mainly to project 3d points to a camera's 2d image and perform solvePnP with the above camera calibration info.
  - `TargetModel`s describe the 3d shape of a target, both for projecting into the camera's 2d image and use in solvePnP.
- `PhotonCameraSim` uses camera properties to simulate how 3d targets would appear in its view, and has simulated noise, latency, and FPS. For apriltags, the best/alternate camera-to-target transform is also estimated with solvePnP.
  - `VideoSimUtil` has helper functions for drawing apriltags to a simulated raw and processed MJPEG stream for each camera using the projected tag corners.
- `VisionSystemSim` stores `VisionTargetSim`s and `PhotonCameraSim`s, and is periodically updated with the robot's simulated pose. When updating, camera sims are automatically processed and published with their visible targets from their respective poses with proper latency.

### What's still not working?

- Mac Arm builds are broken
- More examples
- Update website/docs
 2023-06-18 18:54:12 -04:00
person4268
6d2eae7f20 Add ignored cameras regex to command-line arguemnts (#849) 
This adds a regex that ignores cameras if they match it, for if you have another piece of software running that needs a second camera, or if you have a webcam in your laptop that cscore hates.
 2023-06-03 21:04:04 -04:00
Sriman Achanta
c148331b69 Bump License year to 2023 (#841) 
* Bump version

* remove year entirely
 2023-04-18 18:49:40 -04:00
Matt
cdf045d887 Bump wpilib to 2023.4.2 (#815) 2023-02-27 08:30:06 -06:00
Matt
cf68f2a450 Bump wpilib to 2023.4.1 (#811) 2023-02-19 12:46:12 -05:00
Andrew Gasser
9ac1050264 Handle IOException in Apriltag example (#807) 
* Deal with IOException

* Fix import
 2023-02-14 14:30:30 -05:00
Matt
abe32a1aae Fix calibration NT table in PhotonCamera (#805) 
* Fix wrong table in calibration subscriber

* Update example to load 2023 layout

* Update PhotonCamera.java
 2023-02-14 13:49:28 -05:00
Andrew Gasser
bf4a4db874 Docs corrections related to PhotonPoseEstimator (#804) 2023-02-14 13:49:08 -05:00
Matt
a2dfe48679 Create C++ Apriltag example (#794) 
* Create C++ Apriltag example

* Delete libphotonlibcamera.so

* Update PhotonCameraWrapper.h

* Delete extra files

Update .gitignore
 2023-02-11 23:07:07 -06:00
Matt
a16ac4af57 Bump to wpilib 2023.2.1 (#741) 2023-01-15 10:12:25 -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
8117b5814b Bump to wpilib 2023.1.1 (#694) 2023-01-06 17:53:39 -05:00
Mohammad Durrani
ebef19af3d Add aprilTagExample to Java example list (#709) 
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-01-06 11:33:47 -05:00
Mohammad Durrani
bde023c025 Apriltag example from gerth2 (#701) 
* apriltag example

* vendor dep update

* Run formatters

* Update Drivetrain.java

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-01-05 20:48:06 -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
Andrew Gasser
04bde1b230 Update sim pose estimator example to use 3d (#524) 2022-10-25 21:11:41 -04:00
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
Andrew Gasser
d1bfb86ab4 Correct image capture time (#501) 
* Correct image capture time

`Timer.getFPGATimesptamp()` returns the current time in _seconds_, but `res.getLatencyMillis()` is in _miliseconds_.

* Correct image capture time (correctly)

* Change double literal to not use suffix

Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
 2022-10-16 20:51:48 -07:00
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
Tyler Veness
9893cf1f7e Update photonlib and photonlib example license headers to MIT (#395) 2022-01-20 22:35:28 -05:00
Tyler Veness
46fa17dfd8 Upgrade spotless and shadow (#385) 
Fixes Log4J vulnerability
 2022-01-10 11:56:45 -08:00
Chris Gerth
c944967476 Offline Update (.jar replace) (#340) 
Allows users to upload a new JAR to a Pi. Also bumps the pi image to increase the heap size.
 2021-12-03 23:08:51 -05:00
Tyler Veness
5ca39e7f84 Upgrade to Gradle 7.2 and WPILib 2022 (#316) 2021-11-21 20:22:56 -05:00