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73 Commits

Author SHA1 Message Date
Matt
8e724ef60f Fix driver mode pub/sub key mixup (#810) 2023-02-17 09:21:10 -05:00
Matt
a4554d9bd4 Fix non-checked optional in mulit-tag (#808) 
* Fix non-checked optional in mulit-tag

* Fix fallback return

* Run format
 2023-02-14 19:50:17 -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
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
David Vo
b4c93e5d34 PhotonPoseEstimator: Include what you use (#795) 
There are a few references to PhotonPipelineResult in this header. I noticed this was being indirectly included when trying to remove the PhotonCamera dependency.
 2023-02-11 07:23:02 -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
Mihir Patankar
241961ae7a Un-finalize robotToCamera, add getters and setters (#789) 
Allows teams with a mechanism that moves the camera's position (eg, a pan and tilt mechanism) to update the location of their camera for their pose calculations.

---------

Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
 2023-02-06 09:51:35 -05:00
Matt
8ae7977477 Update SimPhotonCamera.h (#785) 2023-02-01 10:41:41 -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
88ed2ebf51 Add PhotonVersion to sources/headers zip (#777) 
* Add PhotonVersion to sources/headers zip

* Update publish.gradle
 2023-01-29 23:30:22 -05:00
David Vo
5f39123bde photon-lib: Fix C++ sources publish classifier (#765) 
The canonical classifier is sources, not source.
 2023-01-27 10:52:14 -05:00
Matt
37a7d378fd Fix publish type in photoncamera (#760) 2023-01-22 10:56:41 -05:00
Sriman Achanta
167a4661ca [NFC] Update RobotPoseEstimator documentation (#740) 
* update documentation

* add suggested changes

* rename April Tag to AprilTag

* Update RobotPoseEstimator.java

Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
 2023-01-17 20:34:21 -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
Nick Hadley
39f6ab8805 Add method to clear sim targets (#733) 
Closes #731
 2023-01-11 12:33:19 -05:00
Mohammad Durrani
5c66785095 Delete EigenCore.h (#732) 2023-01-10 21:37:22 -08:00
Matt
53c67a07e4 [photonlib] Only link to apriltag_shared (#730) 2023-01-10 10:09:24 -05:00
Matt
967be84b4b Expose detected tag corners (#702) 
Removes GetCorners, replaces with getMinAreaRectCorners and getDetectedCorners
 2023-01-06 22:20:27 -05:00
Mohammad Durrani
16ca2671f0 Update to osxuniversal (#711) 
Probably closes #710
 2023-01-06 21:10:48 -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
dbe7464ea9 Change pose estimator to take robotToCamera (#698) 
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2023-01-06 17:41:47 -05:00
Nick Hadley
0f427bb52b Update PhotonCamera error messages to be more specific (#697) 
Closes #692
 2023-01-05 19:28:32 -05:00
Matt
e68e6f3181 Update SimPhotonCamera.java (#703) 2023-01-05 06:43:23 -06:00
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
aaa886bd73 Java-side bugfixes for RobotPoseEstimator and PhotonCamera (#685) 
Closes #684
Closes #683
Closes #681
Closes #680
Closes #678
 2023-01-01 22:40:48 -05:00
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
Sean Walberg
74b807343e Change visibility of Pose strategy in RobotPoseEstimator (#670) 
This was meant to be consumed from the outside.
 2022-12-30 17:19:15 -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
Mohammad Durrani
78ab5e7c1d Upgrade to jdk 17 (#653) 
Still targets Java 11 language support

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2022-12-27 15:56:21 -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
Mohammad Durrani
915f784d9d Add distance, yaw, and robot pose methods to photonlib (#642) 2022-12-25 00:00:00 -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
Drew Williams
643db9c435 Add check for packet of incorrect length (#629) 
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2022-12-08 19:22:31 -05:00
Matt
3c7165bb0d Force photonlib JSON to regenerate every build (#589) 2022-11-13 14:07:15 -06:00
Ethan Frank
f193a2331a Fix sim versionEntry NT table path (#569) 
* Fix sim versionEntry NT table path

* Fix compile issue that mainTable is not accessible form SimPhotonCamera

* Fix format

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
 2022-11-13 13:18:55 -06:00
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
Jason Daming
ab3e8c8db7 Add version string to NT in sim (#424) 2022-02-22 20:01:01 -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
Banks T
4aadebdbb2 Change PhotonLib License to MIT (#394) 
* Change PhotonLib License to MIT

* Remove extraneous newline in license
 2022-01-14 22:05:49 -05:00