mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
224ce46f14
There's a new `low latency mode` switch on the input tab. This replaces use_new_cscore_frametime and makes it per pipeline. <img width="684" height="535" alt="image" src="https://github.com/user-attachments/assets/a7ba8bc0-69b6-44f3-83e3-9b88d8219dfa" /> The default behavior is still to block for new frames (ie, preserve old behavior) --------- Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
78 lines
2.8 KiB
Java
78 lines
2.8 KiB
Java
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision;
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import edu.wpi.first.math.geometry.Pose3d;
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import java.util.List;
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import org.photonvision.PhotonPoseEstimator.PoseStrategy;
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import org.photonvision.targeting.PhotonTrackedTarget;
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/** An estimated pose based on pipeline result */
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public class EstimatedRobotPose {
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/** The estimated pose */
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public final Pose3d estimatedPose;
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/** The estimated time the frame used to derive the robot pose was taken */
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public final double timestampSeconds;
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/** A list of the targets used to compute this pose */
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public final List<PhotonTrackedTarget> targetsUsed;
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/** The strategy actually used to produce this pose */
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public final PoseStrategy strategy;
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/**
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* Constructs an EstimatedRobotPose
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*
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* @param estimatedPose estimated pose
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* @param timestampSeconds timestamp of the estimate
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* @param targetsUsed list of targets used
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*/
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public EstimatedRobotPose(
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Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed) {
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this.estimatedPose = estimatedPose;
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this.timestampSeconds = timestampSeconds;
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this.targetsUsed = targetsUsed;
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this.strategy = null;
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}
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/**
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* Constructs an EstimatedRobotPose
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*
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* @param estimatedPose estimated pose
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* @param timestampSeconds timestamp of the estimate
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*/
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public EstimatedRobotPose(
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Pose3d estimatedPose,
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double timestampSeconds,
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List<PhotonTrackedTarget> targetsUsed,
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PoseStrategy strategy) {
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this.estimatedPose = estimatedPose;
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this.timestampSeconds = timestampSeconds;
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this.targetsUsed = targetsUsed;
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this.strategy = strategy;
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}
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}
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