mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-29 02:21:44 +00:00
29 lines
1.2 KiB
Markdown
29 lines
1.2 KiB
Markdown
|
# AprilTag
|
||
|
|
|
||
|
|
## Adding new field to AprilTagFields
|
||
|
|
|
||
|
|
### Adding field JSON
|
||
|
|
|
||
|
|
1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag`
|
||
|
|
1. See docstring in `convert_apriltag_layouts.py` for more
|
||
|
|
2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON
|
||
|
|
3. That script overwrites all generated JSONs, so undo undesired changes if necessary
|
||
|
|
4. Update the field dimensions at the bottom of the JSON
|
||
|
|
1. Length should be in meters from alliance wall to alliance wall
|
||
|
|
2. Width should be in meters from inside guardrail plastic to plastic
|
||
|
|
|
||
|
|
### Java updates
|
||
|
|
|
||
|
|
1. Update `src/main/java/edu/wpi/first/apriltag/AprilTagFields.java`
|
||
|
|
1. Add enum value for new field to `AprilTagFields`
|
||
|
|
2. Update `AprilTagFields.kDefaultField` if necessary
|
||
|
|
|
||
|
|
### C++ updates
|
||
|
|
|
||
|
|
1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
|
||
|
|
1. Add enum value for new field to `AprilTagFields`
|
||
|
|
2. Update `AprilTagFields::kDefaultField` if necessary
|
||
|
|
2. Update `src/main/native/cpp/AprilTagFields.cpp`
|
||
|
|
1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()`
|
||
|
|
2. Add case for new field to switch in `LoadAprilTagLayoutField()`
|