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[wpimath] Improve accuracy of ComputerVisionUtil.calculateDistanceToTarget() (#4215)

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chen perach
2022-05-06 18:36:58 +03:00
committed by GitHub
parent b1abf455c1
commit ef7ed21a9d
5 changed files with 56 additions and 24 deletions
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4
wpimath/src/main/native/include/frc/ComputerVisionUtil.h
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@@ -28,13 +28,15 @@ namespace frc {
* Positive values up.
* @param targetPitch The pitch of the target in the camera's lens. Positive
* values up.
* @param targetYaw The yaw of the target in the camera's lens.
* @return The estimated distance to the target.
*/
WPILIB_DLLEXPORT
units::meter_t CalculateDistanceToTarget(units::meter_t cameraHeight,
units::meter_t targetHeight,
units::radian_t cameraPitch,
units::radian_t targetPitch);
units::radian_t targetPitch,
units::radian_t targetYaw);
/**
* Estimate the position of the robot in the field.