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PhotonVision · Oct 1, 2023 · be92020 · be92020
1 parent 7ca017a
commit be92020
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h
@@ -36,8 +36,8 @@ class PhotonCameraWrapper {
  public:
   photonlib::PhotonPoseEstimator m_poseEstimator{
       frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
-      photonlib::MULTI_TAG_PNP, std::move(photonlib::PhotonCamera{"WPI2023"}),
-      frc::Transform3d{}};
+      photonlib::MULTI_TAG_PNP_ON_RIO,
+      std::move(photonlib::PhotonCamera{"WPI2023"}), frc::Transform3d{}};
 
   inline std::optional<photonlib::EstimatedRobotPose> Update(
       frc::Pose2d estimatedPose) {

diff --git a/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java b/photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java
@@ -50,7 +50,10 @@ public PhotonCameraWrapper() {
             // Create pose estimator
             photonPoseEstimator =
                     new PhotonPoseEstimator(
-                            fieldLayout, PoseStrategy.MULTI_TAG_PNP, photonCamera, VisionConstants.robotToCam);
+                            fieldLayout,
+                            PoseStrategy.MULTI_TAG_PNP_ON_RIO,
+                            photonCamera,
+                            VisionConstants.robotToCam);
             photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY);
         } catch (IOException e) {
             // The AprilTagFieldLayout failed to load. We won't be able to estimate poses if we don't know