tag layout as field

PhotonVision · Oct 25, 2023 · f2cbc90 · f2cbc90
1 parent cfcc120
commit f2cbc90
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -24,6 +24,7 @@
 
 package org.photonvision.simulation;
 
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSource;
@@ -81,6 +82,8 @@ public class PhotonCameraSim implements AutoCloseable {
     private double minTargetAreaPercent;
     private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
 
+    private AprilTagFieldLayout tagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
+
     // video stream simulation
     private final CvSource videoSimRaw;
     private final Mat videoSimFrameRaw = new Mat();
@@ -532,7 +535,6 @@ public PhotonPipelineResult process(
         var multitagResults = new MultiTargetPNPResults();
         // TODO: Implement ATFL subscribing in backend
         // var tagLayout = cam.getAprilTagFieldLayout();
-        var tagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
         var visibleLayoutTags = VisionEstimation.getVisibleLayoutTags(detectableTgts, tagLayout);
         if (visibleLayoutTags.size() > 1) {
             List<Integer> usedIDs =