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Warn when getBestCameraToTarget returns 0, 0, 0 #1334

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merged 6 commits into from
Jun 1, 2024
Merged

Warn when getBestCameraToTarget returns 0, 0, 0 #1334

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f484a2f
Warn when getBestCameraToTarget returns 0, 0, 0
spacey-sooty May 30, 2024
1c2357e
review
spacey-sooty May 31, 2024
ff41d45
Merge branch 'master' into warnnocamera
spacey-sooty May 31, 2024
b2a3f26
fix
spacey-sooty May 31, 2024
b9a7e3b
ewww formatting
spacey-sooty May 31, 2024
c6403ee
fix
spacey-sooty Jun 1, 2024
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5 changes: 5 additions & 0 deletions photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
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Expand Up @@ -19,6 +19,8 @@
import edu.wpi.first.apriltag.AprilTagDetection;
import edu.wpi.first.apriltag.AprilTagPoseEstimate;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.wpilibj.DriverStation;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
Expand Down Expand Up @@ -364,6 +366,9 @@ public boolean hasSubContours() {
}

public Transform3d getBestCameraToTarget3d() {
if (m_bestCameraToTarget3d == new Transform3d()) {
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DriverStation.reportWarning("3d mode is not enabled.", false);
}
return m_bestCameraToTarget3d;
}

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8 changes: 7 additions & 1 deletion photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
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Expand Up @@ -23,6 +23,7 @@
#include <vector>

#include <frc/geometry/Transform3d.h>
#include <frc/Errors.h>
#include <wpi/SmallVector.h>

#include "photon/dataflow/structures/Packet.h"
Expand Down Expand Up @@ -138,7 +139,12 @@ class PhotonTrackedTarget {
* reprojection error is the ambiguity, which is between 0 and 1.
* @return The pose of the target relative to the robot.
*/
frc::Transform3d GetBestCameraToTarget() const { return bestCameraToTarget; }
frc::Transform3d GetBestCameraToTarget() const {
if (bestCameraToTarget == frc::Transform3d()) {
FRC_ReportError(frc::warn::Warning, "3d mode is not enabled");
}
return bestCameraToTarget;
}

/**
* Get the transform that maps camera space (X = forward, Y = left, Z = up) to
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