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[photon-lib] Make PhotonPoseEstimator coprocessor multitag result relative to tag layout origin #997

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merged 3 commits into from
Nov 4, 2023
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[photon-lib] Make PhotonPoseEstimator coprocessor multitag result relative to tag layout origin #997

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0736318
bump wpilib to beta-3
amquake Nov 4, 2023
0eb0f9e
make coproc multitag result relative to photon estimator origin
amquake Nov 4, 2023
fb028f8
Merge branch 'master' into photon-estimator-multitag-coproc-origin
srimanachanta Nov 4, 2023
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8 changes: 7 additions & 1 deletion photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,8 @@ public enum PoseStrategy {
* @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
* with respect to the FIRST field using the <a href=
* "https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
* Coordinate System</a>.
* Coordinate System</a>. Note that setting the origin of this layout object will affect the
* results from this class.
* @param strategy The strategy it should use to determine the best pose.
* @param camera PhotonCamera
* @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie,
Expand Down Expand Up @@ -141,6 +142,8 @@ private void checkUpdate(Object oldObj, Object newObj) {
/**
* Get the AprilTagFieldLayout being used by the PositionEstimator.
*
* <p>Note: Setting the origin of this layout will affect the results from this class.
*
* @return the AprilTagFieldLayout
*/
public AprilTagFieldLayout getFieldTags() {
Expand All @@ -150,6 +153,8 @@ public AprilTagFieldLayout getFieldTags() {
/**
* Set the AprilTagFieldLayout being used by the PositionEstimator.
*
* <p>Note: Setting the origin of this layout will affect the results from this class.
*
* @param fieldTags the AprilTagFieldLayout
*/
public void setFieldTags(AprilTagFieldLayout fieldTags) {
Expand Down Expand Up @@ -415,6 +420,7 @@ private Optional<EstimatedRobotPose> multiTagOnCoprocStrategy(
var best =
new Pose3d()
.plus(best_tf) // field-to-camera
.relativeTo(fieldTags.getOrigin())
.plus(robotToCamera.inverse()); // field-to-robot
return Optional.of(
new EstimatedRobotPose(
Expand Down