basic vision subsystem stuff that probably doesn't even work. This is… - #4
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NTCheese wants to merge 2 commits into
Open
basic vision subsystem stuff that probably doesn't even work. This is…#4NTCheese wants to merge 2 commits into
NTCheese wants to merge 2 commits into
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… just here for Ashton to see which one is different, how they're different, and why one is different that the other.
EndofTimeWorks
requested changes
Feb 16, 2026
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| // Check if the tag exists in the field layout, and if so, continue with calculation | ||
| if (tagPose.isPresent()) { | ||
| // Calculate camera pose based on the tag pose | ||
| Transform3d bestCameraToTarget = tag.bestCameraToTarget; | ||
| Pose3d bestCameraPose = tagPose.get().plus(bestCameraToTarget.inverse()); |
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these hardcoded tag IDs (14, 15, 4, 5, 3, 16) are from the 2025 field. need to update these for the 2026 layout or better yet pull them from a constant/config so they're not scattered across the codebase.
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| Queue<Pose3d> tagPoses = new ArrayDeque<>(); | ||
| Queue<Pose3d> robotPoses = new ArrayDeque<>(); |
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same hardcoded 2025 tag IDs here. see comment on ATVisionIOPhoton.
| public class ATVisionConstants { | ||
| // AprilTag layout | ||
| public static AprilTagFieldLayout aprilTagLayout = | ||
| AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); |
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AprilTagFields.kDefaultField might not be the 2026 field. double check this loads the right layout.
Signed-off-by: Ashton A. <uhdbits@duck.com>
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… just here for Ashton to see which one is different, how they're different, and why one is different that the other.