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Change from k2024Crescendo to kDefaultField for AprilTagFieldLayout #1667

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Merged
spacey-sooty merged 2 commits into from
Jan 3, 2025
Merged

Change from k2024Crescendo to kDefaultField for AprilTagFieldLayout #1667

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7d32ccf
Change from k2024Crescendo to kDefaultField for AprilTagFieldLayout
spacey-sooty Jan 1, 2025
21d0df5
Merge branch 'main' into default-field-docs
mcm001 Jan 3, 2025
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6 changes: 3 additions & 3 deletions docs/source/docs/programming/photonlib/robot-pose-estimator.md
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Expand Up @@ -17,12 +17,12 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all
.. code-block:: Java

// The field from AprilTagFields will be different depending on the game.
AprilTagFieldLayout aprilTagFieldLayout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
AprilTagFieldLayout aprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);

.. code-block:: C++

// The parameter for LoadAPrilTagLayoutField will be different depending on the game.
frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo);
frc::AprilTagFieldLayout aprilTagFieldLayout = frc::LoadAprilTagLayoutField(frc::AprilTagField::kDefaultField);

.. code-block:: Python

Expand Down Expand Up @@ -91,7 +91,7 @@ The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (s
self.cam = PhotonCamera("YOUR CAMERA NAME")

self.camPoseEst = PhotonPoseEstimator(
loadAprilTagLayoutField(AprilTagField.k2024Crescendo),
loadAprilTagLayoutField(AprilTagField.kDefaultField),
PoseStrategy.CLOSEST_TO_REFERENCE_POSE,
self.cam,
kRobotToCam
Expand Down
2 changes: 1 addition & 1 deletion docs/source/docs/simulation/simulation-java.md
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Expand Up @@ -103,7 +103,7 @@ For convenience, an `AprilTagFieldLayout` can also be added to automatically cre
.. code-block:: Java

// The layout of AprilTags which we want to add to the vision system
AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile);
AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile);

visionSim.addAprilTags(tagLayout);
```
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2 changes: 1 addition & 1 deletion photon-lib/py/photonlibpy/simulation/photonCameraSim.py
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Expand Up @@ -64,7 +64,7 @@ def __init__(
self.videoSimProcEnabled: bool = False
self.heartbeatCounter: int = 0
self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo)
self.tagLayout = AprilTagFieldLayout.loadField(AprilTagField.kDefaultField)

self.cam = camera
self.prop = props
Expand Down
2 changes: 1 addition & 1 deletion photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
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Expand Up @@ -108,7 +108,7 @@ class PhotonCameraSim {
double minTargetAreaPercent;

frc::AprilTagFieldLayout tagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};

cs::CvSource videoSimRaw;
cv::Mat videoSimFrameRaw{};
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2 changes: 1 addition & 1 deletion photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
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Expand Up @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};

inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
Expand Down
2 changes: 1 addition & 1 deletion photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
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Expand Up @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};

inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
Expand Down
2 changes: 1 addition & 1 deletion photonlib-cpp-examples/poseest/src/main/include/Constants.h
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Expand Up @@ -44,7 +44,7 @@ inline const frc::Transform3d kRobotToCam{
frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
frc::Rotation3d{0_rad, -30_deg, 0_rad}};
inline const frc::AprilTagFieldLayout kTagLayout{
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::kDefaultField)};

inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
Expand Down
2 changes: 1 addition & 1 deletion photonlib-python-examples/poseest/robot.py
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Expand Up @@ -43,7 +43,7 @@ def robotInit(self) -> None:
self.swerve = drivetrain.Drivetrain()
self.cam = PhotonCamera("YOUR CAMERA NAME")
self.camPoseEst = PhotonPoseEstimator(
AprilTagFieldLayout.loadField(AprilTagField.k2024Crescendo),
AprilTagFieldLayout.loadField(AprilTagField.kDefaultField),
PoseStrategy.LOWEST_AMBIGUITY,
self.cam,
kRobotToCam,
Expand Down