Add constrained solvePNP strategy#1682
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spacey-sooty merged 30 commits intoPhotonVision:mainfrom Feb 19, 2025
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Gold856
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Jan 20, 2025
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
spacey-sooty
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You will certainly not regret 300,000 lines of generated C code!!
Gold856
requested changes
Feb 19, 2025
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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Signed-off-by: Jade Turner <[email protected]>
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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...rc/main/native/cpp/photon/constrained_solvepnp/generate/constrained_solvepnp_10_tags_fixed.c
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Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
Signed-off-by: Jade Turner <[email protected]>
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Example usage:
Yaw fixed, +3 degrees static bias
https://github.com/user-attachments/assets/498e7e2b-2b51-4cc6-9e92-d677de2daeaa
Yaw fixed, 0 degrees static bias
https://github.com/user-attachments/assets/3ff547ae-b21f-42c5-881a-32f82503a708
Yaw free
https://github.com/user-attachments/assets/0d38f25e-e849-40d7-beae-dd9b1372355f
Solve time, Rio 2 (seconds):
TODO: