add camera and vision utils #5
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riley-jen
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riley-jen
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overall, augment thinks that some of the logic here is not efficient. is that possibly causing some of our vision problems?
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| SmartDashboard.putBoolean("isConnected/" + m_cameraName, m_camera.isConnected()); | ||
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--- getters ---
none have null checks. not sure whether we want to add them/how to deal with it. i know that we technically check for emptiness in other places but a lot safer to do something here
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I don't know if this is good coding practice (Max might know better), but you could probably just throw an exception if it's null. I wonder if this is a question to ask LLMs -- I haven't set up augment successfully yet but I'm working on it,
src/main/java/frc/robot/subsystems/vision/LocalizationCamera.java
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| totalTime += Math.abs(m_lastEstPoses.get(i).timestampSeconds - m_lastEstPoses.get(i+1).timestampSeconds); | ||
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| double avgDist = totalDistance / m_lastEstPoses.size(); |
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as long as VisionConstants.NUM_LAST_EST_POSES is >0 (and it really should be), the check at line 232
if (m_lastEstPoses.size() < VisionConstants.NUM_LAST_EST_POSES) {
return true;
}
should prevent that.
however, not sure if it's good practice to just assume that will be the case.
not ready to be merged yet!
i opened this so that i can add some comments on the code because i am not sure what we want to do with the vision code. please see them below