We are trying to set up April tag localisation with Photon vision, and we ran into a problem…
we set-up PV on an RasPI and photonLib works and communicates with the rpi and PV, and all the functions to extract the individual data works, but when we tried to use the function in the PV docs to localise with an AT (specifically photonPoseEstimator.update(), the code immediately crashes as soon as we put the AT in front of the camera…
this is the current code we are running:
PV class:
public Optional<EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose) {
if (camera.getLatestResult().hasTargets()) {
photonPoseEstimator.setReferencePose(prevEstimatedRobotPose);
return photonPoseEstimator.update();
}
return Optional.empty();
}
swerve class:
public void periodic() {
Optional<EstimatedRobotPose> pose = limelight.getEstimatedGlobalPose(odometry.getEstimatedPosition());
if (!pose.isEmpty()) odometry.addVisionMeasurement(pose.get().estimatedPose.toPose2d(), pose.get().timestampSeconds);
}
The error we get is a noSuchMethodError for this function
public Optional<Matrix<N3, N3>> getCameraMatrix() {
of the PV class…
even though we have the vendordep for 2024 beta, and we even tried a few different vendordeps from various sources, in addition to changing the version parameter in the json file to the same value that appears in the settings page of the PV GUI under “version”.
any help would be much appreciated