PhotonVision Labview Release 2023 is now available. Use this release with the latest release of PhotonVision.
- Added April tag support
- Updated Target Pose support
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@brandonzx3, thank you for undertaking decoding the revised format of the data packet for tracked targets. I took a quick look at the changes that you made and compared them with the Java/C++ versions from the library. There appear to be differences between the revised LabVIEW code and the Java/C++. (I sent you a private ChiefDelphi mail with a lot for information.)
I went back to the original 2022 library and revised if for the new data packet format. This includes the new data each packet returns – Fiducial ID, Pose Ambiguity and a second transform named AltCameraToTarget. Also the returned transforms were changed from 2D to 3D – which means more data encoded into each packet. There are new LabVIEW subVI that expose the new TrackedTarget data. The subVI returning the Transform3d also return a Transform2d in case that is of any use. I ported the find fiducial ID routine that brandonzx3 created but moved it from the Utils section to the PipelineResult section to accompany the find best target routine that was already there. The sample robot code has also been updated to optionally use the find fiducial ID routine.
I have NOT tested this against a real photonvision raspberry PI. It would be great if someone could do that and report back. At the very earliest, I won’t be able to test this until mid to late next week. If you have an opportunity to test, please report back here. If you need to change routines, fork the repository, make the changes test them and let me know so I can incorporate.
Here is a link to the original repository. There is an updated install package for LabVIEW 2020. https://github.com/jsimpso81/PhotonVisionLabVIEW/releases/latest
and the repository https://github.com/jsimpso81/PhotonVisionLabVIEW
To get the 3D geometry routines, you will need the latest Trajectory/Control library from here. https://github.com/jsimpso81/FRC_LV_TrajLib/releases/latest
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