Changes sim to use 36h11 tags

build.gradle

@@ -21,7 +21,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-4"
+    wpilibVersion = "2024.1.1-beta-4-35-g141241d"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -18,7 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.util.PixelFormat;
 import java.nio.file.Path;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;

photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java

@@ -19,6 +19,7 @@
 
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.math.Pair;
+import edu.wpi.first.util.PixelFormat;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
@@ -59,30 +60,19 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
 
         if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
             // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
-            videoModes.put(
-                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
-            videoModes.put(
-                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
             // TODO: fix 1280x720 in the native code and re-add it
-            videoModes.put(
-                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
-            videoModes.put(
-                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
-            videoModes.put(
-                    6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
+            videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
+            videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
+            videoModes.put(6, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
         } else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            videoModes.put(
-                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.put(
-                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
 
         } else {
             if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
@@ -97,17 +87,13 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
             }
 
             // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
-            videoModes.put(0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
-            videoModes.put(1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
             // Half the size of the active areas on the OV5647
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
-            videoModes.put(
-                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
-            videoModes.put(
-                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
+            videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
+            videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
         }
 
         // TODO need to add more video modes for new sensors here

photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java

@@ -18,6 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.util.PixelFormat;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;

photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java

@@ -23,6 +23,7 @@
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.cscore.VideoProperty.Kind;
+import edu.wpi.first.util.PixelFormat;
 import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -280,33 +281,33 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                     if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 30),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 15),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 45),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 30),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 15),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 90),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 30),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 15),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 10),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 90),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 45),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 30),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 15),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 10),
+                                    new VideoMode(PixelFormat.kBGR, 960, 720, 60),
+                                    new VideoMode(PixelFormat.kBGR, 960, 720, 10),
+                                    new VideoMode(PixelFormat.kBGR, 1280, 720, 45),
+                                    new VideoMode(PixelFormat.kBGR, 1920, 1080, 20),
                                 };
                     } else {
                         modes = camera.enumerateVideoModes();
                     }
                     for (VideoMode videoMode : modes) {
                         // Filter grey modes
-                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
-                                || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
+                        if (videoMode.pixelFormat == PixelFormat.kGray
+                                || videoMode.pixelFormat == PixelFormat.kUnknown) {
                             continue;
                         }
 
                         // On picam, filter non-bgr modes for performance
                         if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                            if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
+                            if (videoMode.pixelFormat != PixelFormat.kBGR) {
                                 continue;
                             }
                         }

photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -20,6 +20,7 @@
 import edu.wpi.first.cscore.*;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.PixelFormat;
 import java.awt.*;
 import java.util.ArrayList;
 import org.opencv.core.CvType;
@@ -118,7 +119,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
     boolean isDisabled = false;
 
     public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
-        this.cvSource = new CvSource(sourceName, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+        this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
         this.table =
                 NetworkTableInstance.getDefault().getTable("/CameraPublisher").getSubTable(sourceName);
 
@@ -188,7 +189,7 @@ public void accept(CVMat image) {
 
     public void disabledTick() {
         if (!isDisabled) {
-            cvSource.setVideoMode(VideoMode.PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
+            cvSource.setVideoMode(PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
             isDisabled = true;
         }
 
@@ -227,7 +228,7 @@ private static String videoModeToString(VideoMode mode) {
                 + " fps";
     }
 
-    private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
+    private static String pixelFormatToString(PixelFormat pixelFormat) {
         switch (pixelFormat) {
             case kMJPEG:
                 return "MJPEG";

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -28,11 +28,11 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSource;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
 import java.util.List;
@@ -464,7 +464,7 @@ public PhotonPipelineResult process(
                 var corn = pair.getSecond();
 
                 if (tgt.fiducialID >= 0) { // apriltags
-                    VideoSimUtil.warp16h5TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
+                    VideoSimUtil.warp36h11TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
                 } else if (!tgt.getModel().isSpherical) { // non-spherical targets
                     var contour = corn;
                     if (!tgt.getModel()
@@ -529,7 +529,7 @@ public PhotonPipelineResult process(
                             prop.getDistCoeffs(),
                             detectableTgts,
                             tagLayout,
-                            TargetModel.kAprilTag16h5);
+                            TargetModel.kAprilTag36h11);
             multitagResult = new MultiTargetPNPResult(pnpResult, usedIDs);
         }