From d583d0fb97e7c94792a3e448769888f300bf359a Mon Sep 17 00:00:00 2001 From: Ishan Venkataraman Date: Thu, 22 Jan 2026 04:59:56 +0000 Subject: [PATCH] Fix field --- src/localization/get_field_relitive_position.cc | 6 +++--- src/localization/get_field_relitive_position.h | 4 ++-- src/localization/run_localization.cc | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/localization/get_field_relitive_position.cc b/src/localization/get_field_relitive_position.cc index 13f61bd..8578659 100644 --- a/src/localization/get_field_relitive_position.cc +++ b/src/localization/get_field_relitive_position.cc @@ -6,7 +6,7 @@ #include "src/utils/log.h" namespace localization { -auto ToFeildRelitivePosition(tag_detection_t tag_relative_position, +auto ToFieldRelitivePosition(tag_detection_t tag_relative_position, frc::Transform3d camera_to_robot, const frc::AprilTagFieldLayout& apriltag_layout, bool verbose) -> tag_detection_t { @@ -75,12 +75,12 @@ auto ExtrinsicsJsonToCameraToRobot(nlohmann::json extrinsics_json) return robot_to_camera.Inverse(); } -auto ToFeildRelitivePosition(std::vector detections, +auto ToFieldRelitivePosition(std::vector detections, frc::Transform3d camera_to_robot, const frc::AprilTagFieldLayout& apriltag_layout, bool verbose) -> std::vector { for (tag_detection_t& detection : detections) { - detection = ToFeildRelitivePosition(detection, camera_to_robot, + detection = ToFieldRelitivePosition(detection, camera_to_robot, apriltag_layout, verbose); } return detections; diff --git a/src/localization/get_field_relitive_position.h b/src/localization/get_field_relitive_position.h index 6e78c37..733084f 100644 --- a/src/localization/get_field_relitive_position.h +++ b/src/localization/get_field_relitive_position.h @@ -10,13 +10,13 @@ static frc::AprilTagFieldLayout kapriltag_layout = frc::AprilTagFieldLayout("/bos/constants/2026-rebuilt-welded.json"); // returns camera to robot -auto ToFeildRelitivePosition( +auto ToFieldRelitivePosition( std::vector detections, frc::Transform3d camera_to_robot, const frc::AprilTagFieldLayout& apriltag_layout = kapriltag_layout, bool verbose = false) -> std::vector; // returns camera to robot -auto ToFeildRelitivePosition( +auto ToFieldRelitivePosition( tag_detection_t tag_relative_position, frc::Transform3d camera_to_robot, const frc::AprilTagFieldLayout& apriltag_layout = kapriltag_layout, bool verbose = false) -> tag_detection_t; diff --git a/src/localization/run_localization.cc b/src/localization/run_localization.cc index 5cebf1c..2af198b 100644 --- a/src/localization/run_localization.cc +++ b/src/localization/run_localization.cc @@ -26,7 +26,7 @@ void run_localization(camera::CameraSource& source, camera::timestamped_frame_t timestamped_frame = source.Get(); streamer.WriteFrame(timestamped_frame.frame); std::vector estimates = - localization::ToFeildRelitivePosition( + localization::ToFieldRelitivePosition( detector->GetTagDetections(timestamped_frame), camera_to_robot); LOG(INFO) << estimates.size() << "estimate size"; position_sender.Send(estimates, timer.Stop());