forgot to delete old offset method

PhotonVision · Dec 10, 2024 · d33d67f · d33d67f
1 parent 3b2fa8d
commit d33d67f
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Showing 2 changed files with 2 additions and 82 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -178,8 +178,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
                     new TrackedTarget(
                             detection,
                             null,
-                            new TargetCalculationParameters(false, null, null, null, null, frameStaticProperties),
-                            new Point(settings.getStaticCrop().x, settings.getStaticCrop().y));
+                            new TargetCalculationParameters(false, null, null, null, null, frameStaticProperties));
 
             targetList.add(target);
         }
@@ -239,8 +238,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
                                 detection,
                                 tagPoseEstimate,
                                 new TargetCalculationParameters(
-                                        false, null, null, null, null, frameStaticProperties),
-                                new Point(settings.getStaticCrop().x, settings.getStaticCrop().y));
+                                        false, null, null, null, null, frameStaticProperties));
 
                 var correctedBestPose =
                         MathUtils.convertOpenCVtoPhotonTransform(target.getBestCameraToTarget3d());

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -176,84 +176,6 @@ public int getClassID() {
         return m_classId;
     }
 
-    public TrackedTarget(
-            AprilTagDetection tagDetection,
-            AprilTagPoseEstimate tagPose,
-            TargetCalculationParameters params,
-            Point croppedOffset) {
-        m_targetOffsetPoint =
-                new Point(
-                        tagDetection.getCenterX() + croppedOffset.x,
-                        tagDetection.getCenterY() + croppedOffset.y);
-        m_robotOffsetPoint = new Point();
-        var yawPitch =
-                TargetCalculations.calculateYawPitch(
-                        params.cameraCenterPoint.x,
-                        tagDetection.getCenterX(),
-                        params.horizontalFocalLength,
-                        params.cameraCenterPoint.y,
-                        tagDetection.getCenterY(),
-                        params.verticalFocalLength,
-                        params.cameraCal);
-        m_yaw = yawPitch.getFirst();
-        m_pitch = yawPitch.getSecond();
-        var bestPose = new Transform3d();
-        var altPose = new Transform3d();
-
-        if (tagPose != null) {
-            if (tagPose.error1 <= tagPose.error2) {
-                bestPose = tagPose.pose1;
-                altPose = tagPose.pose2;
-            } else {
-                bestPose = tagPose.pose2;
-                altPose = tagPose.pose1;
-            }
-
-            bestPose = MathUtils.convertApriltagtoOpenCV(bestPose);
-            altPose = MathUtils.convertApriltagtoOpenCV(altPose);
-
-            m_bestCameraToTarget3d = bestPose;
-            m_altCameraToTarget3d = altPose;
-
-            m_poseAmbiguity = tagPose.getAmbiguity();
-
-            var tvec = new Mat(3, 1, CvType.CV_64FC1);
-            tvec.put(
-                    0,
-                    0,
-                    new double[] {
-                        bestPose.getTranslation().getX(),
-                        bestPose.getTranslation().getY(),
-                        bestPose.getTranslation().getZ()
-                    });
-            setCameraRelativeTvec(tvec);
-
-            // Opencv expects a 3d vector with norm = angle and direction = axis
-            var rvec = new Mat(3, 1, CvType.CV_64FC1);
-            MathUtils.rotationToOpencvRvec(bestPose.getRotation(), rvec);
-            setCameraRelativeRvec(rvec);
-        }
-
-        double[] corners = tagDetection.getCorners();
-        Point[] cornerPoints =
-                new Point[] {
-                    new Point(corners[0] + croppedOffset.x, corners[1] + croppedOffset.y),
-                    new Point(corners[2] + croppedOffset.x, corners[3] + croppedOffset.y),
-                    new Point(corners[4] + croppedOffset.x, corners[5] + croppedOffset.y),
-                    new Point(corners[6] + croppedOffset.x, corners[7] + croppedOffset.y)
-                };
-        m_targetCorners = List.of(cornerPoints);
-        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
-        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
-        m_mainContour = new Contour(contourMat);
-        m_area = m_mainContour.getArea() / params.imageArea * 100;
-        m_fiducialId = tagDetection.getId();
-        m_shape = null;
-
-        // TODO implement skew? or just yeet
-        m_skew = 0;
-    }
-
     public TrackedTarget(
             ArucoDetectionResult result,
             AprilTagPoseEstimate tagPose,