Make Vision pose estimation examples use all vision measurements

Resolves PhotonVision#1634

Signed-off-by: Jade Turner <[email protected]>

photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp

@@ -34,6 +34,7 @@ void Robot::RobotInit() {}
 void Robot::RobotPeriodic() {
   launcher.periodic();
   drivetrain.Periodic();
+  vision.Periodic();
 
   auto visionEst = vision.GetEstimatedGlobalPose();
   if (visionEst.has_value()) {

photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java

@@ -46,7 +46,7 @@ public class Robot extends TimedRobot {
     @Override
     public void robotInit() {
         drivetrain = new SwerveDrive();
-        vision = new Vision();
+        vision = new Vision(drivetrain::addVisionMeasurement);
 
         controller = new XboxController(0);
 
@@ -61,16 +61,8 @@ public void robotPeriodic() {
         // Update drivetrain subsystem
         drivetrain.periodic();
 
-        // Correct pose estimate with vision measurements
-        var visionEst = vision.getEstimatedGlobalPose();
-        visionEst.ifPresent(
-                est -> {
-                    // Change our trust in the measurement based on the tags we can see
-                    var estStdDevs = vision.getEstimationStdDevs();
-
-                    drivetrain.addVisionMeasurement(
-                            est.estimatedPose.toPose2d(), est.timestampSeconds, estStdDevs);
-                });
+        // Update vision
+        vision.periodic();
 
         // Test/Example only!
         // Apply an offset to pose estimator to test vision correction

photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java

@@ -48,12 +48,14 @@ public class Vision {
     private final PhotonCamera camera;
     private final PhotonPoseEstimator photonEstimator;
     private Matrix<N3, N1> curStdDevs;
+    private EstimateConsumer consumer;
 
     // Simulation
     private PhotonCameraSim cameraSim;
     private VisionSystemSim visionSim;
 
-    public Vision() {
+    public Vision(EstimateConsumer consumer) {
+        this.consumer = consumer;
         camera = new PhotonCamera(kCameraName);
 
         photonEstimator =
@@ -83,17 +85,7 @@ public Vision() {
         }
     }
 
-    /**
-     * The latest estimated robot pose on the field from vision data. This may be empty. This should
-     * only be called once per loop.
-     *
-     * <p>Also includes updates for the standard deviations, which can (optionally) be retrieved with
-     * {@link getEstimationStdDevs}
-     *
-     * @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets
-     *     used for estimation.
-     */
-    public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
+    public void periodic() {
         Optional<EstimatedRobotPose> visionEst = Optional.empty();
         for (var change : camera.getAllUnreadResults()) {
             visionEst = photonEstimator.update(change);
@@ -109,8 +101,15 @@ public Optional<EstimatedRobotPose> getEstimatedGlobalPose() {
                             getSimDebugField().getObject("VisionEstimation").setPoses();
                         });
             }
+
+            visionEst.ifPresent(
+                    est -> {
+                        // Change our trust in the measurement based on the tags we can see
+                        var estStdDevs = getEstimationStdDevs();
+
+                        consumer.accept(est.estimatedPose.toPose2d(), est.timestampSeconds, estStdDevs);
+                    });
         }
-        return visionEst;
     }
 
     /**
@@ -188,4 +187,9 @@ public Field2d getSimDebugField() {
         if (!Robot.isSimulation()) return null;
         return visionSim.getDebugField();
     }
+
+    @FunctionalInterface
+    public static interface EstimateConsumer {
+        public void accept(Pose2d pose, double timestamp, Matrix<N3, N1> estimationStdDevs);
+    }
 }