Adding some more AprilTag stuff, comments for interfaces, and a mess of TODOs

src/main/java/frc/robot/utilities/PhotonVision.java

@@ -19,9 +19,10 @@ import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.util.Units;
 import frc.robot.interfaces.IAprilTagProvider;
+import frc.robot.interfaces.ICamera;
 import frc.robot.interfaces.IVisualPoseProvider;
 
-public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
+public class PhotonVision implements ICamera,IAprilTagProvider,IVisualPoseProvider {
 
     private final PhotonCamera camera;
 
@@ -29,8 +30,11 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
 
     private final double cameraHeightMeters;
     private final double cameraPitchRadians;
+    private final double cameraWidth;
+    private final double cameraHeight;
 
-    public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians) throws IOException {
+    public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians,
+        double cameraWidth, double cameraHeight) throws IOException {
         camera = new PhotonCamera(cameraName);
 
         photonPoseEstimator = new PhotonPoseEstimator(
@@ -44,6 +48,18 @@ public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
 
         this.cameraHeightMeters = cameraHeightMeters;
         this.cameraPitchRadians = cameraPitchRadians;
+        this.cameraWidth = cameraWidth;
+        this.cameraHeight = cameraHeight;
+    }
+
+    @Override
+    public double getWidth() {
+        return cameraWidth;
+    }
+
+    @Override
+    public double getHeight() {
+        return cameraHeight;
     }
 
     @Override