Package org.photonvision.targeting

Class PhotonTrackedTarget

java.lang.Object

org.photonvision.targeting.PhotonTrackedTarget

All Implemented Interfaces:

edu.wpi.first.util.protobuf.ProtobufSerializable, edu.wpi.first.util.WPISerializable

public class PhotonTrackedTarget
extends Object
implements edu.wpi.first.util.protobuf.ProtobufSerializable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	PhotonTrackedTarget.APacketSerde

Field Summary

Fields

Modifier and Type	Field	Description
static final PhotonTrackedTargetProto	proto
static final PhotonTrackedTarget.APacketSerde	serde

Constructor Summary

Constructors

Constructor	Description
PhotonTrackedTarget(double yaw, double pitch, double area, double skew, int fiducialId, int classId, float objDetectConf, edu.wpi.first.math.geometry.Transform3d pose, edu.wpi.first.math.geometry.Transform3d altPose, double ambiguity, List<TargetCorner> minAreaRectCorners, List<TargetCorner> detectedCorners)	Construct a tracked target, given exactly 4 corners

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
edu.wpi.first.math.geometry.Transform3d	getAlternateCameraToTarget()	Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the highest reprojection error
double	getArea()
edu.wpi.first.math.geometry.Transform3d	getBestCameraToTarget()	Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the lowest reprojection error
List<TargetCorner>	getDetectedCorners()	Return a list of the n corners in image space (origin top left, x right, y down), in no particular order, detected for this target.
int	getDetectedObjectClassID()	Get the object detection class ID number, or -1 if not set.
float	getDetectedObjectConfidence()	Get the object detection confidence, or -1 if not set.
int	getFiducialId()	Get the fiducial ID, or -1 if not set.
List<TargetCorner>	getMinAreaRectCorners()	Return a list of the 4 corners in image space (origin top left, x right, y down), in no particular order, of the minimum area bounding rectangle of this target
double	getPitch()
double	getPoseAmbiguity()	Get the ratio of best:alternate pose reprojection errors, called ambiguity.
double	getSkew()
double	getYaw()
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

serde

public static final PhotonTrackedTarget.APacketSerde serde

proto

public static final PhotonTrackedTargetProto proto

Constructor Details

PhotonTrackedTarget

public PhotonTrackedTarget(double yaw,
 double pitch,
 double area,
 double skew,
 int fiducialId,
 int classId,
 float objDetectConf,
 edu.wpi.first.math.geometry.Transform3d pose,
 edu.wpi.first.math.geometry.Transform3d altPose,
 double ambiguity,
 List<TargetCorner> minAreaRectCorners,
 List<TargetCorner> detectedCorners)

Construct a tracked target, given exactly 4 corners

Method Details

getYaw

public double getYaw()

getPitch

public double getPitch()

getArea

public double getArea()

getSkew

public double getSkew()

getFiducialId

public int getFiducialId()

Get the fiducial ID, or -1 if not set.

getDetectedObjectClassID

public int getDetectedObjectClassID()

Get the object detection class ID number, or -1 if not set.

getDetectedObjectConfidence

public float getDetectedObjectConfidence()

Get the object detection confidence, or -1 if not set. This will be between 0 and 1, with 1 indicating most confidence, and 0 least.

getPoseAmbiguity

public double getPoseAmbiguity()

Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0 and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers above 0.2 are likely to be ambiguous. -1 if invalid.

getMinAreaRectCorners

public List<TargetCorner> getMinAreaRectCorners()

Return a list of the 4 corners in image space (origin top left, x right, y down), in no particular order, of the minimum area bounding rectangle of this target

getDetectedCorners

public List<TargetCorner> getDetectedCorners()

Return a list of the n corners in image space (origin top left, x right, y down), in no particular order, detected for this target.

For fiducials, the order is known and is always counter-clock wise around the tag, like so:

 ⟶ +X  3 ----- 2
 |      |       |
 V      |       |
 +Y     0 ----- 1
 

getBestCameraToTarget

public edu.wpi.first.math.geometry.Transform3d getBestCameraToTarget()

Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the lowest reprojection error

getAlternateCameraToTarget

public edu.wpi.first.math.geometry.Transform3d getAlternateCameraToTarget()

Get the transform that maps camera space (X = forward, Y = left, Z = up) to object/fiducial tag space (X forward, Y left, Z up) with the highest reprojection error

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

toString

public String toString()

Overrides:

toString in class Object