Package org.photonvision.targeting

Class PhotonTrackedTarget

java.lang.Object
org.photonvision.targeting.PhotonTrackedTarget
All Implemented Interfaces:
ProtobufSerializable, WPISerializable, PhotonStructSerializable<PhotonTrackedTarget>
public class PhotonTrackedTarget extends Object implements ProtobufSerializable, PhotonStructSerializable<PhotonTrackedTarget>
Information about a detected target.

  • Field Details

    • yaw

      public double yaw
      The yaw of the target in degrees, with left being the positive direction.

    • pitch

      public double pitch
      The pitch of the target in degrees, with up being the positive direction.

    • area

      public double area
      The area (how much of the camera feed the bounding box takes up) as a percentage (0-100).

    • skew

      public double skew
      The skew of the target in degrees, with counterclockwise being the positive direction.

    • fiducialId

      public int fiducialId
      The fiducial ID, or -1 if it doesn't exist for this target.

    • objDetectId

      public int objDetectId
      The object detection class ID, or -1 if it doesn't exist for this target.

    • objDetectConf

      public float objDetectConf
      The object detection confidence, or -1 if it doesn't exist for this target.

    • bestCameraToTarget

      public Transform3d bestCameraToTarget
      The transform with the lowest reprojection error

    • altCameraToTarget

      public Transform3d altCameraToTarget
      The transform with the highest reprojection error

    • poseAmbiguity

      public double poseAmbiguity
      The ratio (best:alt) of reprojection errors

    • minAreaRectCorners

      public List<TargetCorner> minAreaRectCorners
      Corners from the min-area rectangle bounding the target

    • detectedCorners

      public List<TargetCorner> detectedCorners
      Corners from the corner detection method used

    • proto

      public static final PhotonTrackedTargetProto proto
      PhotonTrackedTarget protobuf for serialization.

    • photonStruct

      public static final PhotonTrackedTargetSerde photonStruct
      PhotonTrackedTarget PhotonStruct for serialization.

  • Constructor Details

    • PhotonTrackedTarget

      public PhotonTrackedTarget(double yaw, double pitch, double area, double skew, int fiducialId, int classId, float objDetectConf, Transform3d pose, Transform3d altPose, double ambiguity, List<TargetCorner> minAreaRectCorners, List<TargetCorner> detectedCorners)
      Construct a tracked target, given exactly 4 corners
      Parameters:
      yaw - The yaw of the target
      pitch - The pitch of the target
      area - The area of the target as a percentage of the camera image
      skew - The skew of the target
      fiducialId - The fiduical tag ID
      classId - The object detection class ID
      objDetectConf - The object detection confidence
      pose - The best camera to target transform
      altPose - The alternate camera to target transform
      ambiguity - The ambiguity (best:alternate ratio of reprojection errors) of the target
      minAreaRectCorners - The corners of minimum area bounding box of the target
      detectedCorners - The detected corners of the target

    • PhotonTrackedTarget

      public PhotonTrackedTarget()
      Used for serialization.

  • Method Details

    • getYaw

      public double getYaw()

    • getPitch

      public double getPitch()

    • getArea

      public double getArea()
      The area (how much of the camera feed the bounding box takes up) as a percentage (0-100).
      Returns:
      The area as a percentage

    • getSkew

      public double getSkew()

    • getFiducialId

      public int getFiducialId()
      Get the fiducial ID, or -1 if it doesn't exist for this target.
      Returns:
      The fiducial ID

    • getDetectedObjectClassID

      public int getDetectedObjectClassID()
      Get the object detection class ID number, or -1 if it doesn't exist for this target.
      Returns:
      The object detection class ID

    • getDetectedObjectConfidence

      public float getDetectedObjectConfidence()
      Get the object detection confidence, or -1 if it doesn't exist for this target. This will be between 0 and 1, with 1 indicating most confidence, and 0 least.
      Returns:
      The object detection confidence

    • getPoseAmbiguity

      public double getPoseAmbiguity()
      Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is between 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.
      Returns:
      The pose ambiguity

    • 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
      Returns:
      The list of corners

    • 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
      Returns:
      The list of detected corners for this target

    • getBestCameraToTarget

      public 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
      Returns:
      The transform with the lowest reprojection error (the best)

    • getAlternateCameraToTarget

      public 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
      Returns:
      The transform with the highest reprojection error (the alternate)

    • 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

    • getSerde

      public PacketSerde<PhotonTrackedTarget> getSerde()
      Description copied from interface: PhotonStructSerializable
      Returns the PhotonStruct serializer for this type.
      Specified by:
      getSerde in interface PhotonStructSerializable<PhotonTrackedTarget>
      Returns:
      The PhotonStruct serializer