Package org.photonvision.targeting

Class PnpResult

java.lang.Object

org.photonvision.targeting.PnpResult

All Implemented Interfaces:

ProtobufSerializable, WPISerializable, PhotonStructSerializable<PnpResult>

public class PnpResult
extends Object
implements ProtobufSerializable, PhotonStructSerializable<PnpResult>

The best estimated transformation from solvePnP, and possibly an alternate transformation depending on the solvePNP method. If an alternate solution is present, the ambiguity value represents the ratio of reprojection error in the best solution to the alternate (best / alternate).

Note that the coordinate frame of these transforms depends on the implementing solvePnP method.

Field Summary

Fields

Modifier and Type	Field	Description
Transform3d	alt	Alternate, ambiguous solution from solvepnp.
double	altReprojErr	If no alternate solution is found, this is bestReprojErr
double	ambiguity	If no alternate solution is found, this is 0
Transform3d	best	The best-fit transform.
double	bestReprojErr	Reprojection error of the best solution, in pixels
static final PnpResultSerde	photonStruct
static final PNPResultProto	proto

Constructor Summary

Constructors

Constructor	Description
PnpResult()	An empty (invalid) result.
PnpResult(Transform3d best, double bestReprojErr)
PnpResult(Transform3d best, Transform3d alt, double ambiguity, double bestReprojErr, double altReprojErr)

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
PacketSerde<PnpResult>	getSerde()
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

best

public Transform3d best

The best-fit transform. The coordinate frame of this transform depends on the method which gave this result.

bestReprojErr

public double bestReprojErr

Reprojection error of the best solution, in pixels

alt

public Transform3d alt

Alternate, ambiguous solution from solvepnp. If no alternate solution is found, this is equal to the best solution.

altReprojErr

public double altReprojErr

If no alternate solution is found, this is bestReprojErr

ambiguity

public double ambiguity

If no alternate solution is found, this is 0

proto

public static final PNPResultProto proto

photonStruct

public static final PnpResultSerde photonStruct

Constructor Details

PnpResult

public PnpResult()

An empty (invalid) result.

PnpResult

public PnpResult(Transform3d best,
 double bestReprojErr)

PnpResult

public PnpResult(Transform3d best,
 Transform3d alt,
 double ambiguity,
 double bestReprojErr,
 double altReprojErr)

Method Details

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<PnpResult> getSerde()

Specified by:

getSerde in interface PhotonStructSerializable<PnpResult>