Package org.photonvision.vision.target

Class TrackedTarget

java.lang.Object

org.photonvision.vision.target.TrackedTarget

All Implemented Interfaces:

Releasable

public class TrackedTarget
extends Object
implements Releasable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrackedTarget.TargetCalculationParameters

Field Summary

Fields

Modifier and Type	Field	Description
final Contour	m_mainContour
List<Contour>	m_subContours

Constructor Summary

Constructors

Constructor	Description
TrackedTarget(edu.wpi.first.apriltag.AprilTagDetection tagDetection, edu.wpi.first.apriltag.AprilTagPoseEstimate tagPose, TrackedTarget.TargetCalculationParameters params)
TrackedTarget(List<org.opencv.core.Point> corners)
TrackedTarget(ArucoDetectionResult result, edu.wpi.first.apriltag.AprilTagPoseEstimate tagPose, TrackedTarget.TargetCalculationParameters params)
TrackedTarget(PotentialTarget origTarget, TrackedTarget.TargetCalculationParameters params, CVShape shape)

Method Summary

Modifier and Type	Method	Description
void	calculateValues(TrackedTarget.TargetCalculationParameters params)
edu.wpi.first.math.geometry.Transform3d	getAltCameraToTarget3d()
org.opencv.core.MatOfPoint2f	getApproximateBoundingPolygon()
double	getArea()
edu.wpi.first.math.geometry.Transform3d	getBestCameraToTarget3d()
org.opencv.core.Mat	getCameraRelativeRvec()
org.opencv.core.Mat	getCameraRelativeTvec()
int	getClassID()
double	getConfidence()
int	getFiducialId()
org.opencv.core.RotatedRect	getMinAreaRect()
double	getPitch()
double	getPoseAmbiguity()
org.opencv.core.Point	getRobotOffsetPoint()
CVShape	getShape()
double	getSkew()
List<org.opencv.core.Point>	getTargetCorners()
org.opencv.core.Point	getTargetOffsetPoint()
double	getYaw()
boolean	hasSubContours()
boolean	isFiducial()
void	release()
void	setAltCameraToTarget3d(edu.wpi.first.math.geometry.Transform3d pose)
void	setApproximateBoundingPolygon(org.opencv.core.MatOfPoint2f boundingPolygon)	Set the approximate bounding polygon.
void	setBestCameraToTarget3d(edu.wpi.first.math.geometry.Transform3d pose)
void	setCameraRelativeRvec(org.opencv.core.Mat cameraRelativeRvec)
void	setCameraRelativeTvec(org.opencv.core.Mat cameraRelativeTvec)
void	setFiducialId(int id)
void	setPoseAmbiguity(double ambiguity)
void	setShape(CVShape shape)
void	setTargetCorners(List<org.opencv.core.Point> targetCorners)
static List<PhotonTrackedTarget>	simpleFromTrackedTargets(List<TrackedTarget> targets)
HashMap<String,Object>	toHashMap()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

m_mainContour

public final Contour m_mainContour

m_subContours

public List<Contour> m_subContours

Constructor Details

TrackedTarget

public TrackedTarget(PotentialTarget origTarget,
 TrackedTarget.TargetCalculationParameters params,
 CVShape shape)

TrackedTarget

public TrackedTarget(edu.wpi.first.apriltag.AprilTagDetection tagDetection,
 edu.wpi.first.apriltag.AprilTagPoseEstimate tagPose,
 TrackedTarget.TargetCalculationParameters params)

TrackedTarget

public TrackedTarget(List<org.opencv.core.Point> corners)

TrackedTarget

public TrackedTarget(ArucoDetectionResult result,
 edu.wpi.first.apriltag.AprilTagPoseEstimate tagPose,
 TrackedTarget.TargetCalculationParameters params)

Method Details

getConfidence

public double getConfidence()

Returns:

Returns the confidence of the detection ranging from 0 - 1.

getClassID

public int getClassID()

Returns:

O-indexed class index for the detected object.

setFiducialId

public void setFiducialId(int id)

getFiducialId

public int getFiducialId()

setPoseAmbiguity

public void setPoseAmbiguity(double ambiguity)

getPoseAmbiguity

public double getPoseAmbiguity()

setApproximateBoundingPolygon

public void setApproximateBoundingPolygon(org.opencv.core.MatOfPoint2f boundingPolygon)

Set the approximate bounding polygon.

Parameters:

boundingPolygon - List of points to copy. Not modified.

getTargetOffsetPoint

public org.opencv.core.Point getTargetOffsetPoint()

getRobotOffsetPoint

public org.opencv.core.Point getRobotOffsetPoint()

getPitch

public double getPitch()

getYaw

public double getYaw()

getSkew

public double getSkew()

getArea

public double getArea()

getMinAreaRect

public org.opencv.core.RotatedRect getMinAreaRect()

getApproximateBoundingPolygon

public org.opencv.core.MatOfPoint2f getApproximateBoundingPolygon()

calculateValues

public void calculateValues(TrackedTarget.TargetCalculationParameters params)

release

public void release()

Specified by:

release in interface Releasable

setTargetCorners

public void setTargetCorners(List<org.opencv.core.Point> targetCorners)

getTargetCorners

public List<org.opencv.core.Point> getTargetCorners()

hasSubContours

public boolean hasSubContours()

getBestCameraToTarget3d

public edu.wpi.first.math.geometry.Transform3d getBestCameraToTarget3d()

getAltCameraToTarget3d

public edu.wpi.first.math.geometry.Transform3d getAltCameraToTarget3d()

setBestCameraToTarget3d

public void setBestCameraToTarget3d(edu.wpi.first.math.geometry.Transform3d pose)

setAltCameraToTarget3d

public void setAltCameraToTarget3d(edu.wpi.first.math.geometry.Transform3d pose)

getCameraRelativeTvec

public org.opencv.core.Mat getCameraRelativeTvec()

setCameraRelativeTvec

public void setCameraRelativeTvec(org.opencv.core.Mat cameraRelativeTvec)

getCameraRelativeRvec

public org.opencv.core.Mat getCameraRelativeRvec()

setCameraRelativeRvec

public void setCameraRelativeRvec(org.opencv.core.Mat cameraRelativeRvec)

getShape

public CVShape getShape()

setShape

public void setShape(CVShape shape)

toHashMap

public HashMap<String,Object> toHashMap()

isFiducial

public boolean isFiducial()

simpleFromTrackedTargets

public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTarget> targets)