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>

Field Summary

Fields

Modifier and Type	Field	Description
Transform3d	altCameraToTarget
double	area
Transform3d	bestCameraToTarget
List<TargetCorner>	detectedCorners
int	fiducialId
List<TargetCorner>	minAreaRectCorners
float	objDetectConf
int	objDetectId
static final PhotonTrackedTargetSerde	photonStruct
double	pitch
double	poseAmbiguity
static final PhotonTrackedTargetProto	proto
double	skew
double	yaw

Constructor Summary

Constructors

Constructor	Description
PhotonTrackedTarget()
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

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object obj)
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()
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.
PacketSerde<PhotonTrackedTarget>	getSerde()
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

yaw

public double yaw

pitch

public double pitch

area

public double area

skew

public double skew

fiducialId

public int fiducialId

objDetectId

public int objDetectId

objDetectConf

public float objDetectConf

bestCameraToTarget

public Transform3d bestCameraToTarget

altCameraToTarget

public Transform3d altCameraToTarget

poseAmbiguity

public double poseAmbiguity

minAreaRectCorners

public List<TargetCorner> minAreaRectCorners

detectedCorners

public List<TargetCorner> detectedCorners

proto

public static final PhotonTrackedTargetProto proto

photonStruct

public static final PhotonTrackedTargetSerde photonStruct

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

PhotonTrackedTarget

public PhotonTrackedTarget()

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 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.

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 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 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

getSerde

public PacketSerde<PhotonTrackedTarget> getSerde()

Specified by:

getSerde in interface PhotonStructSerializable<PhotonTrackedTarget>