001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.vision.aruco;
019
020import java.util.Arrays;
021import org.photonvision.common.logging.LogGroup;
022import org.photonvision.common.logging.Logger;
023
024public class ArucoDetectionResult {
025    private static final Logger logger =
026            new Logger(ArucoDetectionResult.class, LogGroup.VisionModule);
027
028    private final double[] xCorners;
029    private final double[] yCorners;
030
031    private final int id;
032
033    public ArucoDetectionResult(double[] xCorners, double[] yCorners, int id) {
034        this.xCorners = xCorners;
035        this.yCorners = yCorners;
036        this.id = id;
037        // logger.debug("Creating a new detection result: " + this.toString());
038    }
039
040    public double[] getXCorners() {
041        return xCorners;
042    }
043
044    public double[] getYCorners() {
045        return yCorners;
046    }
047
048    public int getId() {
049        return id;
050    }
051
052    public double getCenterX() {
053        return (xCorners[0] + xCorners[1] + xCorners[2] + xCorners[3]) / 4.0;
054    }
055
056    public double getCenterY() {
057        return (yCorners[0] + yCorners[1] + yCorners[2] + yCorners[3]) / 4.0;
058    }
059
060    @Override
061    public String toString() {
062        return "ArucoDetectionResult{"
063                + "xCorners="
064                + Arrays.toString(xCorners)
065                + ", yCorners="
066                + Arrays.toString(yCorners)
067                + ", id="
068                + id
069                + '}';
070    }
071}