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Expose object detection class id/conf in photonlib (#1266)

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* Implement class id/conf in photonlib

* Maybe fix things

* run lint

* Update Packet.java comments

* Update Packet.java comments again

* Update comments

* oops

* Update packet.py

---------

Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>
This commit is contained in:
Matt
2024-05-10 14:52:16 -04:00
committed by GitHub
parent 113951100e
commit 1708376df8
15 changed files with 172 additions and 34 deletions
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38
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -73,6 +73,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.7,
@@ -92,6 +94,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(0, 0, 0)),
new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
0.3,
@@ -111,6 +115,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
0.4,
@@ -154,6 +160,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -173,6 +181,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -192,6 +202,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(4, 4, 4), new Rotation3d()),
new Transform3d(new Translation3d(5, 5, 5), new Rotation3d()),
0.4,
@@ -239,6 +251,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -258,6 +272,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -277,6 +293,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
@@ -324,6 +342,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -343,6 +363,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -362,6 +384,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.2, 2.2, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,
@@ -401,6 +425,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
1,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -420,6 +446,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
0,
-1,
-1,
new Transform3d(new Translation3d(2.1, 1.9, 2), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -439,6 +467,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2.4, 2.4, 2.2), new Rotation3d()),
new Transform3d(new Translation3d(2, 1, 2), new Rotation3d()),
0.4,
@@ -478,6 +508,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -545,6 +577,8 @@ class PhotonPoseEstimatorTest {
9.0,
4.0,
0,
-1,
-1,
new Transform3d(new Translation3d(2, 2, 2), new Rotation3d()),
new Transform3d(new Translation3d(1, 1, 1), new Rotation3d()),
0.7,
@@ -564,6 +598,8 @@ class PhotonPoseEstimatorTest {
9.1,
6.7,
1,
-1,
-1,
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
new Transform3d(new Translation3d(3, 3, 3), new Rotation3d()),
0.3,
@@ -583,6 +619,8 @@ class PhotonPoseEstimatorTest {
19.0,
3.0,
0,
-1,
-1,
new Transform3d(new Translation3d(0, 0, 0), new Rotation3d()),
new Transform3d(new Translation3d(2, 1.9, 2.1), new Rotation3d()),
0.4,