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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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42
photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
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@@ -61,21 +61,21 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(4_m, 2_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(4_m, 2_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -116,21 +116,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(4_m, 4_m, 4_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(5_m, 5_m, 5_m),
@@ -159,21 +159,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.2_m, 2.2_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -203,21 +203,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.2_m, 2.2_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -238,21 +238,21 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targetsThree{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 1,
3.0, -4.0, 9.0, 4.0, 1, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 0,
3.0, -4.0, 9.1, 6.7, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.1_m, 1.9_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2.4_m, 2.4_m, 2.2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1_m, 2_m),
@@ -278,21 +278,21 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),
@@ -320,21 +320,21 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
photon::PhotonTrackedTarget{
3.0, -4.0, 9.0, 4.0, 0,
3.0, -4.0, 9.0, 4.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(1_m, 1_m, 1_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.7, corners, detectedCorners},
photon::PhotonTrackedTarget{
3.0, -4.0, 9.1, 6.7, 1,
3.0, -4.0, 9.1, 6.7, 1, -1, -1,
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(3_m, 3_m, 3_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
0.3, corners, detectedCorners},
photon::PhotonTrackedTarget{
9.0, -2.0, 19.0, 3.0, 0,
9.0, -2.0, 19.0, 3.0, 0, -1, -1,
frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
frc::Rotation3d(0_rad, 0_rad, 0_rad)),
frc::Transform3d(frc::Translation3d(2_m, 1.9_m, 2.1_m),