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

* 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>

photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java

@@ -107,6 +107,19 @@ public class Packet {
         packetData[writePos++] = (byte) src;
     }
 
+    /**
+     * Encodes the float into the packet.
+     *
+     * @param src The float to encode.
+     */
+    public void encode(float src) {
+        int data = Float.floatToIntBits(src);
+        packetData[writePos++] = (byte) ((data >> 24) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 16) & 0xff);
+        packetData[writePos++] = (byte) ((data >> 8) & 0xff);
+        packetData[writePos++] = (byte) (data & 0xff);
+    }
+
     /**
      * Encodes the double into the packet.
      *
@@ -213,6 +226,23 @@ public class Packet {
         return Double.longBitsToDouble(data);
     }
 
+    /**
+     * Returns a decoded float from the packet.
+     *
+     * @return A decoded float from the packet.
+     */
+    public float decodeFloat() {
+        if (packetData.length < (readPos + 3)) {
+            return 0;
+        }
+        int data =
+                (int) (0xff & packetData[readPos++]) << 24
+                        | (int) (0xff & packetData[readPos++]) << 16
+                        | (int) (0xff & packetData[readPos++]) << 8
+                        | (int) (0xff & packetData[readPos++]);
+        return Float.intBitsToFloat(data);
+    }
+
     /**
      * Returns a decoded boolean from the packet.
      *

photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java

@@ -34,6 +34,8 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
     private final double area;
     private final double skew;
     private final int fiducialId;
+    private final int classId;
+    private final float objDetectConf;
     private final Transform3d bestCameraToTarget;
     private final Transform3d altCameraToTarget;
     private final double poseAmbiguity;
@@ -50,7 +52,9 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
             double pitch,
             double area,
             double skew,
-            int id,
+            int fiducialId,
+            int classId,
+            float objDetectConf,
             Transform3d pose,
             Transform3d altPose,
             double ambiguity,
@@ -66,7 +70,9 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
         this.pitch = pitch;
         this.area = area;
         this.skew = skew;
-        this.fiducialId = id;
+        this.fiducialId = fiducialId;
+        this.classId = classId;
+        this.objDetectConf = objDetectConf;
         this.bestCameraToTarget = pose;
         this.altCameraToTarget = altPose;
         this.minAreaRectCorners = minAreaRectCorners;
@@ -90,11 +96,24 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
         return skew;
     }
 
-    /** Get the Fiducial ID, or -1 if not set. */
+    /** Get the fiducial ID, or -1 if not set. */
     public int getFiducialId() {
         return fiducialId;
     }
 
+    /** Get the object detection class ID number, or -1 if not set. */
+    public int getDetectedObjectClassID() {
+        return classId;
+    }
+
+    /**
+     * 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.
+     */
+    public float getDetectedObjectConfidence() {
+        return objDetectConf;
+    }
+
     /**
      * Get the ratio of best:alternate pose reprojection errors, called ambiguity. This is betweeen 0
      * and 1 (0 being no ambiguity, and 1 meaning both have the same reprojection error). Numbers
@@ -219,7 +238,7 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
     public static final class APacketSerde implements PacketSerde<PhotonTrackedTarget> {
         @Override
         public int getMaxByteSize() {
-            return Double.BYTES * (5 + 7 + 2 * 4 + 1 + 7 + 2 * MAX_CORNERS);
+            return Double.BYTES * (5 + 7 + 2 * 4 + 1 + 1 + 4 + 7 + 2 * MAX_CORNERS);
         }
 
         @Override
@@ -229,6 +248,8 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
             packet.encode(value.area);
             packet.encode(value.skew);
             packet.encode(value.fiducialId);
+            packet.encode(value.classId);
+            packet.encode(value.objDetectConf);
             PacketUtils.packTransform3d(packet, value.bestCameraToTarget);
             PacketUtils.packTransform3d(packet, value.altCameraToTarget);
             packet.encode(value.poseAmbiguity);
@@ -250,6 +271,8 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
             var area = packet.decodeDouble();
             var skew = packet.decodeDouble();
             var fiducialId = packet.decodeInt();
+            var classId = packet.decodeInt();
+            var objDetectConf = packet.decodeFloat();
             Transform3d best = PacketUtils.unpackTransform3d(packet);
             Transform3d alt = PacketUtils.unpackTransform3d(packet);
             double ambiguity = packet.decodeDouble();
@@ -271,6 +294,8 @@ public class PhotonTrackedTarget implements ProtobufSerializable {
                     area,
                     skew,
                     fiducialId,
+                    classId,
+                    objDetectConf,
                     best,
                     alt,
                     ambiguity,

photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonTrackedTargetProto.java

@@ -57,6 +57,8 @@ public class PhotonTrackedTargetProto
                 msg.getArea(),
                 msg.getSkew(),
                 msg.getFiducialId(),
+                msg.getObjDetectionId(),
+                msg.getObjDetectionConf(),
                 Transform3d.proto.unpack(msg.getBestCameraToTarget()),
                 Transform3d.proto.unpack(msg.getAltCameraToTarget()),
                 msg.getPoseAmbiguity(),